CN109706804A - Non-fragment orbit track automatic checkout equipment and automatic testing method - Google Patents
Non-fragment orbit track automatic checkout equipment and automatic testing method Download PDFInfo
- Publication number
- CN109706804A CN109706804A CN201910172239.XA CN201910172239A CN109706804A CN 109706804 A CN109706804 A CN 109706804A CN 201910172239 A CN201910172239 A CN 201910172239A CN 109706804 A CN109706804 A CN 109706804A
- Authority
- CN
- China
- Prior art keywords
- track
- detected
- car body
- detection
- mold
- 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.)
- Pending
Links
- 239000012634 fragment Substances 0.000 title claims abstract description 107
- 238000012360 testing method Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 260
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 238000000034 method Methods 0.000 claims abstract description 50
- 230000003028 elevating effect Effects 0.000 claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 238000002360 preparation method Methods 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims description 36
- 230000008569 process Effects 0.000 claims description 32
- 238000007689 inspection Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000003044 adaptive effect Effects 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 6
- 239000003245 coal Substances 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 239000004575 stone Substances 0.000 claims description 3
- 230000003827 upregulation Effects 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 27
- 238000010276 construction Methods 0.000 abstract description 15
- 239000011324 bead Substances 0.000 description 20
- 230000000694 effects Effects 0.000 description 13
- 238000012937 correction Methods 0.000 description 10
- 238000003860 storage Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000011900 installation process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 241001669679 Eleotris Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012407 engineering method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of non-fragment orbit track automatic checkout equipment and automatic testing method, which includes track detection robot；Track detection robot includes car body, controls the elevating mechanism that two clamping molds, a mold mounting rack and driven mold mounting racks move up and down, and is mounted on a detection instrument on each clamping mold；The method comprising the steps of: Step 1: preparation before detecting；Step 2: detection robot is translate forward and the synchronous detection of track.The present invention detects the track on non-fragment orbit to be detected using track detection robot one by one, and the track of left and right two being located on the same cross section of non-fragment orbit to be detected can be synchronized and be detected, track detection efficiency can be increased substantially, effectively shorten construction period, and testing result is accurate, just track can be detected before operation rail installation simultaneously, detect existing various problems again after effectively solving operation rail installation.
Description
Technical field
The invention belongs to Construction of Ballastless Track technical fields, detect and set automatically more particularly, to a kind of non-fragment orbit track
Standby and automatic testing method.
Background technique
Non-fragment orbit (Ballastless track), which refers to replace using mass-type foundations such as concrete, asphalts, to be dissipated
The ballast bed track structure of grain, also referred to as ballastless track, are the advanced railway technologies in the world today.Non-fragment orbit can be divided into road
Non-fragment orbit on base, non-fragment orbit and ballastless track on bridge three categories in tunnel.Non-fragment orbit track refers to non-fragment orbit
Track plates track (abbreviation track) is in non-fragment orbit for supporting the pedestal of operation rail.During practice of construction, CRTS
After I type double-block type and the construction of CRTS type III plate-type ballastless track are completed, must repetition measurement be carried out to the position of track, obtained
Center and the altitude data of each track are obtained, and is obtained between actual value and design value actually measured and count on
Deviation, so as to guide the buying and installation of backing plate when operation rail installation, this is the critical process for guaranteeing non-fragment orbit final mass.
Either CRTS I type double-block type ballastless track or CRTS type III plate-type ballastless track, in operation rail installation
When, a large amount of adjustment pad (including height adjusting cushion plate and gauge block) will be used.Currently used way is first according to inner
The adjustment pad of journey procurement criteria in full is detected again with accurate adjustment trolley after operation rail installation, is found one by one further according to testing result
Overproof position, and the deviation of each overproof position is counted, then purchased further according to the deviation replacement of statistics or again
Nonstandard adjustment pad, and fastener is dismantled again, it replaces one by one.But the above method brings following two aspect to ask to practice of construction
Topic, first is that repetition measurement workload is very big, installs repeatedly, replaces a large amount of manpower of backing plate needs and time；Second is adjusting pad
The cost waste of plate is very big, and backing plate turnover rate is 30%~40% or so at present, and detects, unites again after operation rail installation
It counts and the time for purchasing nonstandard backing plate also causes certain pressure to the duration.Thus, being nowadays badly in need of one kind can be quick, quasi-
Really, unattended equipment, to obtain the data of full line track.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of non-fragment orbit
Track automatic checkout equipment, simple structure and reasonable design and it is easy to use, using effect is good, using along to be detected
The track detection robot that non-fragment orbit longitudinal extension moves from the front to the back is to the track on non-fragment orbit to be detected
It is detected one by one, and can be to the track symmetrically laid of left and right two being located on the same cross section of non-fragment orbit to be detected
It synchronizes and is detected, track detection efficiency can be increased substantially, effectively shorten construction period, and testing result is accurate, together
When just track can be detected before operation rail installation, effectively solve to detect after operation rail installation existing a variety of ask again
Topic.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of non-fragment orbit track detects automatically
Equipment, it is characterised in that: moved from the front to the back including the longitudinal extension along non-fragment orbit to be detected and can be located at it is to be checked
The track symmetrically laid of left and right two surveyed on the same cross section of non-fragment orbit synchronizes the track detection machine detected
Device people；
Track detection robot includes that can translate from the front to the back on non-fragment orbit to be detected and be located at left and right two
Car body between a track symmetrically laid, the symmetrical rail support groove laid and can from top to bottom be installed in track in left and right two
Interior clamping mold, one be installed on the car body and to two mold mounting racks and band for clamping molds and being supported
The elevating mechanism that the mold mounting rack moves up and down is moved, the mold mounting rack is connected as with two clamping molds
One, the elevating mechanism are installed between the mold mounting rack and the car body；The car body is along non-fragment orbit to be detected
Longitudinal extension lay, the mold mounting rack and the perpendicular laying of the car body；Two clamping molds are symmetrically pacified
Below the left and right sides loaded on the mold mounting rack, each support rail face for clamping mold and being supported in detected track
On, on each clamping mold or mold mounting rack left and right ends are mounted on a support rail to detected track
The detection instrument that the elevation and axial centerline in face are detected；Two left sides for clamping mold and being located at the car body
Right two sides.
Above-mentioned non-fragment orbit track automatic checkout equipment, it is characterized in that: the clamping mold is adaptively to be installed in
Adaptive mold in the rail support groove；
The adaptive mold includes the die ontology that can be from top to bottom installed in the rail support groove, the die ontology
It is mounted below the mold mounting rack by elastic mechanism.
Above-mentioned non-fragment orbit track automatic checkout equipment, it is characterized in that: the mold mounting rack includes and the car body
The mold mounting rod of perpendicular laying and left and right two are symmetrically laid in mold mounting rod both ends and the mould for clamping mould support
Has support frame, the mold mounting rod is located at the surface of the car body；The bottom of each mold supporting frame is mounted on
One clamping mold, each underface for clamping mold and being respectively positioned on a mold supporting frame.
Above-mentioned non-fragment orbit track automatic checkout equipment, it is characterized in that: the detection instrument be prism, the prism with
The perpendicular laying in support rail face of track；
It further include the total station that branch is stood on non-fragment orbit to be detected and is used cooperatively with prism, the total station and support rail
It is right that two prism groups of platform detection robot are in pairs at the left and right two on the same cross section of non-fragment orbit to be detected
The track laid is claimed to synchronize the detection device detected.
Above-mentioned non-fragment orbit track automatic checkout equipment, it is characterized in that: further including the upper monitoring being connect with total station
Terminal, the upper monitoring terminal and total station carry out two-way communication；
The track detects the car body that robot further includes controller and is measured in real time to the position of the car body
Position detecting device, the car body and the elevating mechanism are controlled by controller；The car body position detection device is
Laser detector and its lay on the car body, the car body position detection device connect with controller and the two form track
Detect the guiding and positioning device of robot.
Above-mentioned non-fragment orbit track automatic checkout equipment, it is characterized in that: further including being carried out to track detection robot
The remote controler of control carries out two-way between the remote controler and upper monitoring terminal and controller with communication
Letter.
Above-mentioned non-fragment orbit track automatic checkout equipment, it is characterized in that: the car body includes vehicle frame, is mounted on vehicle frame bottom
Portion and the drive vehicle frame walking mechanism being moved forward and backward and the hoofing part mechanism that the walking mechanism is driven, it is described
Hoofing part mechanism be electric driving mechanism and its be sequentially connected with the walking mechanism；
The walking mechanism includes multiple traveling wheel groups for being installed on bottom of frame from front to back, multiple traveling wheel groups
Structure it is all the same and it is laid on same plane；
Each traveling wheel group includes one and is symmetrically arranged on the wheel shaft of the perpendicular laying of vehicle frame and left and right two
The traveling wheel of the wheel shaft left and right ends, the traveling wheel and the perpendicular laying of the wheel shaft, two traveling wheels are in parallel
It lays and the two is located at below the left and right sides of vehicle frame；
The traveling wheel is Mecanum wheel.
Meanwhile a kind of the invention also discloses method and steps simple, design rationally, detection is easy and detection efficiency is high, inspection
Survey the non-fragment orbit track automatic testing method that result is accurate, using effect is good, which is characterized in that this method includes following step
It is rapid:
Step 1: preparation before detecting: track detection robot is lain against on non-fragment orbit to be detected；
Step 2: detection robot is translate forward and the synchronous detection of track: track detection Robot is to be detected
The longitudinal extension of non-fragment orbit moves from the front to the back, and track described in moving process detects robot by rear from the front to the back
The track described in the multiple groups on non-fragment orbit to be detected detects respectively forward；The detection method of track described in multiple groups is equal
Identical, track described in every group includes on two same cross sections for being located at non-fragment orbit to be detected and bilateral symmetry is laid
Track；
When the track described in any group on non-fragment orbit to be detected detects, process is as follows:
Step 201 clamps mold up-regulation and the Forward of detection robot in place: being pacified the mold by the elevating mechanism
It shelves and moves up, until two clamping molds are respectively positioned on above current detected track；Again by track detection machine
Device people moves forward at current detected track present position, and the robot of track detection at this time is in walking states；
Step 202 clamps mold decline: being moved down the mold mounting rack by the elevating mechanism, until two
A mold that clamps is clamped to the rail support groove of current two tracks detected；
Step 203, track detection: by the detection instrument to the support rail of current two tracks detected
Face elevation and axial centerline are detected respectively；
Step 204, next group of track detection: according to method described in step 201 to step 203, to next group of institute
Track is stated to be detected；
Step 204 is repeated several times in step 205, until completing the detection process of all tracks on non-fragment orbit to be detected.
The above method, it is characterized in that: detection instrument described in step 203 is prism, the support rail of the prism and track
The perpendicular laying in face；
The automatic checkout equipment further includes the total station that branch is stood on non-fragment orbit to be detected and is used cooperatively with prism,
It is same cross-section that two prism groups of the total station and track detection robot are in pairs at non-fragment orbit to be detected
The track symmetrically laid of left and right two on face synchronizes the detection device detected；
Before being detected in step 1 when preparation, vertical total station need to be also propped up on non-fragment orbit to be detected；
When carrying out track detection in step 203, by the detection device to current two support rails detected
Platform hold height above rail surface and axial centerline is detected respectively.
The above method, it is characterized in that: the automatic checkout equipment further includes the upper monitoring terminal connecting with total station, institute
It states upper monitoring terminal and total station carries out two-way communication, the car body and the elevating mechanism are controlled by controller；
The track detects the car body that robot further includes controller and is measured in real time to the position of the car body
Position detecting device, the car body and the elevating mechanism are controlled by controller；The car body position detection device is
Laser detector and its lay on the car body, the car body position detection device connect with controller and the two form track
Detect the guiding and positioning device of robot；
Track is detected in robot movement forward in step 201, the car body position detection device is in inspection
Survey state and its position of car body is measured in real time, and by institute's detection information synchronous driving to controller and/or on
Position monitoring terminal；The controller or upper monitoring terminal are according to car body position detection device institute detection information to track
Detection robot is controlled, until the car body of track detection robot to be moved to the inspection of current detected track
Location sets place, completes the automatic positioning process of track detection robot；At this point, the car body and current two institutes detected
The spacing stated between track is identical, and the mold mounting rack be located at current two tracks detected just on
Side；
When carrying out track detection in step 203, held described in current two detected that the total station will test
Rail platform hold height above rail surface and axial centerline synchronizing information is sent to upper monitoring terminal.
Compared with the prior art, the present invention has the following advantages:
1, used automatic checkout equipment simple structure and reasonable design and processing and fabricating are easy, and input cost is lower.
2, used detection robot simple structure and reasonable design and processing and fabricating and easy to use, detection effect
Rate is high, economical and practical.
3, used automatic checkout equipment is easy to use and using effect is good, has the advantage that first, uses
Mecanum wheel, energy automatically walk, automatic guide, continuous work, working efficiency increase substantially；The second, detection efficiency is high, inspection
Survey the 2 times or more that efficiency is manual measurement；Third, detection accuracy are high, and mold installation is automatically performed by robot, every time when measurement
Mold is all that ensure that closely connected by spring compression, reduces manually installed bring error；4th, practical manipulation is easy, can be real
Now remote control, spacing/timing mobility operation；5th, mostly wheel mechanism can cross the plate stitch on fragment-free track slab, smooth running；6th,
Since hoofing part uses servo motor, walking displacement is very accurate, under the control of laser sensor signal, realizes various
Walking mode, location and installation prism are very quick；8 Mecanum wheels ensure that sew between plate to be passed through when driving；The
Seven, lithium battery power supply, can be with continuous work 10 hours or more；Using battery powered mode, it is very useful, transport it is all very convenient,
The battery of the using and the reserved ensure that and continuously work long hours.
4, detection method is easy, testing result is accurate and using effect is good, longitudinally extends using along non-fragment orbit to be detected
The track detection robot that direction is moved from the front to the back detects the track on non-fragment orbit to be detected one by one, and energy
The track symmetrically laid of left and right two being located on the same cross section of non-fragment orbit to be detected is synchronized and is detected, it can be big
Amplitude improves track detection efficiency, effectively shortens construction period, and testing result is accurate, while before operation rail installation
Just track can be detected, detects existing various problems again after effectively solving operation rail installation, is embodied in following
Several aspects: the first, can be greatly lowered adjustment pad turnover rate, save manpower, shorten the construction period；The second, it is able to achieve full line
Track 100% detects, and obtains complete data, provides very complete technology branch to the replacement of subsequent fastener base plate
It holds, it is ensured that the purpose for reducing cost, saving manpower, shortening the construction period.
5, widely applicable, it can be used for CRTSI type double-block type, CRTSIII plate-type non-fragment orbit track repetition measurement.Due to double
Block formula, the rail support groove of plate-type ballastless track are identical, therefore it goes without doing any change, can be used for applying for both engineering methods
Work.
In conclusion the present invention uses the track inspection moved from the front to the back along non-fragment orbit longitudinal extension to be detected
It surveys robot to detect the track on non-fragment orbit to be detected one by one, non-fragment orbit track detects the work of robot
With being to replace artificial, automatic, quickly detection track location parameter can be used in CRTS I type non-fragment orbit and CRTS
The track repetition measurement of type III non-fragment orbit.It can be with automatically walk, Automatic-searching track position, automatic fixed prism, control
Total station is detected by section, saves a survey crew, detection efficiency is artificial 2 times or more.Meanwhile it can obtain and protect automatically
Testing result is deposited, in this way based on detecting robot acquisition data, in conjunction with the requirement of orbital forcing, calculates each track
Spacer thickness and gauge block specification are turned up required for position, counts the shopping list of adjustment pad, while generating backing plate
Installation file instructs installer to install.It is finally reached precisely buying, accurate installation, the cost waste for reducing adjustment pad, section
About manpower, the purpose shortened the construction period, economic effect and social benefit are significant.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the use state of automatic checkout equipment of the present invention with reference to figure.
Fig. 2 is the structural schematic diagram that track of the present invention detects robot.
Fig. 3 is the front portion structure schematic diagram that track of the present invention detects robot.
Fig. 4 is the side structure diagram that track of the present invention detects robot.
Fig. 5 is the top view of Fig. 3.
Fig. 6 is the schematic block circuit diagram of automatic checkout equipment of the present invention.
Fig. 7 is the structural schematic diagram that the present invention clamps mold, mold supporting frame and prism.
Fig. 8 is the flow diagram of track automatic testing method of the present invention.
Fig. 9 is layout position illustration when track of the present invention detection robot is in detecting state.
Figure 10 is layout position illustration when track of the present invention detects robot completion front-rear center positioning.
Description of symbols:
1-non-fragment orbit to be detected；2-tracks；3-tracks detect robot；
4-clamp mold；4-1-die ontology；4-11-end template；
4-12-inner side template；4-13-outboard template；4-14-positioning plate；
4-2-connecting spring；5-vehicle frames；6-traveling wheels；
7-ground drive mechanisms；8-mold mounting rods；9-mold supporting frames；
10-vertical lifting mechanisms；11-lift drive mechanisms；12-prisms；
12-1-prism ontology；12-2-column；
13-total stations；14-upper monitoring terminals；15-remote controlers；
16-controllers；17-horizontal support rail faces；18-inside vice jaw surfaces；
19-outside vice jaw surfaces；20-positioning beads；21-distance measuring sensors；
22-triangle stiffeners.
Specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, non-fragment orbit track of the present invention detects automatically to be set
It is standby, including being moved from the front to the back along the longitudinal extension of non-fragment orbit 1 to be detected and can be same to non-fragment orbit to be detected 1 is located at
The track 2 that left and right two on one cross section is symmetrically laid synchronizes the track detection robot 3 detected；
Track detection robot includes that can translate from the front to the back on non-fragment orbit 1 to be detected and be located at left and right two
Car body between a track 2 symmetrically laid, the symmetrical support rail laid and can from top to bottom be installed in track 2 in left and right two
4, one, clamping mold in slot is installed on the car body and to two mold mounting rack for clamping mold 4 and being supported
With the elevating mechanism for driving the mold mounting rack to move up and down, the mold mounting rack and two clamping molds 4
It is connected as one, the elevating mechanism is installed between the mold mounting rack and the car body；The car body is along nothing to be detected
The longitudinal extension of tiny fragments of stone, coal, etc. track 1 is laid, the mold mounting rack and the perpendicular laying of the car body；Two clamping molds
4 are symmetrically arranged below the left and right sides of the mold mounting rack, and each clamping mold 4 is supported in detected track
On 2 support rail face, on each clamping mold 4 or mold mounting rack left and right ends are mounted on one and hold to detecting
The detection instrument that the elevation and axial centerline in the support rail face of rail platform 2 are detected；Two clamping molds 4 are located at
The left and right sides of the car body.
In actual use, elevation and central axis of each detection instrument to the support rail face of a track 2
Line position is detected.
In conjunction with Fig. 1 and Fig. 9, according to general knowledge known in this field, the track 2 is the platform of bearing operation rail on non-fragment orbit
Seat, the support rail face of track 2 are the table top of bearing operation rail.In conjunction with Fig. 1, it is provided on each track 2 for pacifying
The rail support groove of row rail is shipped, the bottom surface of the rail support groove is the support rail face, and inside and outside two sides of the rail support groove are oblique
Face (also referred to as vice jaw surface).Vice jaw surface in the rail support groove positioned inside is inside vice jaw surface 18, is located in the rail support groove
The vice jaw surface in outside is outside vice jaw surface 19.In the rail support groove bottom outside is provided with outer jaw and its bottom inside is provided with
Jaw.
In the present embodiment, the rail support groove is interior and bottom is supported in institute to be from top to bottom installed in for the clamping mold 4
State the mold on support rail face.
In actual use, the car body, the mold mounting rack and the clamping mold 4 with non-fragment orbit 1 to be detected
Orbital plane laid in parallel.
In the present embodiment, the car body, the mold mounting rack and the clamping mold 4 with non-fragment orbit 1 to be detected
It is in horizontal layout.
As shown in Figure 1, left and right two is respectively positioned on the same cross section of non-fragment orbit 1 to be detected and that symmetrically lays holds
Rail platform 2 is a pair of of track 2, also referred to as track 2 described in one group.Two inspections in track detection robot 3
Survey tool can synchronize detection to a pair track 2 in non-fragment orbit 1 to be detected.Also, to meet detection demand,
Before detection, the middle part that track detection robot 3 (the specifically described car body) is first moved to a pair of track 2 is needed,
Middle part in i.e. a pair of track 2 between two tracks 2.When actually being detected, at this point, the car body with work as
Spacing between preceding two tracks 2 detected is identical, and the mold mounting rack is located at currently two detected
The surface of the track 2.
In the present embodiment, each detection instrument is installed on the clamping mold 4.
To ensure that detection accuracy, each detection instrument are mounted on the surface for clamping mold 4 or equal
It is installed on the middle inside for clamping mold 4, in this way after clamping mold 4 and being installed in place, on clamping mold 4
The detection instrument, which also synchronizes, to be installed in place, and the detection instrument is in detection position at this time, just can by the detection instrument
The elevation and axial centerline that clamp the support rail face that mold 4 is supported accurately are detected.
Since each detection instrument is mounted on the surface for clamping mold 4 or is mounted on an institute
When stating the middle inside for clamping mold 4, thus actually being detected, it need to will only clamp mold 4 and clamp to detected track 2
Rail support groove middle inside is simultaneously supported in clamping mold 4 on the support rail face of detected track 2, and the detection instrument described so is just located
In accurate detection position, the installation position of the detection instrument is convenient for the laying position in the support rail face of detected track 2 at this time
Set it is consistent, by the detection instrument at its present position elevation and position measure, just can be to detected track 2
Support rail face elevation and axial centerline be determined.
In actual use, according to specific needs, the installation site of the detection instrument is adjusted separately, can be such as incited somebody to action
Two detection instruments are mounted on the left and right ends of the mold mounting rack, need to only be able to satisfy the inspection of a pair of track 2
Survey demand.
To meet mold installation accuracy, and ensure the detection accuracy of track 2, the clamping mold 4 is adaptively to block
Loaded on the adaptive mold in the rail support groove.
In the present embodiment, the adaptive mold includes the die ontology 4- that can be from top to bottom installed in the rail support groove
1, the die ontology 4-1 are mounted below the mold mounting rack by elastic mechanism.
In actual use, in conjunction with Fig. 7, since die ontology 4-1 is mounted under the mold mounting rack by elastic mechanism
Side makes to clamp mold 4 with corresponding adaptive ability, holding to clamp 4 energy simplicity of mold, rapid card loaded on track 2
In track slot, and it is supported in clamping mold 4 on the support rail face of track 2, so as to the elevation and axial centerline to track 2
Quickly, accurately detect.Also, to clamp the rail support groove clamping demand that mold 4 is able to satisfy different depth on track 2.
In addition, the positioning accuracy in track detection 3 moving process of robot is effectively reduced in the adaptive mold, i.e.,
Make to clamp mold 4 not at the surface of detected track 2 when detection, but the adaptive ability due to clamping mold 4, card
Die-filling tool 4 also can easy, rapid card be filled in the rail support groove of track 2, meet the detection demand of two tracks 2.Together
When, also avoid clamping because of construction error bring mold 4 cannot be located at be detected right above track 2 caused by detection process without
The problem that method carries out or detection error is big.
In the present embodiment, the detection instrument is prism 12, the perpendicular cloth in support rail face of the prism 12 and track 2
If.
In actual use, the detection instrument can also use other types of detection utensil, need to only be able to satisfy elevation survey
Amount and axial centerline measurement demand.
In the present embodiment, the non-fragment orbit 1 to be detected is in horizontal layout, all on the non-fragment orbit 1 to be detected
Track 2 is in horizontal layout, and the support rail face is the horizontal support rail face 17 in horizontal layout.
In the present embodiment, the prism 12 is arranged vertically.
Meanwhile non-fragment orbit track automatic checkout equipment of the present invention, it further include that branch stands on no tiny fragments of stone, coal, etc. rail to be detected
The total station 13 being used cooperatively on road 1 and with prism 12, two ribs of the total station 13 and track detection robot 3
The same stepping of track 2 that 12 groups of the mirror left and right two being in pairs on the same cross section of non-fragment orbit 1 to be detected are symmetrically laid
The detection device of row detection.
In the present embodiment, the total station 13 is located in the longitudinal center axis of non-fragment orbit 1 to be detected.Also, it is described
Total station 13 is located at the front or dead astern of track detection robot 3.
In the present embodiment, non-fragment orbit track automatic checkout equipment of the present invention further includes connecting with total station 13
The upper monitoring terminal 14 connect, the upper monitoring terminal 14 carry out two-way communication with total station 13.
The upper monitoring terminal 14 be the hand-held that is held by construction personnel monitor terminal and its between total station 13
Two-way communication is carried out with communication.In the present embodiment, the upper monitoring terminal 14 is smart phone.Actual use
When, the upper monitoring terminal 14 can also use other types of wireless control terminal, such as palm PC.
In the present embodiment, track detection robot 3 further includes controller 16 and carries out to the position of the car body
The car body position detection device of real-time detection, the car body and the elevating mechanism are controlled by controller 16；The vehicle
Body position detection device be laser detector and its lay on the car body (on specific vehicle frame 5), the car body position detection dress
Set connect with controller 16 and the two composition track detection robot 3 guiding and positioning device.The car body is electric vehicle.
The laser detector is conventional laser detection equipment or laser beam detecting sensor, need to only meet the position to the car body
It is detected.
Meanwhile non-fragment orbit track automatic checkout equipment of the present invention, it further include that robot 3 is detected to track
The remote controler 15 controlled, with communication between the remote controler 15 and upper monitoring terminal 14 and controller 16
Carry out two-way communication.Thus, practical manipulation is very easy.
In the present embodiment, the controller 16 carries out two-way communication with upper monitoring terminal 14.
To ensure that detection accuracy, the mold mounting rack, two clamping molds 4 and two detection instruments are equal
On the same cross section of the car body.
The mold mounting rack is located at the surface of the car body.Two clamping molds 4 are located at mold installation
Immediately below the left and right sides of frame, and two detection instruments are respectively positioned on immediately below the left and right sides of the mold mounting rack.
To further ensure that the installation accuracy of die ontology 4-1, and ensure the detection effect of track 2, the mold sheet
The cross sectional shape and size of body 4-1 is identical as the cross sectional shape and size of the rail support groove.In this way, mold can not only be made
Ontology 4-1 (i.e. clamping mold 4) is installed in the rail support groove of detected track 2, and die ontology 4-1 can be made (to clamp
Mold 4) positioned at the surface in the support rail face of detected track 2, die ontology 4-1 (i.e. clamping mold 4) is located at and is examined at this time
It surveys and surveys middle part in the rail support groove of track 2.
As shown in figure 9, described in each rail support groove inside vice jaw surface 18 and outside vice jaw surface 19 between spacing by
Under it is supreme be gradually increased, thus the transverse width of the die ontology 4-1 is gradually increased from the bottom to top, the die ontology 4-1
Bottom shape and size it is identical as the shape and size in the support rail face, the bottom surface the die ontology 4-1, which is supported in, to be examined
It surveys on the support rail face of track 2, and the bottom surface of the die ontology 4-1 is laid with the support rail face of detected track 2 in parallel.
In the present embodiment, as shown in fig. 7, the die ontology 4-1 includes the symmetrical laying of end template 4-11 and left and right two
The side template of top at left and right sides of the end template 4-11, the lateral surface of two side templates is inclined surface, two institutes
Side template is stated to be respectively supported at left and right sides of the inside of the rail support groove.The end template 4-11 and two side templates are
Straight template and three are rectangle template, and two side templates are respectively the inner side template laid close to the car body side
The 4-12 and outboard template 4-13 laid far from the car body side.
In actual use, the inner side template 4-12 is supported on the vice jaw surface 18 of inside, the outboard template 4-13 support
In on outside vice jaw surface 19.In this way, enabling to clamp 4 simplicity of mold, quickly and smoothly and precisely clamping to detected track 2
Rail support groove in, and enable end template 4-11 gentle support on the support rail face of detected track 2, while making to clamp mold 4
It is installed in the rail support groove middle inside of detected track 2, the detection instrument is accordingly made to be in the support rail of detected track 2
Slot middle inside guarantees detection accuracy to can ensure that the detection effect of detected track 2.
In the present embodiment, the inner side template 4-12 is laid with the inside vice jaw surface 18 of detected track 2 in parallel, institute
It states outboard template 4-13 and is laid with the outside vice jaw surface 19 of detected track 2 in parallel.
The end template 4-11 is supported on the support rail face of detected track 2.The end template 4-11 is held with detecting
It is laid in parallel in the support rail face of rail platform 2.The shape and size of the end template 4-11 with the support rail face of detected track 2
Shape and size are identical.
By further enable to clamp mold 4 it is easy, quickly and smoothly and precisely clamp extremely detection track 2 support rail
In slot, and enable end template 4-11 gentle support on the support rail face of detected track 2, while to further ensure that clamping mould
Tool 4 is clamped to the stationarity and position precision in rail support groove in detected track 2, the end template 4-11 and two sides
Multiple positioning beads 20 are provided in template.The positioning bead 20 be ball and its be steel ball.It is set on the end template 4-11
The positioning bead 20 set is installed between end template 4-11 and the support rail face of detected track 2, and on the end template 4-11
All positioning beads 20 being arranged are respectively positioned on same plane.Set positioning bead 20 is installed in this on each side template
Between side template and its vice jaw surface supported, and all positioning beads 20 being arranged on each side template are respectively positioned on same put down
On face.
In actual use, support rail face and the vice jaw surface injustice of detected track 2 also be can effectively solve by positioning bead 20
Gentle support problem when whole makes the face of end template 4-11 and each side template support problem be converted into multiple positioning beads 20
Multi-point support problem.In the present embodiment, the number of installed positioning bead 20 on the end template 4-11 and each side template
Amount is no less than 3.It is provided with the rolling groove installed for positioning bead 20 on the end template 4-11 and each side template,
The rolling groove is hemispherical groove.
When actual installation, the positioning bead 20 on the end template 4-11 is mounted on the bottom end template 4-11, each side
Positioning bead 20 in template is installed on the lateral wall of the side template.
In the present embodiment, the elastic mechanism includes multiple connecting spring 4-2, and multiple connecting spring 4-2 are all connected with
Between die ontology 4-1 and the mold mounting rack.
Thus, the features simple structure of the elastic construction, and it is easy to use, and using effect is good.
In the present embodiment, the quantity of the connecting spring 4-2 is 4, and 4 connecting spring 4-2 are along the circumferential direction equal
Even laying.
Also, the detection instrument is located at the center between 4 connecting spring 4-2.
In the present embodiment, the structure snd size of multiple connecting spring 4-2 are all the same and its bottom is both secured to bed die
Plate 4-11, multiple connecting spring 4-2 be in it is parallel lay and its with the fixed perpendicular laying of end template 4-11.It is practical
In use, making clamping mold 4 have corresponding adaptive deformability by multiple connecting spring 4-2, on the one hand can incite somebody to action
Clamping mold 4 is easy, rapid card is filled in the rail support groove of detected track 2, and there are hold in the case of different construction errors for satisfaction
The normal detection demand of rail platform 2；On the other hand clamping mold 4 is protected, increases the service life for clamping mold 4.
In the present embodiment, the detection instrument (i.e. prism 12) is laid on end template 4-11 and it is located at end template 4-11
Surface, in this way wait clamp mold 4 clamp to detected track 2 rail support groove in after, since end template 4-11 is supported in
On the support rail face of detected track 2 and end template 4-11 is located at right above the support rail face of detected track 2, the inspection at this time
Survey tool (i.e. prism 12) is located at right above the support rail face of detected track 2.Also, it clamps mold 4 to occur adaptively to deform
When will not influence the testing result of the detection instrument.
Thus, the support rail face of the elevation Yu detected track 2 of detection instrument (the i.e. prism 12) present position at this time
Elevation it is identical, the support rail face of the position and detected track 2 of detection instrument (the i.e. prism 12) present position at this time
Axial centerline is identical.It, just can be to institute by measuring elevation and the position of detection instrument (the i.e. prism 12) present position
The axial centerline for detecting the support rail face of track 2 carries out easy, accurate determination.Herein, the support rail face of detected track 2
Axial centerline refer to detected track 2 support rail face center.In the present embodiment, to detected track 2
When the elevation in support rail face and axial centerline are detected, the elevation in the support rail face of detected detected track 2 and
Axial centerline information by detection track 2 support rail face center position elevation and three dimensional local information (i.e. three
Tie up coordinate information).
In the present embodiment, the mold mounting rack includes and the mold mounting rod 8 of the perpendicular laying of the car body and left and right
Two mold supporting frames 9 for being symmetrically laid in 8 both ends of mold mounting rod and being supported for clamping mold 4, the mold mounting rod 8
In the surface of the car body；The bottom of each mold supporting frame 9 is mounted on the clamping mold 4, Mei Gesuo
It states and clamps the underface that mold 4 is respectively positioned on a mold supporting frame 9.
Two mold supporting frames 9 are respectively positioned on the same cross section of the car body with the mold mounting rod 8, and two
A mold supporting frame 9 is fastenedly connected with the mold mounting rod 8 and is integrated.In actual use, the prism 12 can also
To be installed on mold supporting frame 9.
In the present embodiment, the prism 12 includes prism ontology 12-1 and the column being supported to prism ontology 12-1
12-2, the prism ontology 12-1 is supported in the surface of column 12-2 and the two is respectively positioned on the surface of end template 4-11,
The upper end of the column 12-2 extend out to 9 outside of mold supporting frame, is provided in the middle part of the mold supporting frame 9 and installs for column 12-2
Installing port.
To ensure support effect, the column 12-2 and the perpendicular laying of end template 4-11.In the present embodiment, the column
12-2 is arranged vertically.
When actual installation, the bottom the column 12-2 is fixed on end template 4-11.The elastic mechanism is installed on mold
Between 9 end template 4-11 of support frame.
In the present embodiment, it is in the parallel mounting plate laid, the installing port that the mold supporting frame 9, which is with end template 4-11,
On the one hand meet simplicity, the Fast Installation demand of prism 12, on the other hand the installing port ensures that bullet occurs for the elastic mechanism
Property deformation when, will not influence the position of prism 12, it is ensured that the detection accuracy of track 2.
To ensure bonding strength, the junction between the mold supporting frame 9 and mold mounting rod 8 is provided with triangle and adds
Strength plate 22.
In the present embodiment, the prism ontology 12-1 is located at 9 top of mold supporting frame.
Also, the mold supporting frame 9 is the prism that conventional total stations use.
As shown in the above, in the present embodiment, the die ontology 4-1 is mounted on mold supporting frame by elastic mechanism
9 lower sections.Thus, the die ontology 4-1 and the elastic mechanism have corresponding adaptive ability, and the detection instrument
It is installed on die ontology 4-1.
In the present embodiment, the multiple connecting spring 4-2 for forming the elastic mechanism are arranged vertically, the mould
Having ontology 4-1, mold mounting rod 8 and mold supporting frame 9 is in horizontal layout.
To further ensure that the installation accuracy for clamping mold 4, the die ontology 4-1 further includes two and is symmetrically laid in bottom
Positioning plate 4-14 below the front and rear sides template 4-11, two positioning plate 4-14 in it is parallel lay and the two and end template
The perpendicular laying of 4-11.In the present embodiment, two positioning plate 4-14 are arranged vertically.Two positioning plate 4-14
It is located at the middle part front and rear sides of end template 4-11.
Clear distance and the front and back of detected track 2 between two positioning plate 4-14 is identical to thickness.It detects and holds
Rail platform 2 is installed between two positioning plate 4-14, before two positioning plate 4-14 are located at detected track 2
Two sides afterwards.In the present embodiment, the positioning plate 4-14 is arranged vertically.Two positioning plate 4-14 and two side forms
Plate also forms guiding device when die ontology 4-1 is clamped downwards.
Also, it is mounted on multiple positioning beads 20 on each positioning plate 4-14, is installed on the positioning plate 4-14
Positioning bead 20 is between positioning plate 4-14 and track detected 2.
In the present embodiment, the elevating mechanism includes two symmetric supports in left and right in the mold mounting rack and the car body
Between vertical lifting mechanism 10 and lift drive mechanism 11 that vertical lifting mechanism 10 is driven.Wherein, described vertical
Elevating mechanism 10 is supported between mold mounting rod 8 and the car body.
In actual use, the lift drive mechanism 11 is electric driving mechanism or hydraulic drive mechanism.
In the present embodiment, the lift drive mechanism 11 is electric driving mechanism, and the lift drive mechanism 11 is by controlling
Device 16 carries out control and it connect with controller 16.
In the present embodiment, the car body includes vehicle frame 5, is mounted on 5 bottom of vehicle frame and vehicle frame 5 is driven to be moved forward and backward
Walking mechanism and the hoofing part mechanism driven to the walking mechanism, the hoofing part mechanism are electric driving mechanism
And it is sequentially connected with the walking mechanism.
The walking mechanism includes multiple traveling wheel groups for being installed on 5 bottom of vehicle frame from front to back, multiple traveling wheels
The structure of group is all the same and it is laid on same plane；
Each traveling wheel group includes one and is symmetrically arranged on the wheel shaft of the perpendicular laying of vehicle frame 5 and left and right two
The traveling wheel 6 of the wheel shaft left and right ends, the traveling wheel 6 and the perpendicular laying of the wheel shaft, two traveling wheels 6 are in flat
Row is laid and the two is located at below the left and right sides of vehicle frame 5.Each traveling wheel group includes that left and right two is installed on
Traveling wheel 6 on the same wheel shaft.
In the present embodiment, the wheel shaft is in horizontal layout, and the traveling wheel 6 is arranged vertically.
The walking mechanism includes multiple traveling wheel groups for being installed on 5 bottom of vehicle frame from front to back, described in the present embodiment
Multiple traveling wheel groups are in uniformly distributed in walking mechanism, and the structure snd size of multiple traveling wheel groups are all the same.Using
Multiple traveling wheel groups have the advantage that first, keep track detection 3 structure of robot more stable, and examine track
It is more stable to survey the movement of robot 3；The second, the seam on non-fragment orbit 1 to be detected between former and later two track plates, will not influence and hold
The steady forward movement of rail platform detection robot 3.
In the present embodiment, the traveling wheel 6 is Mecanum wheel.
In the present embodiment, the hoofing part mechanism carries out control by controller 16 and it connect with controller 16.
The hoofing part mechanism includes multiple ground drive mechanisms 7 driven to the traveling wheel group, each
The traveling wheel group is driven by a ground drive mechanism 7；Each ground drive mechanism passes through
Transmission mechanism and the wheel shaft of driven traveling wheel group are sequentially connected.
The ground drive mechanism is servo electrical drive system.
Each ground drive mechanism carries out control by controller 16 and it connect with controller 16.
In the present embodiment, the quantity of included traveling wheel group is four in the walking mechanism, four traveling wheel groups
Including two be located at the mold mounting rack on front side of front side traveling wheel group and two be located at the mold mounting rack on rear side of after
Side traveling wheel group.
In actual use, according to specific needs, the quantity to traveling wheel group included in the walking mechanism and each row
The installation position for walking wheel group adjusts accordingly respectively.
The multiple traveling wheels 6 for being located at 5 left side lower section of vehicle frame in the present embodiment, in the walking mechanism are laid in together
In one plane, multiple traveling wheels 6 in the walking mechanism positioned at 5 lower right-hand side of vehicle frame are laid on same plane.
The vehicle frame 5 be rectangle and its along non-fragment orbit 1 to be detected longitudinal extension lay.
In the present embodiment, the vehicle frame 5 is in horizontal layout, and multiple traveling wheel groups are laid on same plane.
The longitudinal length of the vehicle frame 5 is 850mm~950mm and its transverse width is 450mm~550mm.The support rail
The transverse width (i.e. two spacing clamped between 4 outer edge of mold) that platform detects robot 3 is 1800mm~2000m,
The longitudinal length for clamping mold 4 is 300mm~330mm.In actual use, according to specific needs, track is detected
Transverse width (i.e. two spacing clamped between 4 outer edge of mold), the longitudinal length of vehicle frame 5 and the transverse direction of robot 3
Width and the longitudinal length for clamping mold 4 adjust accordingly.
As shown in the above, track detection robot 3 include one can be with the car body of omnidirectional running and one
Mold that can be closely connected with support rail vice jaw is covered, elevation and middle line that the prism 12 being fixedly mounted on mold detects track 2 are passed through
Error.Car body is supported by a set of 8 Mecanum wheels, is realized the motor patterns such as straight trip, diagonal, traversing, original place rotation, is adapted to
The requirement run in small space.Meanwhile one set of lifting mechanism being installed on car body, there are two types of driving methods: motor connection lever mechanism
Driving lifting and hydraulic mechanism driving, can also use other driving methods.
In the present embodiment, a set of demountable crossbeam (i.e. mold mounting rod 12), crossbeam are installed on the elevating mechanism
Both ends are installed by Measurement die and prism 12.When walking before and after track detects robot 3, clamps mold 4 and rise automatically；When holding
When rail platform detects 3 measurement process of robot, clamping mold 4, which is automatically fallen off, to be detected.
Data, control measurement are exchanged each other by wireless signal between the track detection robot 3 and total station 13
The automatic progress of work.
Track detection robot 3 is a relatively independent cell cube in itself, its first item effect is to replace
The artificial installment work for efficiently, precisely completing prism 12；Section 2 effect is to control the measurement of total station 13, obtains testing number
According to.Wherein, the installation process of prism 12 just by clamp mold 4 be mounted on detection track 2 card holding trough in installation process,
Mold 4 will be clamped from top to bottom to be mounted in the card holding trough of detected track 2, just complete the installation process of prism 12.
Track detection robot 3 can complete the installment work of prism 12, and track detects robot 3 with following
Function: the first, automatically walk；The second, it Automatic-searching track 2 and positions；Third, automatic installation prism 12；4th, judgement be
It is no to be installed in place；5th, abnormal conditions are alarmed.As shown in the above, the main task of track detection robot 3 is
The placement of prism 12 is completed in a manner of autonomous.
In order to improve measurement efficiency, track detection robot 3 can disposably measure two on a section
The detection process of a track 2 (i.e. a pair of of track 2), one two prisms 12 of subsynchronous placement of most important energy, in order to ensure
Prism 12 is placed on the detection index point (i.e. the center position in the support rail face of track 2) of track 2, is devised with support rail
The contoured surface (i.e. support rail face) of platform 2 is the mold of positioning datum, can effectively ensure detection accuracy.Wherein, the support rail face of track 2
Center position be track 2 support rail face central point.
It is medium not in bridge floor, roadbed section, tunnel since the bayonet (i.e. rail support groove) of track 2 is a continuous curved surface
With section, sleeper spacing is different on the sleeper or track plates of collocation.It is described to reduce to robot localization required precision
It clamps mold 4 and uses adaptive mold, be not able to satisfy the detection accuracy demand of track 2, while to the positioning accuracy of robot
It is required that low.
When actual processing, according to the requirement of the size of track plates and track 2, carrying, the storage requirement of process is used in combination,
The structure size of track detection robot 3 is determined.Track detection 3 track of robot detection robot
Main structure, which is one, to use wheat with the trolley of Omni-mobile in order to obtain flexibly quickly movement in small space
Ke Namu wheel construction.Straight trip, tiltedly may be implemented by the direction of rotation of four special wheels and the control of revolving speed in Mecanum train
The motion modes such as capable, traversing, pirouette.The characteristics of Mecanum wheel be on the basis of conventional wheel, on wheel rim again along with
Several small rollers that can be rotated freely are installed in direction to axis at an angle, and in this way in wheel rolling, small roller will be produced
Raw lateral movement.By the coordinated control of Mecanum wheel being applied in combination with each vehicle wheel rotation direction and speed, vehicle can be made
Body obtains the movement of any direction in plane of movement and rotation.
The train of track detection robot 3 be it is electrically driven by 4 sets of servos, adjust revolving speed with can be convenient
With option, therefore the movement of speed change, any direction may be implemented.
Due to there is the gap of 100mm or so between road bed board, in order to guarantee that robot can pass through, actually in every side
There are 4 Mecanum wheels, stress and control are more complicated.
Motion positions are carried out to the car body by Mecanum train, but due to moving of car error, track 2
The influence of the factors such as foozle is still difficult quickly to position prism 12 if the mold for placing prism 12 is rigid structure,
The present invention takes the flexible Adaptable System with spring mechanism (the i.e. described elastic mechanism) thus, installs prism 12.
The upper fixing portion (i.e. mold supporting frame 9) of the adaptive mold is linked to be by cross bar (i.e. mold mounting rod 8)
One is mounted on the car body of track detection robot 3, carries out lifting movement by the elevating mechanism；The adaptive mode
The lower part of tool is hung by spring mechanism that is scalable and swinging, and it is fixed to install bottom surface detent ball (i.e. positioning bead 20), side
Position ball, side jacking mechanism etc., prism 12 is mounted on die ontology 4-1, when track detection robot 3 walks in place
Afterwards, mold mounting rod 8 declines automatically, under the vertical pressure effect of mold mounting rod 8, carries out to two clamping molds same
Step pushes, simultaneously because the die ontology 4-1 for clamping mold 4 is made on the inclined-plane (i.e. vice jaw surface) of track 2 with automatic guide
With, die ontology 4-1 enters the bayonet of track 2 under the guiding role, and with (the i.e. described support rail of bayonet in track 2
Slot) bottom surface (i.e. support rail face) and side (i.e. vice jaw surface) it is closely connected, 12 fix in position of prism at this time completes the installation of prism 12
Journey.
It, finally can not essence since still there are error in the shape of track 2, position although car body has carried out precision positioning
It is really in place, therefore this automatic checkout equipment devises the adaptive mold positioning system of a set of resilient suspension, passes through the oblique of track 2
Face (i.e. vice jaw surface) guiding role, last error is eliminated automatically, enables bayonet of the prism 12 smoothly with track 2
It coincide.Herein, the adaptive mold can eliminate the error in place within the scope of ± 5mm.
The vehicle frame 5 includes supporting frame, and the forward upper of support frame as described above body has the front side storage chamber of upper opening, institute
The upper back for stating supporting frame has a rear side storage chamber of upper opening, the front side storage chamber and the rear side storage chamber it is upper
Portion's opening is covered by the cover board that can be spun upside down, and is connected between the cover board and support frame as described above body by hinge
It connects.
In the present embodiment, the lift drive mechanism 11 and ground drive mechanism 7 are powered by battery, described
Battery is placed in the rear side storage chamber.
Parameter input unit and control panel, the parameter input unit are provided on cover board in the front side storage chamber
It is connect with controller 16 with control panel.The parameter input unit is touch display screen.
In the present embodiment, the car body position detection device includes or so two groups of distance measuring sensors 21 symmetrically laid, two
The group distance measuring sensor 21 is laid in the left and right sides of the car body respectively, and distance measuring sensor 21 described in every group includes multiple
The distance measuring sensor 21 being laid on same plane from front to back.
In the present embodiment, distance measuring sensor 21 described in two groups is laid in same level.The distance measuring sensor 21
For laser range sensor.
In actual use, the car body position detection device can also use other types of location detecting apparatus, only need
The position of the car body can be measured in real time.
In the present embodiment, distance measuring sensor 21 described in every group includes two distance measuring sensors 21, two surveys
It is respectively symmetrically laid in away from sensor 21 below the front and rear sides of the mold mounting rack.
Two distance measuring sensors 21 are symmetrically laid in below the front and rear sides of the mold mounting rack, and described in two
Distance measuring sensor 21 and the mold mounting rack are in parallel laying and spacing between the two and the mold mounting rack is identical.
Spacing d in the present embodiment, in distance measuring sensor 21 described in every group between two distance measuring sensors 210It is less than
D.Wherein, D by current detection track 2 longitudinal width.The longitudinal width of current detected track 2 is currently is detected
Width of the track 2 in 1 longitudinal extension of non-fragment orbit to be detected.
In the present embodiment, each distance measuring sensor 21 is connect with controller 16, and each ranging sensing
Device 21 is communicated by controller 16 with upper monitoring terminal 14.Each distance measuring sensor 21 is by institute's detecting distance
Synchronizing information is sent to controller 16, and the controller 16 is by the received range information synchronized upload of institute to upper monitoring terminal
14.The controller 16 carries out true according to position of four distance measuring sensors, the 21 detecting distance information to the car body
It is fixed, and ground drive mechanism 7 is controlled by the controller 16, reach and track detection robot 3 is led
To the purpose with positioning, moves forward to track detection robot 3 at current detected 2 present position of track and (examine
Location sets place)；After track detection robot 3 move forward in place after, then by controller 16 to lift drive mechanism 11 into
Row control, completes the installation process of prism 12, and total station 13 matches completion current two detected with prism 12 and holds later
The synchronization detection process of rail platform 2；After the completion of detection, then pass through controller 16 and lift drive mechanism 11 is controlled, by prism
12 move up；Then, then by controller 16 control to ground drive mechanism 7, track is detected into robot 3
Move forward to next inspection positions.It in actual use, can also be by upper monitoring terminal 14 to traction drive machine
Structure 7 and lift drive mechanism 11 are controlled.
In actual use, the controller 16 is according to four distance measuring sensor 21 range informations detected to support rail
The walking position and direction of travel of platform detection robot 3 are determined, and accordingly complete the guiding control of track detection robot 3
System.Thus, guiding control is entirely to be automatically performed by track detection robot 3, it is ensured that track detection robot 3 is located at
Middle part between current two tracks 2 detected.The detection direction of the distance measuring sensor 21 is the cross of the car body
To width direction.
A kind of non-fragment orbit track as shown in Figure 8 carries out automatic testing method, comprising the following steps:
Step 1: preparation before detecting: track detection robot 3 is lain against on non-fragment orbit 1 to be detected；
Step 2: detection robot is translate forward and the synchronous detection of track: by track detection robot 3 along to be detected
The longitudinal extension of non-fragment orbit 1 moves from the front to the back, from the front to the back track described in moving process detection robot 3 by
The track 2 described in the multiple groups on non-fragment orbit 1 to be detected detects respectively before backward；The detection of track 2 described in multiple groups
Method is all the same, and track 2 described in every group includes on two same cross sections for being located at non-fragment orbit 1 to be detected and left and right
The track 2 symmetrically laid；
When the track 2 described in any group on non-fragment orbit 1 to be detected detects, process is as follows:
Step 201 clamps mold up-regulation and the Forward of detection robot in place: being pacified the mold by the elevating mechanism
It shelves and moves up, until two clamping molds 4 are respectively positioned on current 2 top of detected track；Track is detected again
Robot 3 moves forward at current detected 2 present position of track, and the robot 3 of track detection at this time is in walking shape
State；
Step 202 clamps mold decline: being moved down the mold mounting rack by the elevating mechanism, until two
A mold 4 that clamps is clamped to the rail support groove of current two tracks 2 detected, is detailed in Fig. 9；
Step 203, track detection: pass through the detection instrument holding to current two tracks 2 detected
Height above rail surface and axial centerline are detected respectively；
Step 204, next group of track detection: according to method described in step 201 to step 203, to next group of institute
Track 2 is stated to be detected；
Step 204 is repeated several times in step 205, until completing the detection of all tracks 2 on non-fragment orbit 1 to be detected
Journey.
In the present embodiment, detection instrument described in step 203 be prism 12, the prism 12 be arranged vertically and its with
The perpendicular laying in support rail face of track 2；
The automatic checkout equipment further includes that branch stands on the whole station being used cooperatively on non-fragment orbit 1 to be detected and with prism 12
Two 12 groups of prisms of instrument 13, the total station 13 and track detection robot 3 are in pairs at non-fragment orbit 1 to be detected
The track 2 that left and right two on the same cross section is symmetrically laid synchronizes the detection device detected；
Before being detected in step 1 when preparation, vertical total station 13 need to be also propped up on non-fragment orbit 1 to be detected；
When carrying out track detection in step 203, by the detection device to current two support rails detected
Platform 2 hold height above rail surface and axial centerline is detected respectively.
When carrying out track detection in the present embodiment, in step 203, what the total station 13 will test is currently detected
Two tracks 2 hold height above rail surface and axial centerline synchronizing information is sent to upper monitoring terminal 14.
When carrying out track detection in the present embodiment, in step 203, the support rail face of two tracks 2 detected
Elevation and axial centerline information are the elevation and three-dimensional position letter of the support rail face center position of two tracks 2
Breath.
When carrying out track detection in step 203, by the detection device to the prism of the two at this time prisms 12
The elevation and three dimensional local information (i.e. three-dimensional coordinate) of ontology 12-1 central point are detected；Further according to the prism ontology 12-1
Vertical spacing between central point and the bottom surface the die ontology 4-1, to the support rail face center position of two tracks 2
Elevation and three dimensional local information (i.e. three-dimensional coordinate) be determined.
In the present embodiment, multiple positioning beads 20 that 11 bottom of end template is installed are in the same plane, and
The bottom for multiple positioning beads 20 that 11 bottom of end template is installed be generally aligned in the same plane and, 11 bottom of end template is installed
Each 20 bottom of positioning bead is supported on the support rail face of detected track 2.Multiple institutes that 11 bottom of end template is installed
Stating plane locating for 20 bottom of positioning bead is the bottom surface the die ontology 4-1.Wherein, the prism ontology 12-1 central point and institute
The vertical spacing stated between the bottom surface die ontology 4-1 is denoted as h, once die ontology 4-1 is after processing is completed, h just has determined that and it
For a fixed value.
The elevation and three dimensional local information (i.e. three-dimensional coordinate) of the support rail face center position of any one track 2
When being determined, according to the elevation of the prism ontology 12-1 central point of the prism 12 detected to the track 2 and three-dimensional position
Confidence breath (i.e. three-dimensional coordinate) is determined.Wherein, the rib detected to the track 2 obtained is measured by total station 13
The three-dimensional coordinate of the prism ontology 12-1 central point of mirror 12 is denoted as (x, y, z), it follows that the prism that the track 2 is detected
The elevation of 12 prism ontology 12-1 central point is y, and the elevation of the support rail face center position of the track 2 is y-h, should
The three-dimensional coordinate of the support rail face center position of track 2 is (x, y, z-h).
Therefore, when carrying out track detection in the present embodiment, in step 203, to current two support rails detected
The support rail face axial centerline of platform 2 is detected respectively, specifically to current two tracks 2 detected
The three-dimensional coordinate of support rail face center position is detected respectively.
When detecting robot Forward in the present embodiment, in step 201 in place, pass through remote controler 15 or upper monitoring terminal 14
The car body and the elevating mechanism are controlled；
When carrying out clamping mold decline in step 202, by remote controler 15 or upper monitoring terminal 14 to the elevator
Structure is controlled.
It in actual use, can also be by controller 16 to the car body when detecting robot Forward in step 201 in place
(i.e. ground drive mechanism 7) and the elevating mechanism (i.e. lift drive mechanism 11) are directly controlled, and are realized automatically to card
Die-filling tool 4 carries out elevating control.
After clamping mold decline in the present embodiment, in step 202, the controller 16 is by upper monitoring terminal 14 to complete
Instrument 13 of standing sends detection instruction, and the total station 13 enters step 203 after receiving the detection instruction, 13 benefit of total station
Examine hold height above rail surface and the axial centerline of current two tracks 2 detected respectively with prism 12
It surveys.
Track is detected in 3 movement forward of robot in step 201, the car body position detection device is in inspection
Survey state and its position of car body is measured in real time, and by institute's detection information synchronous driving to controller 16 and/or
Upper monitoring terminal 14；The controller 16 or upper monitoring terminal 14 are according to car body position detection device institute detection information
Track detection robot 3 is controlled, is currently detected until the car body of track detection robot 3 is moved to
The inspection positions of track 2 complete the automatic positioning process of track detection robot 3；At this point, the car body and current institute
Spacing between two tracks 2 of detection is identical, and the mold mounting rack is located at currently described in two detected
The surface of track 2；
When carrying out track detection in step 203, described in current two detected that the total station 13 will test
Track 2 hold height above rail surface and axial centerline synchronizing information is sent to upper monitoring terminal 14.
In the present embodiment, track is detected in 3 movement forward of robot in step 201, the car body position inspection
Survey device is in detecting state and it is measured in real time the position of the car body, and institute's detection information synchronous driving is extremely controlled
Device 16 processed；The controller 16 carries out track detection robot 3 according to car body position detection device institute's detection information
Control, until the car body of track detection robot 3 is moved to the inspection positions of current detected track 2, it is complete
At the automatic positioning process of track detection robot 3.
As shown in figure 9, track detects detecting state locating for robot 3 after the completion of clamping mold decline in step 202.
In the present embodiment, track is detected in 3 movement forward of robot in step 201, the car body position inspection
Survey device is in detecting state and it is measured in real time the position of the car body, and institute's detection information synchronous driving is extremely controlled
Device 16 processed；The received synchronizing information of institute is uploaded to upper monitoring terminal 14 again by the controller 16.In actual use, the vehicle
Its detection information can also be directly uploaded to upper monitoring terminal 14 by body position detection device.
In the present embodiment, each distance measuring sensor 21 (i.e. laser range sensor) be at present position with should
The sensor that spacing between the inner sidewall of 21 outside track 2 of distance measuring sensor is measured in real time.
In the present embodiment, distance measuring sensor 21 described in every group includes former and later two described distance measuring sensors 21, two institutes
Stating distance measuring sensor 21 is respectively that rear side distance measuring sensor and the front side ranging immediately ahead of the rear side distance measuring sensor pass
Sensor.
In the present embodiment, each distance measuring sensor 21 in horizontal layout and its with the perpendicular cloth of the car body
If.
In the present embodiment, 4 laser range sensor range informations detected, and held by the control of controller 16
The direction of travel and walking position of rail platform detection robot 3, it is ensured that track detection robot 3 is moved to current detected support rail
The inspection positions of platform 2.When track detection robot 3 is moved to the inspection positions of current detected track 2, support rail
Platform detects robot 3 and is located at middle part between current two tracks 2 detected, at this time the car body with currently detected
Two tracks 2 between spacing it is identical, and the mold mounting rack is located at current two support rails detected
The surface of platform 2.Four laser range sensors and controller 16 form the guiding and positioning of track detection robot 3
Device.
In the present embodiment, track is detected in 3 movement forward of robot in step 201, the guiding and positioning
Device positions track detection robot 3.Also, track is detected by robot by the guiding and positioning device
3 car body is moved to the inspection positions of current detected track 2, completes the automatic fixed of track detection robot 3
Position process.
In the present embodiment, when the guiding and positioning device position track detection robot 3, including following step
It is rapid:
Step A1, car body front-rear center positions: track described in step 201 detects in 3 movement forward of robot,
Four laser range sensors be in detecting state and its by range information detected, real-time transmission to controller
16；The controller 16 is according to four laser range sensor range informations detected to the driving actuation
7 are controlled, until the car body is moved on the cross central line of current detected track 2, the controller 16 is again
It controls track detection robot 3 to stop moving forward, completes the front-rear center positioning of track detection robot 3 at this time
Process, as shown in Figure 10；
Step A2, car body positioned parallel: track detection robot 3 stops after moving forward in step A1, passes through one group
The distance measuring sensor 21 is carried out apart from detection and it is by range information real-time transmission detected to controller 16, the control
Device 16, which judges whether the car body is in direction at this time according to the group distance measuring sensor 21 range information detected, to be deviateed
State, and the direction of the car body is adjusted according to judging result and by controlling the driving actuation 7, until
The car body is laid with current detected track 2 in parallel, and the car body is in non-deviation state at this time, completes the car body
Direction correcting process；
Step A3, it car body or so centralized positioning: after completing car body positioned parallel in step A2, is passed by ranging described in two groups
Sensor 21 is carried out apart from detection and it is by range information real-time transmission detected to controller 16, and the controller 16 is according to two
Whether the car body is in lateral position deviation state to the judgement of the group distance measuring sensor 21 range information detected at this time, and
The lateral position of the car body is adjusted according to judging result and by controlling the driving actuation 7, until institute
The spacing stated between car body and current two tracks 2 detected is equal, and the car body is in lateral position not at this time
Deviation state completes the lateral position correction process of the car body；
After completing car body positioned parallel in step A3, all distance measuring sensors 21 are examined in distance measuring sensor 21 described in two groups
The range information of survey is equal.
To be further ensured that track detects the automatic positioning precision of robot 3, in the present embodiment, vehicle is completed in step A3
After body or so centralized positioning, the controller 16 also need it is one or many repeat step A2 to A3, until two groups described in ranging pass
All distance measuring sensors 21 range information detected is equal in sensor 21, to ensure to be located at the ipsilateral front and back two of the car body
A distance measuring sensor 21 range information detected is equal (the i.e. described car body is parallel with detected track 2), while being located at institute
The range information detected of distance measuring sensor 21 stated at left and right sides of car body is equal, i.e., it is believed that track has detected robot 3
Target position, i.e. inspection positions are reached, the automatic positioning process of track detection robot 3 is completed, enters step later
202。
When carrying out front-rear center positioning in step A1, track described in step 201 detects 3 movement forward of robot
In, the back edge of current detected track 2 is moved into the detection range of the front side laser sensor to the car body
When, current detected track 2 enters the detection range of the car body position detection device；And then it is right by controller 16
Driving actuation 7 is controlled, and it is d that the car body, which is continued to move along, and moves forward distance；Then, pass through control
16 pairs of driving actuations 7 of device carry out control make the car body stop moving forward (i.e. track detection robot 3 stop to
Preceding movement), complete the front-rear center position fixing process of track detection robot 3.Wherein, d=d0+d1,D
By the longitudinal width of current detection track 2, d0For two distance measuring sensors 21 in distance measuring sensor 21 described in every group
Between spacing.
Track described in step 201 detects in 3 movement forward of robot, and four laser range sensors are equal
In apart from detecting state；The back edge for being moved to current detected track 2 to the car body enters the rear side laser
When the detection range of sensor, change dramatically occurs for the front side laser sensor distance value detected, at this time controller 16
It can determine that the car body is moved to according to the front side laser sensor range information detected (i.e. distance value) currently to be examined
The back edge for surveying track 2 enters the detection range of the rear side laser sensor, and the front side laser sensor at this time
It is located on the same cross section of non-fragment orbit 1 to be detected with the back edge of current detected track 2.
Controller 16 described in step A2 judges at this time according to the group distance measuring sensor 21 range information detected
When whether the car body is in direction deviation state, when two 21 institutes of distance measuring sensor in the group distance measuring sensor 21
When the range information of detection is equal, it is judged as that the car body is in direction without departing from state at this time, completes the direction of the car body
Correction process；Otherwise, it is judged as that the car body is in direction at this time and deviates state.
When the controller 16 judges that the car body is in direction deviation state at this time, also need to pass the group ranging
Two distance measuring sensor 21 range informations detected compare in sensor 21, and judge institute at this time according to comparing result
State the offset direction of car body；The controller 16 further according to the car body offset direction judging result and by controlling the row
Drive mechanism for wheel 7 carries out steering adjustment (being adjusted to the direction of the car body) to the car body, until the car body
It is laid with current detected track 2 in parallel, the car body is in direction without departing from state at this time, completes the side of the car body
To correction process.
In the present embodiment, the controller 16 is two in the group distance measuring sensor 21 21 institutes of distance measuring sensor
The range information of detection compares, and according to comparing result judgement at this time the offset direction of the car body when, described in two
Front side distance measuring sensor range information detected (i.e. distance value) described in distance measuring sensor 21 is passed less than the rear side ranging
When sensor range information detected, it is judged as that the offset direction of the car body at this time is to be deviated to the left；Otherwise, it is judged as at this time
The offset direction of the car body is to be deviated to the right.
Also, when the offset direction for being judged as the car body at this time is to be deviated to the left, the controller 16 passes through to institute
It states driving actuation 7 to be controlled, the car body is carried out to the right to side and turns to adjustment, until by the car body and current institute
It detects track 2 to lay in parallel, the car body is in non-deviation state at this time, completes the direction correcting process of the car body；
When the offset direction for being judged as the car body at this time is to be deviated to the right, the controller 16 passes through to the driving wheel drive machine
Structure 7 is controlled, and the car body is carried out to side to the left and turns to adjustment, until being in by the car body and current detected track 2
Parallel to lay, the car body is in direction without departing from state at this time, completes the direction correcting process of the car body.
In the present embodiment, when carrying out turning to adjustment to the car body, the controller 16 is driven by controlling the driving wheel
Motivation structure 7 drives the car body rotate in place correction and (drives the car body to carry out rotation around its vertical central axis to entangle
Partially), correction direction can be according to judging result automatic identification.Correction target is until two before and after in distance measuring sensor 21 described in one group
A distance measuring sensor 21 distance value detected is equal (or in certain permissible range), that is, can be considered track inspection at this time
It is parallel with the longitudinal edge of track 2 to survey robot 3, stops direction correcting.
The range information detected of distance measuring sensor 21 according to two groups of controller 16 described in step A3 judges at this time
Whether the car body is in lateral position when deviateing state, all 21 institutes of distance measuring sensor in the distance measuring sensor 21 described in two groups
When the range information of detection is equal, it is judged as that the car body is in lateral position without departing from state at this time, completes the car body
Lateral position rectify a deviation process；Otherwise, it is judged as that the car body is in lateral position at this time and deviates state.
When the controller 16 judges that the car body is in lateral position deviation state at this time, the survey described in two groups is also needed
It is compared away from the range information detected of sensor 21, and judges that the lateral position of the car body at this time is inclined according to comparing result
From direction；The controller 16 further according to cross-car position offset direction judging result and by controlling the driving
Actuation 7 is adjusted the lateral position of the car body, until the car body with currently hold described in two detected
Spacing between rail platform 2 is equal, and the car body is in lateral position without departing from state at this time, completes the direction correcting of the car body
Process.
In the present embodiment, all distance measuring sensors 21 range information detected is equal in the distance measuring sensor 21 described in two groups
When equal, the spacing between the car body and current two tracks 2 detected is equal.
In the present embodiment, when the controller 16 judges the lateral position offset direction of the car body at this time, when positioned at institute
21 range information detected (i.e. distance value) of distance measuring sensor for stating vehicle body left side is less than the ranging being located on the right side of the car body
When 21 range information detected of sensor, it is judged as that the lateral position offset direction of the car body at this time is to be deviated to the left；It is no
Then, the lateral position offset direction for being judged as the car body at this time is to be deviated to the right.
Also, when the lateral position offset direction for being judged as the car body at this time is to be deviated to the left, the controller 16
By controlling the driving actuation 7, the car body is translated to the right, until the car body and current institute
Spacing between two tracks 2 of detection is equal, and the car body is in lateral position without departing from state at this time, completes institute
State the lateral position correction process of car body；When the lateral position offset direction for being judged as the car body at this time is to be deviated to the right,
The controller 16 is translated the car body, by controlling the driving actuation 7 until described to the left
Spacing between car body and current two tracks 2 detected is equal, and it is not inclined to be in lateral position for the car body at this time
From state, the lateral position correction process of the car body is completed.
In the present embodiment, when being adjusted to the lateral position of the car body, the controller 16 is by controlling the row
Drive mechanism for wheel 7 drives the car body to carry out transverse translation, and correction direction can be according to judging result automatic identification.Correction target
Be until two groups described in the distance value detected of distance measuring sensor 21 it is equal (or in certain permissible range), that is, can be considered at this time
Track detects center that robot 3 is located between current two tracks 2 detected (the i.e. car body at this time
The middle part between current two tracks 2 detected).
In course of normal operation, if track 2 is contaminated, have sundries, equipment position error it is big etc. due to, cause
Clamping mold 4 can not be closely connected with the bayonet of track 2, can bring about measurement error, for this purpose, the present invention is positioned and led using described
The direction of travel of track detection robot 3 and position are controlled to device, it is ensured that track detection robot 3, which is located at, to work as
Middle part between preceding two tracks 2 detected, to ensure detection accuracy.
In actual use, the car body position detection device may be the vehicle frame 5 to track detection robot 3
The obliquity sensor that inclination angle between 1 central axis of non-fragment orbit to be detected is measured in real time need to only can ensure that track
It detects robot 3 and is located at middle part between current two tracks 2 detected.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (10)
1. a kind of non-fragment orbit track automatic checkout equipment, it is characterised in that: including the longitudinal direction along non-fragment orbit to be detected (1)
Extending direction moves from the front to the back and can be to the symmetrical cloth in left and right two being located on non-fragment orbit to be detected (1) same cross section
If track (2) synchronize detected track detection robot (3)；
Track detection robot includes that can translate from the front to the back on non-fragment orbit to be detected (1) and be located at left and right two
The car body between track (2) symmetrically laid, left and right two is symmetrical lays and can from top to bottom be installed in holding for track (2)
Clamping mold (4), the molds for being installed on the car body and two clampings mold (4) being supported in track slot
Mounting rack and the elevating mechanism for driving the mold mounting rack to move up and down, the mold mounting rack and two clampings
Mold (4) is connected as one, and the elevating mechanism is installed between the mold mounting rack and the car body；The car body along to
The longitudinal extension for detecting non-fragment orbit (1) is laid, the mold mounting rack and the perpendicular laying of the car body；Described in two
It clamps mold (4) to be symmetrically arranged below the left and right sides of the mold mounting rack, each clamping mold (4) is supported in
On the support rail face of detected track (2), on each clamping mold (4) or mold mounting rack left and right ends are respectively mounted
There is the elevation in a support rail face to detected track (2) and detection instrument that axial centerline is detected；Two institutes
It states and clamps the left and right sides that mold (4) are located at the car body.
2. non-fragment orbit track automatic checkout equipment described in accordance with the claim 1, it is characterised in that: the clamping mold
(4) the adaptive mold to be adaptively installed in the rail support groove；
The adaptive mold includes the die ontology (4-1) that can be from top to bottom installed in the rail support groove, the mold sheet
Body (4-1) is mounted below the mold mounting rack by elastic mechanism.
3. non-fragment orbit track automatic checkout equipment according to claim 1 or 2, it is characterised in that: the mold peace
Shelve including with the perpendicular laying of the car body mold mounting rod (8) and left and right two be symmetrically laid in mold mounting rod (8)
Both ends and the mold supporting frame (9) for clamping mold (4) support, the mold mounting rod (8) are located at the surface of the car body；
The bottom of each mold supporting frame (9) is mounted on the clamping mold (4), and each clamping mold (4) is equal
Positioned at the underface of a mold supporting frame (9).
4. non-fragment orbit track automatic checkout equipment according to claim 1 or 2, it is characterised in that: the detection work
Tool is prism (12), the perpendicular laying in support rail face of the prism (12) and track (2)；
It further include the total station (13) that branch is stood on non-fragment orbit to be detected (1) and is used cooperatively with prism (12), the whole station
It is same that instrument (13) and two prism (12) groups of track detection robot (3) are in pairs at non-fragment orbit to be detected (1)
The track (2) that left and right two on a cross section is symmetrically laid synchronizes the detection device detected.
5. non-fragment orbit track automatic checkout equipment according to claim 4, it is characterised in that: further include and total station
(13) the upper monitoring terminal (14) connected, the upper monitoring terminal (14) and total station (13) carry out two-way communication；
The track detects the vehicle that robot (3) further include controller (16) and are measured in real time to the position of the car body
Body position detection device, the car body and the elevating mechanism are controlled by controller (16)；The car body position detection
Device be laser detector and its lay on the car body, the car body position detection device is connect with controller (16) and the two
Form the guiding and positioning device of track detection robot (3).
6. non-fragment orbit track automatic checkout equipment according to claim 5, it is characterised in that: further include to track
The remote controler (15) that detection robot (3) is controlled, the remote controler (15) and upper monitoring terminal (14) and controller
(16) two-way communication is carried out with communication between.
7. non-fragment orbit track automatic checkout equipment according to claim 1 or 2, it is characterised in that: the car body packet
Vehicle frame (5) is included, vehicle frame (5) bottom is mounted on and is driven vehicle frame (5) walking mechanism for being moved forward and backward and to the vehicle with walking machine
The hoofing part mechanism that structure is driven, the hoofing part mechanism be electric driving mechanism and its be driven with the walking mechanism
Connection；
The walking mechanism includes multiple traveling wheel groups for being installed on vehicle frame (5) bottom from front to back, multiple traveling wheel groups
Structure it is all the same and it is laid on same plane；
Each traveling wheel group includes one and is symmetrically arranged on institute with the wheel shaft of vehicle frame (5) perpendicular laying and left and right two
State the traveling wheel (6) of wheel shaft left and right ends, the traveling wheel (6) and the perpendicular laying of the wheel shaft, two traveling wheels (6)
In parallel laying and the two is located at below the left and right sides of vehicle frame (5)；
The traveling wheel (6) is Mecanum wheel.
8. a kind of method that non-fragment orbit track is detected automatically using automatic checkout equipment as described in claim 1,
It is characterized in that, method includes the following steps:
Step 1: preparation before detecting: track detection robot (3) is lain against on non-fragment orbit to be detected (1)；
Step 2: detection robot is translate forward and the synchronous detection of track: by track detection robot (3) along nothing to be detected
The longitudinal extension of tiny fragments of stone, coal, etc. track (1) moves from the front to the back, from the front to the back the detection of track described in moving process robot (3)
The track (2) described in the multiple groups on non-fragment orbit to be detected (1) detects respectively from the front to the back；Track described in multiple groups
(2) detection method is all the same, and track described in every group (2) includes two and is located at the same of non-fragment orbit to be detected (1)
On cross section and bilateral symmetry lay track (2)；
When track (2) described in any group upper non-fragment orbit to be detected (1) detects, process is as follows:
Step 201 clamps mold up-regulation and the Forward of detection robot in place: by the elevating mechanism by the mold mounting rack
It moves up, until two clamping molds (4) are respectively positioned on above current detected track (2)；Track is detected again
Robot (3) moves forward at current detected track (2) present position, and track detection robot (3) is at this time
Walking states；
Step 202 clamps mold decline: being moved down the mold mounting rack by the elevating mechanism, until two institutes
It states and clamps in mold (4) clamping to the rail support groove of current two tracks (2) detected；
Step 203, track detection: by the detection instrument to the support rail of current two tracks (2) detected
Face elevation and axial centerline are detected respectively；
Step 204, next group of track detection: it according to method described in step 201 to step 203, is held described in next group
Rail platform (2) is detected；
Step 204 is repeated several times in step 205, until completing the detection of all tracks (2) on non-fragment orbit (1) to be detected
Journey.
9. according to the method for claim 8, it is characterised in that: detection instrument described in step 203 is prism (12), described
The perpendicular laying in support rail face of prism (12) and track (2)；
The automatic checkout equipment further includes the whole station that branch is stood on non-fragment orbit to be detected (1) and is used cooperatively with prism (12)
Two prism (12) groups of instrument (13), the total station (13) and track detection robot (3) are in pairs to be detected
The track (2) that left and right two on non-fragment orbit (1) same cross section is symmetrically laid synchronizes the detection device detected；
Before being detected in step 1 when preparation, vertical total station (13) need to be also propped up on non-fragment orbit to be detected (1)；
When carrying out track detection in step 203, by the detection device to current two tracks (2) detected
Hold height above rail surface and axial centerline is detected respectively.
10. according to the method for claim 9, it is characterised in that: the automatic checkout equipment further include with total station (13)
The upper monitoring terminal (14) of connection, the upper monitoring terminal (14) and total station (13) carry out two-way communication；
The track detects the car body that robot further includes controller (16) and is measured in real time to the position of the car body
Position detecting device, the car body and the elevating mechanism are controlled by controller (16)；The car body position detection dress
It is set to laser detector and it is laid on the car body, the car body position detection device is connect with controller (16) and the two group
At the guiding and positioning device of track detection robot (3)；
Track is detected in robot (3) movement forward in step 201, the car body position detection device is in detection
State and its position of car body is measured in real time, and by institute's detection information synchronous driving to controller (16) and/or
Upper monitoring terminal (14)；The controller (16) or upper monitoring terminal (14) are examined according to the car body position detection device
Measurement information controls track detection robot (3), until the car body of track detection robot (3) is moved to
The inspection positions of current detected track (2), complete the automatic positioning process of track detection robot (3)；At this point, institute
The spacing stated between car body and current two tracks (2) detected is identical, and the mold mounting rack is located at currently
The surface of two tracks (2) detected；
When carrying out track detection in step 203, held described in current two detected that the total station (13) will test
Rail platform (2) hold height above rail surface and axial centerline synchronizing information is sent to upper monitoring terminal (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910172239.XA CN109706804A (en) | 2019-03-07 | 2019-03-07 | Non-fragment orbit track automatic checkout equipment and automatic testing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910172239.XA CN109706804A (en) | 2019-03-07 | 2019-03-07 | Non-fragment orbit track automatic checkout equipment and automatic testing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109706804A true CN109706804A (en) | 2019-05-03 |
Family
ID=66265684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910172239.XA Pending CN109706804A (en) | 2019-03-07 | 2019-03-07 | Non-fragment orbit track automatic checkout equipment and automatic testing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109706804A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111486831A (en) * | 2020-04-30 | 2020-08-04 | 中铁四局集团第五工程有限公司 | Detection device and method for ballastless track bearing platform measurement tool |
| CN111975740A (en) * | 2020-08-18 | 2020-11-24 | 北京海益同展信息科技有限公司 | Inspection robot and track gauge detection method |
| CN113562422A (en) * | 2021-09-26 | 2021-10-29 | 中铁九局集团有限公司 | Track slab transportation jacking device and transportation jacking method |
| CN116005505A (en) * | 2023-01-10 | 2023-04-25 | 中铁四局集团第五工程有限公司 | Ballastless track rail bearing table detection device |
| CN116005503A (en) * | 2023-01-10 | 2023-04-25 | 中铁四局集团第五工程有限公司 | Method, system, computer and readable storage medium for detecting position deviation of rail bearing table |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102002896A (en) * | 2010-12-14 | 2011-04-06 | 无锡盾建重工制造有限公司 | CRTS III ballastless track slab layering fine tuning vehicle |
| CN102191732A (en) * | 2010-12-14 | 2011-09-21 | 河北众鑫源桥隧设备制造有限公司 | Ballastless track plate pavement accurate adjustment trolley |
| CN202323586U (en) * | 2011-11-17 | 2012-07-11 | 中铁二十局集团西安工程机械有限公司 | Automatic control system for ballastless track plate accurate adjustment equipment |
| US20120240809A1 (en) * | 2011-03-24 | 2012-09-27 | Tecsa Empresa Constructora, S.A. | Automatic machine for leveling and alignment of railway in plate, prior to the concrete |
| CN208109101U (en) * | 2018-03-26 | 2018-11-16 | 中铁四局集团有限公司 | A kind of plate-type ballastless track plate intelligence rapid measurement device |
| CN209890982U (en) * | 2019-03-07 | 2020-01-03 | 西安远景智能控制有限公司 | Automatic detection equipment for ballastless track bearing platform |
-
2019
- 2019-03-07 CN CN201910172239.XA patent/CN109706804A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102002896A (en) * | 2010-12-14 | 2011-04-06 | 无锡盾建重工制造有限公司 | CRTS III ballastless track slab layering fine tuning vehicle |
| CN102191732A (en) * | 2010-12-14 | 2011-09-21 | 河北众鑫源桥隧设备制造有限公司 | Ballastless track plate pavement accurate adjustment trolley |
| US20120240809A1 (en) * | 2011-03-24 | 2012-09-27 | Tecsa Empresa Constructora, S.A. | Automatic machine for leveling and alignment of railway in plate, prior to the concrete |
| CN202323586U (en) * | 2011-11-17 | 2012-07-11 | 中铁二十局集团西安工程机械有限公司 | Automatic control system for ballastless track plate accurate adjustment equipment |
| CN208109101U (en) * | 2018-03-26 | 2018-11-16 | 中铁四局集团有限公司 | A kind of plate-type ballastless track plate intelligence rapid measurement device |
| CN209890982U (en) * | 2019-03-07 | 2020-01-03 | 西安远景智能控制有限公司 | Automatic detection equipment for ballastless track bearing platform |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111486831A (en) * | 2020-04-30 | 2020-08-04 | 中铁四局集团第五工程有限公司 | Detection device and method for ballastless track bearing platform measurement tool |
| CN111975740A (en) * | 2020-08-18 | 2020-11-24 | 北京海益同展信息科技有限公司 | Inspection robot and track gauge detection method |
| CN113562422A (en) * | 2021-09-26 | 2021-10-29 | 中铁九局集团有限公司 | Track slab transportation jacking device and transportation jacking method |
| CN113562422B (en) * | 2021-09-26 | 2021-12-14 | 中铁九局集团有限公司 | Track slab transportation jacking device and transportation jacking method |
| CN116005505A (en) * | 2023-01-10 | 2023-04-25 | 中铁四局集团第五工程有限公司 | Ballastless track rail bearing table detection device |
| CN116005503A (en) * | 2023-01-10 | 2023-04-25 | 中铁四局集团第五工程有限公司 | Method, system, computer and readable storage medium for detecting position deviation of rail bearing table |
| CN116005503B (en) * | 2023-01-10 | 2023-09-22 | 中铁四局集团第五工程有限公司 | Method, system, computer and readable storage medium for detecting position deviation of rail bearing table |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109706804A (en) | Non-fragment orbit track automatic checkout equipment and automatic testing method | |
| KR102613316B1 (en) | CRTSⅢ type track plate high-speed intelligent precision adjustment system and precision adjustment method | |
| CN100573031C (en) | Slide rail linearity testing apparatus | |
| CN206656694U (en) | For detecting the detection means of track board size | |
| CN110231009B (en) | Automatic detection device and method for position degree of wheel bolt hole | |
| CN106829479A (en) | Vertical glass detection conveying table and detection method thereof | |
| EP0401260A1 (en) | A method of and an equipment for determining the position of a track. | |
| CN212505664U (en) | A fine-tuning robot for construction of III type track boards of CRTS | |
| CN208278072U (en) | A kind of conductor rail detection vehicle | |
| CN111441198A (en) | A fine-tuning robot for construction of III type track boards of CRTS | |
| CN110793477A (en) | Three-dimensional detection system for carriage chassis, online adjusting and correcting system and method | |
| CN110749297A (en) | Mobile platform limit measuring instrument and measuring method | |
| CN113201617A (en) | Comprehensive inspection device and method for blast furnace tuyere platform | |
| CN202786995U (en) | Precise railway measuring device | |
| CN203116706U (en) | Steel rail automatic leveling laser detection device | |
| CN209890982U (en) | Automatic detection equipment for ballastless track bearing platform | |
| CN110895133A (en) | Automobile glass spherical surface detection device and detection method thereof | |
| CN206914356U (en) | Dynamic measurement end of rail rail head linearity device | |
| CN212983492U (en) | Quick intelligent fine adjustment system for CRTS III type track slab | |
| CN205662852U (en) | Box girder sections assembly position accurate adjustment system | |
| CN210526530U (en) | Rail inspection trolley for railway | |
| CN107990849A (en) | Carriage track straightness and depth of parallelism automatic detection device and its detection method | |
| CN107607078A (en) | Building ground roughness detection equipments | |
| CN107142796B (en) | Positioning tool for mounting J-III type expansion joint of medium-low speed magnetic levitation track | |
| CN211060871U (en) | Mobile platform limit measuring instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |