CN111185894B - Tunnel track detection robot - Google Patents
Tunnel track detection robot Download PDFInfo
- Publication number
- CN111185894B CN111185894B CN202010138111.4A CN202010138111A CN111185894B CN 111185894 B CN111185894 B CN 111185894B CN 202010138111 A CN202010138111 A CN 202010138111A CN 111185894 B CN111185894 B CN 111185894B
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- Prior art keywords
- track
- camera
- driving mechanism
- driving
- frame
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- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 238000007689 inspection Methods 0.000 claims description 11
- 230000001502 supplementing effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 108010066114 cabin-2 Proteins 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Abstract
The invention discloses a tunnel track detection robot which comprises a frame, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are fixed at two ends of the frame in one-to-one correspondence, are in limiting sliding with a track and have the same structure, a first track surface acquisition component is fixedly connected with the first driving mechanism and is used for shooting an image on one side of the track, a second track surface acquisition component is fixedly connected with the second driving mechanism and is used for shooting an image on the other side of the track, a vault acquisition component is fixed at the middle part of the frame and is used for shooting an image of a vault of the tunnel, and an electronic bin is bridged and is fixed on the frame and is respectively and electrically connected with the first driving mechanism, the second driving mechanism, the first track surface acquisition component, the vault acquisition component and the second track surface acquisition component. Through the scheme, the invention has the advantages of simple structure, complete functions, low equipment investment cost and the like, and has high practical value and popularization value in the technical field of track detection.
Description
Technical Field
The invention relates to the technical field of track detection, in particular to a tunnel track detection robot.
Background
Along with the continuous development of railway engineering, the railway mileage is also increased continuously; according to the requirement of railway detection maintenance, the railway line needs to be detected regularly or/and irregularly, and at present, the railway line in the prior art mostly adopts manual or semi-automatic detection, the detection efficiency is extremely low, and a long time is required; meanwhile, in the prior art, the track detection of the tunnel track and the track segment surface defect detection are independent and separated, and the track segment surface defect detection equipment is complex; moreover, some railway line detection devices in the prior art are simpler in function, and cannot realize efficient and comprehensive defect detection on track slabs, overhead lines, tunnel vaults and track auxiliary structures.
Therefore, it is highly desirable to provide a tunnel track inspection robot capable of inspecting both the track and the tunnel.
Disclosure of Invention
The invention aims to provide a tunnel track detection robot, which adopts the following technical scheme:
The utility model provides a tunnel track inspection robot, march along the track direction, it includes the frame, the one-to-one is fixed at the both ends of frame, and with the spacing slip of track, and first actuating mechanism and the second actuating mechanism that the structure is the same, bottom and first actuating mechanism fixed connection, and be used for taking the first track face collection subassembly of the image of track one side, bottom and second actuating mechanism fixed connection, be used for taking the image of track opposite side, and with the second track face collection subassembly that first track face collection subassembly structure is the same, the bottom is fixed at the middle part of frame, be used for taking the vault collection subassembly of the image of tunnel vault, and the bridge joint is fixed on the frame, and respectively with first actuating mechanism, second actuating mechanism, first track face collection subassembly, vault collection subassembly and second track face collection subassembly electrically connected's electron bin.
Further, the electronic bin comprises a box body which is bridged and fixed on the frame, and a battery pack and a circuit board which are arranged in the box body and are respectively and electrically connected with the first driving mechanism, the second driving mechanism, the first track surface collecting assembly, the vault collecting assembly and the second track surface collecting assembly.
Further, the first actuating mechanism includes the driving box, set up in the driving box, and with frame fixed connection's first frame mount pad and second frame mount pad, fix on the driving box, and the in-wheel motor who marches along the track direction, set up in the bottom of driving box, and with the second bearing of in-wheel motor matching spacing on the track, sliding contact is on the track, and the bearing tip runs through the follower that the driving box set up, set up the bottom of driving box, and with the first bearing of driven wheel matching spacing on the track, and fix on the driving box, and adopt the connection port that the cable is connected with in-wheel motor and electron storehouse respectively.
Further, the first driving mechanism further comprises a driving gear which is arranged in the driving box and is coaxially connected with the bearing end part of the driven wheel, a driven gear which is meshed with the driving gear and is connected with the driving gear, and an encoder which is fixed in the driving box and is coaxially connected with the driven gear.
Still further, the first drive mechanism further includes a track collection mount disposed within the drive housing.
Still further, the first drive mechanism further includes a lifting lug disposed on a top of the drive housing.
Further, the first track surface collecting assembly comprises a track collecting mounting bracket, a camera mounting plate, a light supplementing lamp, a radiator and a track surface camera, wherein the bottom of the track collecting mounting bracket is fixed on the first driving mechanism, the camera mounting plate is fixed on the top of the track collecting mounting bracket, and the light supplementing lamp, the radiator and the track surface camera are vertically downwards mounted on the camera mounting plate.
Further, the vault collecting assembly comprises a first vault collecting assembly bracket and a second vault collecting assembly bracket, a vault camera mounting seat, a driving mounting seat, a rotary driving motor, a first gear, a second gear, a conductive slip ring, a camera, a light source bracket, a first vault camera and a second vault camera, wherein the bottom of the first vault collecting assembly bracket and the second vault collecting assembly bracket are fixed on a frame and form a splayed shape together; the camera and the light source support are provided with two pieces, and the first vault camera and the second vault camera are clamped between the two pieces of the camera and the light source support.
Preferably, the frame is two support columns which are arranged in parallel, and the end parts of the support columns are fixedly connected with the first frame installation seat and the second frame installation seat in a one-to-one correspondence manner.
Preferably, the included angle between the track collecting and mounting bracket and the track direction is 45 degrees.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention skillfully adopts two support columns which are arranged in parallel as a frame and an electronic bin as a bridging connection component; therefore, the support connection strength can be ensured, and the weight can be reduced; meanwhile, the driving mechanism is internally provided with a frame mounting seat fixedly connected with the support column, and the connection is reliable.
(2) The invention skillfully adopts the hub motor as the advancing drive, and utilizes the hub motor and the first bearing as well as the driven wheel and the second bearing to limit and slide on the track, thereby ensuring that the tunnel track detection robot moves along the track direction; in addition, the hub motor of the first driving mechanism and the hub motor of the second driving mechanism are arranged diagonally, so that the tunnel track detection robot can advance and retreat along the track direction;
(3) The encoder is arranged in the driving box to record the position of the tunnel track detection robot, so that the track or/and vault defect position can be conveniently recorded, and a guarantee is provided for later-stage overhaul and maintenance;
(4) The first track surface acquisition assembly and the second track surface acquisition assembly are arranged to shoot images on two sides of a track; in addition, the invention is also provided with a light supplementing lamp so as to ensure that clear track images can be shot;
(5) According to the invention, the camera, the light source bracket, the conductive slip ring and the vault camera are arranged, and the vault camera is driven by the rotary driving motor, so that multi-angle vault image shooting is realized; the device is simplified, and meanwhile, the complete shooting of the tunnel vault segment image can be ensured;
in conclusion, the invention has the advantages of simple structure, complete functions, low equipment investment cost and the like, and has high practical value and popularization value in the technical field of track detection.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope of protection, and other related drawings may be obtained according to these drawings without the need of inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of a frame and a driving mechanism of the present invention.
Fig. 3 is a schematic diagram of the structure of the present invention (to the electronic bin).
Fig. 4 is a schematic structural diagram of a driving mechanism according to the present invention.
Fig. 5 is a schematic structural diagram of a driving mechanism according to the present invention.
Fig. 6 is a schematic structural diagram of a track surface collecting assembly according to the present invention.
Fig. 7 is a schematic structural diagram (a) of a dome collection assembly according to the present invention.
Fig. 8 is a schematic structural view of a dome collection assembly (ii) according to the present invention.
In the above figures, the reference numerals correspond to the component names as follows:
1-carriage, 2-electronics bay, 3-first drive mechanism, 4-second drive mechanism, 5-first track face collection assembly, 6-vault collection assembly, 7-second track face collection assembly, 20-cabinet, 21-battery pack, 22-circuit board, 30-drive cabinet, 31-in-wheel motor, 32-driven wheel, 36-track collection mount, 37-connection port, 38-lifting lug, 51-track collection mount bracket, 52-camera mount plate, 53-track face camera, 54-light supplement lamp and radiator, 61-first vault collection assembly bracket, 62-second vault collection assembly bracket, 63-vault camera mount, 64-drive mount, 65-rotary drive motor, 67-camera light source bracket, 69-conductive slip ring, 331-driving gear, 332-driven gear, 333-encoder, 341-first carriage mount, 342-second carriage mount, 351-first bearing, 352-second bearing, 661-first gear, 662-second gear, 681-first vault camera, 682-second camera.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described with reference to the accompanying drawings and examples, which include, but are not limited to, the following examples. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Examples
As shown in fig. 1 to 8, the present embodiment provides a tunnel track inspection robot that travels (advances or retreats) in the track direction. It should be noted that, in the present embodiment, the terms "first", "second", and the like are only used to distinguish similar components, and are not to be construed as limiting the protection scope specifically. In the present embodiment, the terms of azimuth such as "bottom", "top", "peripheral edge", "center" and the like are described based on the drawings; moreover, the circuit board in this embodiment is obtained by purchase, and the control method is conventional technology, which will not be described herein.
In this embodiment, the tunnel track inspection robot includes a frame 1, a first driving mechanism 3 and a second driving mechanism 4 fixed at two ends of the frame 1 in one-to-one correspondence and sliding with a track in a limited manner, and having the same structure, a first track surface acquisition component 5 having a bottom fixedly connected with the first driving mechanism 3 and being used for capturing an image of one side of the track, a second track surface acquisition component 7 having a bottom fixedly connected with the second driving mechanism 4 and being used for capturing an image of the other side of the track and having the same structure as the first track surface acquisition component 5, a dome acquisition component 6 having a bottom fixed at the middle part of the frame 1 and being used for capturing an image of a tunnel dome, and an electronic bin 2 bridging the frame 1 and being electrically connected with the first driving mechanism 3, the second driving mechanism 4, the first track surface acquisition component 5, the dome acquisition component 6 and the second track surface acquisition component 7, respectively. The frame 1 is two support columns arranged in parallel, and the end parts of the support columns are fixedly connected with the first frame mounting seat 341 and the second frame mounting seat 342 in a one-to-one correspondence manner.
In the present embodiment, the electronic cabin 2 includes a case 20 that is bridged and fixed to the vehicle frame 1, and a battery pack 21 and a circuit board 22 that are provided in the case 20 and electrically connected to the first driving mechanism 3, the second driving mechanism 4, the first track surface collecting assembly 5, the dome collecting assembly 6, and the second track surface collecting assembly 7, respectively. Among them, the battery pack 21 supplies power to the in-wheel motor 31, the camera, the light supplement lamp, the rotary drive motor, the circuit board, and the like, and controls the robot to travel and take a photograph using the circuit board 22 (with a chip embedded therein) (existing conventional program).
In the present embodiment, in order to drive the robot to travel in the track direction, and the position of travel of the robot is recorded so as to find the defect position later; the first driving mechanism 3 and the second driving mechanism 4 are skillfully arranged in the embodiment, and the first driving mechanism 3 and the second driving mechanism 4 have the same structure and are diagonally symmetrical; the first driving mechanism 3 is only exemplified herein as its structure, and the first driving mechanism 3 includes a driving case 30, a first frame mount 341 and a second frame mount 342 provided in the driving case 30 and fixedly connected to the frame 1, a hub motor 31 fixed to the driving case 30 and traveling in the track direction, a second bearing 352 provided at the bottom of the driving case 30 and fitted and restrained on the track with the hub motor 31, a driven wheel 32 provided in sliding contact with the track and having a bearing end penetrating the driving case 30, a first bearing 351 provided at the bottom of the driving case 30 and fitted and restrained on the track with the driven wheel 32, a connection port 37 fixed to the driving case 30 and connected to the hub motor 31 and the electronic cabin 2, respectively, with a cable, a driving gear 331 provided in the driving case 30 and coaxially connected to a bearing end of the driven wheel 32, a driven gear 332 fixed in the driving case 30 and coaxially connected to the driven gear 332, a track mount 36 provided in the driving case 30 and fitted and restrained on the track mount 36 provided at the top of the lifting lug 38 provided at the driving case 30. In the present embodiment, the first bearing 351 and the second bearing 352 are caught on the inner side of the track, and the in-wheel motor 31 and the driven wheel 32 are placed on the track surface.
In order to acquire an image of the track surface, a first track surface acquisition assembly 5 and a second track surface acquisition assembly 7 with the same structure are arranged; the first track surface collecting assembly 5 comprises a track collecting and mounting bracket 51 (an included angle between the track collecting and mounting bracket 51 and a track direction is 45 °) with the bottom fixed on the first driving mechanism 3, a camera mounting plate 52 fixed on the top of the track collecting and mounting bracket 51, and a light supplementing lamp, a radiator 54 and a track surface camera 53 which are vertically and downwardly mounted on the camera mounting plate 52. In order to ensure the definition of the image shot by the track, the embodiment skillfully adopts the light supplementing lamp to carry out the compensation illumination. In addition, the dome collection assembly 6 includes a first dome collection assembly holder 61 and a second dome collection assembly holder 62 having bottoms fixed to the vehicle frame 1 and collectively constituting a splayed shape, dome camera mounts 63 fixed to tops of the first dome collection assembly holder 61 and the second dome collection assembly holder 62, arranged in a rail direction, and having a U shape, a driving mount 64 provided at one side of the dome camera mounts 63, a rotary driving motor 65 penetrating the driving mount 64 from bottom to top, a first gear 661 provided at the top of the rotary driving motor 65, a second gear 662 engaged with the first gear 661 and converting a horizontal direction rotation into a longitudinal circumference rotation, an electrically conductive slip ring 69 and a camera and light source holder 67 provided between the U shapes of the dome camera mounts 63, and a first dome camera 681 and a second dome camera 682 fixed to the camera and the light source holder 67; the camera and light source stand 67 is provided in two pieces, and the first dome camera 681 and the second dome camera 682 are sandwiched between the two pieces of camera and light source stand 67. In the present embodiment, the rotation driving motor 65 drives the first gear 661 and the second gear 662 to rotate, and drives the first dome camera 681 and the second dome camera 682 to rotate in the tunnel radial direction; in addition, the conductive slip ring 69 of the present embodiment is a mature component, and the wire data line is connected through the conductive slip ring, so that the data transmission of the rotating first dome camera 681 and the second dome camera 682 can be ensured, and the inside of the conductive slip ring is not improved in the present embodiment, which is not described herein.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, but all changes made by adopting the design principle of the present invention and performing non-creative work on the basis thereof shall fall within the scope of the present invention.
Claims (8)
1. The tunnel track detection robot is characterized by comprising a frame (1), a first driving mechanism (3) and a second driving mechanism (4) which are fixed at two ends of the frame (1) in a one-to-one correspondence manner, slide with a track in a limiting manner, and have the same structure, a first track surface acquisition component (5) which is fixedly connected with the first driving mechanism (3) at the bottom and is used for shooting an image of one side of the track, a second track surface acquisition component (7) which is fixedly connected with the second driving mechanism (4) at the bottom and is used for shooting an image of the other side of the track and has the same structure as the first track surface acquisition component (5), a vault acquisition component (6) which is fixed at the middle part of the frame (1) at the bottom and is used for shooting an image of a tunnel vault, and an electronic bin (2) which is connected with the first driving mechanism (3), the second driving mechanism (4), the first track surface acquisition component (5), the vault acquisition component (6) and the second track surface acquisition component (7) in a bridging manner and is respectively electrically connected;
The electronic bin (2) comprises a box body (20) which is bridged and fixed on the frame (1), and a battery pack (21) and a circuit board (22) which are arranged in the box body (20) and are respectively electrically connected with the first driving mechanism (3), the second driving mechanism (4), the first track surface acquisition assembly (5), the vault acquisition assembly (6) and the second track surface acquisition assembly (7);
The first driving mechanism (3) comprises a driving box (30), a first frame installation seat (341) and a second frame installation seat (342) which are arranged in the driving box (30) and fixedly connected with the frame (1), a hub motor (31) which is fixed on the driving box (30) and advances along the track direction, a second bearing (352) which is arranged at the bottom of the driving box (30) and is matched and limited with the hub motor (31) on the track, a driven wheel (32) which is in sliding contact with the track and the end part of which penetrates the driving box (30) is arranged, a first bearing (351) which is arranged at the bottom of the driving box (30) and is matched and limited with the driven wheel (32), and a connecting port (37) which is fixed on the driving box (30) and is respectively connected with the hub motor (31) and the electronic bin (2) by adopting a cable.
2. The tunnel track inspection robot according to claim 1, wherein the first driving mechanism (3) further includes a driving gear (331) disposed in the driving case (30) and coaxially connected to a bearing end portion of the driven wheel (32), a driven gear (332) engaged with the driving gear (331), and an encoder (333) fixed in the driving case (30) and coaxially connected to the driven gear (332).
3. A tunnel track inspection robot according to claim 1 or 2, characterized in that the first drive mechanism (3) further comprises a track collection mount (36) provided within the drive box (30).
4. A tunnel track inspection robot according to claim 1 or 2, characterized in that the first drive mechanism (3) further comprises a lifting lug (38) arranged on top of the drive box (30).
5. A tunnel track inspection robot according to claim 1, characterized in that the first track surface pick-up assembly (5) comprises a track pick-up mounting bracket (51) with its bottom fixed to the first drive mechanism (3), a camera mounting plate (52) fixed to the top of the track pick-up mounting bracket (51), and a light supplementing lamp and radiator (54) and a track surface camera (53) mounted vertically downwards on the camera mounting plate (52).
6. A tunnel track inspection robot according to claim 1, characterized in that the dome collection assembly (6) comprises a first dome collection assembly mount (61) and a second dome collection assembly mount (62) fixed at the bottom to the carriage (1) and forming together a splay shape, a dome camera mount (63) fixed at the top of the first dome collection assembly mount (61) and the second dome collection assembly mount (62), arranged in the rail direction and having a U-shape, a drive mount (64) arranged at one side of the dome camera mount (63), a rotary drive motor (65) penetrating the drive mount (64) from bottom to top, a first gear (661) arranged at the top of the rotary drive motor (65), a second gear (662) in meshed connection with the first gear (661) and converting a horizontal rotation into a longitudinal circumferential rotation, a conductive (69) and a camera and light source mount (67) arranged between the U-shapes of the dome camera mount (63), and a first dome camera (681) and a second camera (682) fixed on the light source mount (67); the camera and light source stand (67) is provided in two pieces, and the first dome camera (681) and the second dome camera (682) are sandwiched between the two pieces of camera and light source stand (67).
7. The tunnel track inspection robot according to claim 1, wherein the frame (1) is two support columns arranged in parallel, and the ends of the support columns are fixedly connected with the first frame mounting seat (341) and the second frame mounting seat (342) in a one-to-one correspondence.
8. A tunnel track inspection robot according to claim 5, characterized in that the track collection mounting bracket (51) is at an angle of 45 ° to the track direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010138111.4A CN111185894B (en) | 2020-03-03 | 2020-03-03 | Tunnel track detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010138111.4A CN111185894B (en) | 2020-03-03 | 2020-03-03 | Tunnel track detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN111185894A CN111185894A (en) | 2020-05-22 |
| CN111185894B true CN111185894B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010138111.4A Active CN111185894B (en) | 2020-03-03 | 2020-03-03 | Tunnel track detection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111185894B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300444A (en) * | 2020-03-04 | 2020-06-19 | 成都圭目机器人有限公司 | Rotary scanning assembly for tunnel track detection robot |
| CN113370187B (en) * | 2021-07-07 | 2022-12-13 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
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| CN211867829U (en) * | 2020-03-03 | 2020-11-06 | 成都圭目机器人有限公司 | Driving mechanism for tunnel track detection robot |
| CN111300444A (en) * | 2020-03-04 | 2020-06-19 | 成都圭目机器人有限公司 | Rotary scanning assembly for tunnel track detection robot |
| CN213510737U (en) * | 2020-11-04 | 2021-06-22 | 成都圭目机器人有限公司 | Tunnel track inspection robot |
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