CN111391883A - Motor train unit bottom fault detection device - Google Patents
Motor train unit bottom fault detection device Download PDFInfo
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- CN111391883A CN111391883A CN202010259445.7A CN202010259445A CN111391883A CN 111391883 A CN111391883 A CN 111391883A CN 202010259445 A CN202010259445 A CN 202010259445A CN 111391883 A CN111391883 A CN 111391883A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K11/00—Serving peculiar to locomotives, e.g. filling with, or emptying of, water, sand, or the like at the depots
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
Abstract
A motor train unit bottom fault detection device relates to the field of rail transit. The invention aims to solve the problems of difficult installation and higher installation cost of the existing motor train unit bottom fault detection equipment. The robot comprises a walking trolley, a bottom camera component, a bottom camera anti-shake mechanism, a horizontal moving mechanism, a mechanical arm and an arm end camera component, wherein the bottom camera component is arranged on one side of the walking trolley through the bottom camera anti-shake mechanism, the mechanical arm is arranged on the other side of the walking trolley through the horizontal moving mechanism, the arm end camera component is arranged at the tail end of the mechanical arm, and the walking trolley, the bottom camera component, the bottom camera anti-shake mechanism, the horizontal moving mechanism, the mechanical arm and the arm end camera component are respectively connected with a controller. The method is used for detecting the bottom fault of the motor train unit.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a motor train unit bottom fault detection device.
Background
In the detection equipment aiming at the bottom of the motor train unit, a camera is mostly used for scanning and shooting parts such as a bogie at the bottom of the motor train unit, a bottom plate and the like, when shooting is carried out, a train is not moved, a vision sensor is installed on a rail trolley to scan the bottom of the motor train unit, and generally, a mechanical arm is also installed on the trolley to scan special parts. Because it is very high to requiring the precision to shoot, so the walking dolly of installation vision sensor all need walk on specific track to improve the precision of shooing, and the installation track, need carry out the earthwork construction to the garage that has built, a track can only install a dolly moreover, to the storehouse that possesses many maintenance lines, need each maintenance line all to install a track and a dolly, the cost burden is higher, it is inconvenient that operation and maintenance all need maintain in the gallery.
Disclosure of Invention
The invention provides a motor train unit bottom fault detection device, aiming at solving the problems of difficult installation and higher installation cost of the existing motor train unit bottom fault detection equipment.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a EMUs bottom fault detection device includes the walking dolly, bottom camera subassembly, bottom camera anti-shake mechanism, horizontal migration mechanism, arm and the terminal camera subassembly of arm, bottom camera subassembly passes through one side that bottom camera anti-shake mechanism set up on the walking dolly, the arm passes through the opposite side that horizontal migration mechanism set up on the walking dolly, the end of arm is equipped with the terminal camera subassembly of arm, the walking dolly, bottom camera subassembly, bottom camera anti-shake mechanism, horizontal migration mechanism, arm and the terminal camera subassembly of arm are connected with the controller respectively.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a motor train unit bottom fault detection device which does not need to lay a track in an overhaul pit, can ensure the photographing precision, can overhaul a plurality of overhaul lines by using one device, and greatly reduces the device cost and the installation cost. The bottom camera anti-shake mechanism can prevent the bottom camera component from shaking along with the walking trolley, ensure that pictures shot by scanning cannot form waves, and reduce the difficulty of image processing. Horizontal migration mechanism fixes on the walking dolly, and the arm is fixed on horizontal migration mechanism, can guarantee bigger shooting scope along with horizontal migration mechanism carries out the translation in the direction of perpendicular dolly operation, when the dolly stops taking place sharp skew, also can make the last camera subassembly of arm shoot in the position of striving for through the translation. The arm end camera component is fixed at the tail end of the mechanical arm, and can move at the bottom of the motor train unit along with the mechanical arm to shoot special parts. The horizontal moving mechanism changes a photographing area far away from the center of the train bottom, which can only be reached by the mechanical arm in one pose, into a flexible operation space which can be reached in multiple poses, so that the flexibility of the mechanical arm is increased, the obstacle avoidance capability is improved, and equipment which is near a support seat below a rail is prevented from being collided.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of the bottom camera anti-shake mechanism 3 according to the present invention;
fig. 3 is a schematic structural view of the horizontal movement mechanism 4 in the present invention;
fig. 4 is a schematic view of the structure of the robot arm 5 in the present invention.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and the motor train unit bottom fault detection device in the embodiment includes a walking trolley 1, a bottom camera component 2, a bottom camera anti-shake mechanism 3, a horizontal movement mechanism 4, a mechanical arm 5 and an arm end camera component 6, wherein the bottom camera component 2 is arranged on one side of the walking trolley 1 through the bottom camera anti-shake mechanism 3, the mechanical arm 5 is arranged on the other side of the walking trolley 1 through the horizontal movement mechanism 4, the end of the mechanical arm 5 is provided with the arm end camera component 6, and the walking trolley 1, the bottom camera component 2, the bottom camera anti-shake mechanism 3, the horizontal movement mechanism 4, the mechanical arm 5 and the arm end camera component 6 are respectively connected with a controller.
The traveling trolley 1 adopts an AGV trolley and can travel along the straight line of the navigation bar, and the traveling precision is +/-10 mm. Walking dolly 1 and bottom camera anti-shake mechanism 3 use fixed connection to become a whole, and bottom camera subassembly 2 is installed on bottom camera anti-shake mechanism 3, and when walking dolly 1 was moved, because walking dolly 1 can't guarantee complete rectilinear motion, the motion precision of 10mm is guaranteed to intelligence, and bottom camera anti-shake mechanism 3 can prevent that bottom camera subassembly 2 from shaking along with walking dolly 1 this moment, guarantees that the picture of scanning shooting can not become the wave, has reduced image processing's the degree of difficulty. Horizontal migration mechanism 4 is fixed on walking dolly 1, and arm 5 is fixed on horizontal migration mechanism 4, can guarantee bigger shooting scope along with horizontal migration mechanism 4 carries out the translation in the direction of perpendicular dolly operation, when taking place sharp skew when the dolly stops, also can make the last camera subassembly 6 of arm shoot in the position of striving for through the translation. An end-of-arm camera assembly 6 is secured to the end of the robotic arm 5. The mechanical arm 5 can move at the bottom of the motor train unit randomly to photograph special parts. The horizontal moving mechanism 4 changes the shooting area far away from the center of the train bottom, which can be reached by the mechanical arm 5 only in one pose, into a flexible operation space which can be reached in multiple poses, so that the flexibility of the mechanical arm 5 is increased, the obstacle avoidance capability is improved, and equipment nearby a support seat below a rail is prevented from being collided.
Initially, the motor train unit bottom fault detection device is stopped at a fixed parking space, when the motor train unit needs to be checked, the motor train unit bottom fault detection device moves along a specific navigation bar, when the motor train unit bottom fault detection device moves, the bottom camera assembly 2 scans and photographs the bottom of the motor train unit, when the walking trolley 1 slightly deviates, the bottom camera assembly 2 cannot deviate along with the trolley under the action of the bottom camera anti-shaking mechanism 3, the wheeled trolley can automatically compensate if the wheeled trolley deviates a little, the photographing stability and continuity are guaranteed, and the image processing difficulty is reduced. When the motor train unit bottom fault detection device needs to photograph a specific position, the walking trolley 1 is stopped, and if deviation occurs during stopping, the mechanical arm 5 can be translated by the horizontal moving mechanism 4 to compensate the photographing position.
The second embodiment is as follows: referring to fig. 1 and 2 to explain the present embodiment, the bottom camera anti-shake mechanism 3 of the present embodiment includes an X-axis servo motor 3-1, an X-axis fixing frame 3-2, an X-axis transmission mechanism 3-3, an X-axis rotating shaft 3-4, a top layer rotating platform 3-5, a Y-axis servo motor 3-6, a Y-axis fixing frame 3-7, a Y-axis transmission mechanism 3-8, a Y-axis rotating shaft 3-9, a bottom layer rotating platform 3-10, and a dual-axis tilt sensor 3-11, the Y-axis fixing frame 3-7 is fixedly connected to one side of the upper end surface of the traveling trolley 1, the Y-axis servo motor 3-6 is fixedly connected to the Y-axis fixing frame 3-7, a motor shaft of the Y-axis servo motor 3-6 is connected to the Y-axis rotating shaft 3-9 through the Y-axis transmission mechanism 3-8, the upper end of the Y-axis rotating shaft 3-9 is fixedly connected to, an X-axis fixing frame 3-2 is fixedly connected to the upper end face of a bottom layer rotating platform 3-10, an X-axis servo motor 3-1 is fixedly connected to the X-axis fixing frame 3-2, a motor shaft of the X-axis servo motor 3-1 is connected with an X-axis rotating shaft 3-4 through an X-axis transmission mechanism 3-3, the upper end of the X-axis rotating shaft 3-4 is fixedly connected with a top layer rotating platform 3-5, the X-axis rotating shaft 3-4 is perpendicular to the axis of a Y-axis rotating shaft 3-9, a double-axis tilt angle sensor 3-11 is arranged on the top layer rotating platform 3-5, a bottom camera assembly 2 is arranged on the upper end face of the top layer rotating platform 3-5, and the X-axis servo motor 3-1, the Y-axis servo motor 3-6 and the double-axis tilt angle sensor 3-11 are respectively connected with a controller. Other components and connection modes are the same as those of the first embodiment.
In the embodiment, the measured inclination angles in the horizontal two axis directions, namely the inclination angles of the top layer spin-on platform 3-5 and the bottom layer spin-on platform 3-10, are transmitted to the controller by the double-axis inclination angle sensor 3-11, and the controller controls the rotation of the X-axis servo motor 3-1 and the Y-axis servo motor 3-6 to realize the rotation of the X-axis rotating shaft 3-4 and the Y-axis rotating shaft 3-9, so that the horizontal positions of the top layer spin-on platform 3-5 and the bottom layer spin-on platform 3-10 are adjusted, and the posture of the bottom camera assembly 2 is ensured to be unchanged.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 and fig. 2, the X-axis transmission mechanism 3-3 of the embodiment includes an X-axis driving gear and an X-axis driven gear, the X-axis driving gear is fixedly mounted on a motor shaft of an X-axis servo motor 3-1, the X-axis driven gear is fixedly mounted on an X-axis rotating shaft 3-4, the X-axis driving gear is engaged with the X-axis driven gear, and one end of the X-axis rotating shaft 3-4 is rotatably connected with an X-axis fixing frame 3-2;
the Y-axis transmission mechanism 3-8 comprises a Y-axis driving gear and a Y-axis driven gear, the Y-axis driving gear is fixedly arranged on a motor shaft of the Y-axis servo motor 3-6, the Y-axis driven gear is fixedly arranged on the Y-axis rotating shaft 3-9, the Y-axis driving gear is meshed with the Y-axis driven gear, and one end of the Y-axis rotating shaft 3-9 is rotatably connected with the Y-axis fixing frame 3-7. Other components and connection modes are the same as those of the second embodiment.
The motor shaft of the X-axis servo motor 3-1 is designed to drive the X-axis driving gear to be rotatably installed, so that the X-axis driven gear and the X-axis rotating shaft 3-4 are driven to be rotatably installed; a motor shaft of the Y-axis servo motor 3-6 drives a Y-axis driving gear to be rotatably installed, so that a Y-axis driven gear and a Y-axis rotating shaft 3-9 are driven to be rotatably installed, and the transmission process is further achieved.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 and fig. 2, the other end of the X-axis rotating shaft 3-4 in the embodiment is provided with an X-axis bearing seat 3-12, the X-axis bearing seat 3-12 is fixedly connected to the upper end surface of the bottom layer rotating platform 3-10, the X-axis rotating shaft 3-4 is rotatably connected with the X-axis bearing seat 3-12 through a bearing, and the X-axis rotating shaft 3-4 is arranged along the length direction of the bottom layer rotating platform 3-10;
the other end of the Y-axis rotating shaft 3-9 is provided with a Y-axis bearing seat which is fixedly connected to the upper end face of the walking trolley 1, the Y-axis rotating shaft 3-9 is rotatably connected with the Y-axis bearing seat through a bearing, and the Y-axis rotating shaft 3-9 is arranged along the width direction of the bottom layer rotating platform 3-10. Other components and connection modes are the same as those of the third embodiment.
The fifth concrete implementation mode: the embodiment is described with reference to fig. 1 and 2, a top layer connecting block is fixedly sleeved in the middle of an X-axis rotating shaft 3-4, and the upper end surface of the top layer connecting block is fixedly connected with the lower end surface of a top layer rotating platform 3-5;
the middle part of the Y-axis rotating shaft 3-9 is sleeved and fixed with a bottom connecting block 3-13, and the upper end face of the bottom connecting block 3-13 is fixedly connected with the lower end face of a bottom rotating platform 3-10. Other components and connection modes are the same as those of the second embodiment.
The sixth specific implementation mode: the embodiment is described by combining fig. 1 and fig. 3, the horizontal moving mechanism 4 of the embodiment includes a mechanical arm fixing base 4-1, a linear servo motor 4-2, a linear transmission mechanism 4-3, two horizontal guide rails 4-4 and two pairs of sliders 4-5, the two horizontal guide rails 4-4 are arranged on the other side of the upper end of the walking trolley 1 in parallel, each horizontal guide rail 4-4 is arranged along the width direction of the walking trolley 1, the lower end surface of the mechanical arm fixing base 4-1 is symmetrically provided with two pairs of sliders 4-5, each pair of sliders 4-5 is sleeved on one horizontal guide rail 4-4, the linear servo motor 4-2 drives the mechanical arm fixing base 4-1 to move horizontally and linearly through the linear transmission mechanism 4-3, the mechanical arm 5 is fixedly connected to the upper end surface of the mechanical arm fixing base 4-1, the linear servo motor 4-2 is connected with the controller. Other components and connection modes are the same as those of the first embodiment.
Under the guiding action of the horizontal guide rail 4-4 and the sliding block 4-5, the linear servo motor 4-2 drives the mechanical arm fixing base 4-1 to move along a horizontal straight line through the linear transmission mechanism 4-3, and therefore horizontal movement of the mechanical arm 5 is achieved.
The seventh embodiment: the embodiment is described with reference to fig. 1 and 3, the linear transmission mechanism 4-3 of the embodiment includes a linear rack, a transmission gear and a linear fixing frame, the linear fixing frame is disposed on one side of the robot arm fixing base 4-1, the linear rack is fixedly connected to the linear fixing frame, the linear rack is disposed in parallel with the horizontal guide rail 4-4, the transmission gear is fixedly connected to a motor shaft of the linear servo motor 4-2, the motor shaft of the linear servo motor 4-2 is rotatably connected to one side of the robot arm fixing base 4-1, and the transmission gear is engaged with the linear rack. Other components and connection modes are the same as those of the sixth embodiment.
The transmission gear is driven to rotate by the motor shaft of the linear servo motor 4-2, the transmission gear is meshed with the linear rack, and the linear rack is fixedly connected to the linear fixing frame, so that the linear servo motor 4-2, the transmission gear and the mechanical arm fixing base 4-1 move together along the horizontal direction.
The specific implementation mode is eight: the embodiment is described with reference to fig. 1 and 4, the mechanical arm 5 of the embodiment includes a first joint 5-1, a second joint 5-2, a third joint 5-3, a fourth joint 5-4, a fifth joint 5-5, a sixth joint 5-6, a first arm 5-7 and a second arm 5-8, the lower end of the first joint 5-1 is fixedly connected to the horizontal moving mechanism 4, the upper end of the first joint 5-1 is rotatably connected to the lower end of the second joint 5-2, the upper end of the second joint 5-2 is rotatably connected to the lower end of the first arm 5-7, the upper end of the first arm 5-7 is provided with the third joint 5-3, one end of the second arm 5-8 is provided with the fourth joint 5-4, the third joint 5-3 is rotatably connected to the fourth joint 5-4, the other end of the second support arm 5-8 is rotatably connected with a fifth joint 5-5, the fifth joint 5-5 is rotatably connected with one end of a sixth joint 5-6, and the other end of the sixth joint 5-6 is fixedly connected with an arm end camera component 6. Other components and connection modes are the same as those of the first embodiment.
The specific implementation method nine: the embodiment is described with reference to fig. 1 and 4, in which a first motor is vertically and fixedly connected to the first joint 5-1, a motor shaft of the first motor is vertically and fixedly connected to the lower end surface of the second joint 5-2, a second motor is horizontally and fixedly connected to the inner portion of the lower end of the first arm 5-7, a motor shaft of the second motor is vertically and fixedly connected to the upper end side wall of the second joint 5-2, a third motor is horizontally and fixedly connected to the fourth joint 5-4, a motor shaft of the third motor is vertically and fixedly connected to the side wall of the third joint 5-3, a fourth motor is horizontally and fixedly connected to the fifth joint 5-5, a motor shaft of the fourth motor is vertically and fixedly connected to the side wall of the other end of the second arm 5-8, a fifth motor is arranged in the sixth joint 5-6, a motor shaft of the fifth motor is vertically and fixedly connected to the side wall of the fifth joint, the, The second motor, the third motor, the fourth motor and the fifth motor are respectively connected with the controller. The other components and connection modes are the same as those of the eighth embodiment.
The detailed implementation mode is ten: the embodiment is described with reference to fig. 1, four traveling wheels 1-1 are uniformly distributed at the lower end of the traveling trolley 1 in the embodiment, and each traveling wheel 1-1 is connected with a controller. Other components and connection modes are the same as those of the first embodiment. The walking wheels 1-1 are controlled by the motor to realize linear walking and steering respectively, and the synchronous control of the four walking wheels 1-1 is realized through the controller.
In the embodiment, one side of the upper end surface of the travelling trolley 1 is provided with an outer shell, and the bottom camera anti-shake mechanism 3, the linear servo motor 4-2 and the linear transmission mechanism 4-3 are all arranged in the outer shell.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. The utility model provides a EMUs bottom fault detection device which characterized in that: the motor train unit bottom fault detection device comprises a walking trolley (1), a bottom camera component (2), a bottom camera anti-shake mechanism (3), a horizontal moving mechanism (4), a mechanical arm (5) and an arm end camera component (6), wherein the bottom camera component (2) is arranged on one side of the walking trolley (1) through the bottom camera anti-shake mechanism (3), the mechanical arm (5) is arranged on the other side of the walking trolley (1) through the horizontal moving mechanism (4), the tail end of the mechanical arm (5) is provided with the arm end camera component (6), the walking trolley (1), the bottom camera component (2), the bottom camera anti-shake mechanism (3), the horizontal moving mechanism (4), the mechanical arm (5) and the arm end camera component (6) are respectively connected with a controller.
2. The motor train unit bottom fault detection device of claim 1, wherein: the bottom camera anti-shake mechanism (3) comprises an X-axis servo motor (3-1), an X-axis fixing frame (3-2), an X-axis transmission mechanism (3-3), an X-axis rotating shaft (3-4), a top layer rotating platform (3-5), a Y-axis servo motor (3-6), a Y-axis fixing frame (3-7), a Y-axis transmission mechanism (3-8), a Y-axis rotating shaft (3-9), a bottom layer rotating platform (3-10) and a double-axis tilt angle sensor (3-11), wherein the Y-axis fixing frame (3-7) is fixedly connected to one side of the upper end face of the walking trolley (1), the Y-axis servo motor (3-6) is fixedly connected to the Y-axis fixing frame (3-7), a motor shaft of the Y-axis servo motor (3-6) is connected with the Y-axis rotating shaft (3-9) through the Y-axis transmission mechanism (3-8), the upper end of a Y-axis rotating shaft (3-9) is fixedly connected with a bottom layer rotating platform (3-10), an X-axis fixing frame (3-2) is fixedly connected on the upper end surface of the bottom layer rotating platform (3-10), an X-axis servo motor (3-1) is fixedly connected on the X-axis fixing frame (3-2), a motor shaft of the X-axis servo motor (3-1) is connected with an X-axis rotating shaft (3-4) through an X-axis transmission mechanism (3-3), the upper end of the X-axis rotating shaft (3-4) is fixedly connected with a top layer rotating platform (3-5), the X-axis rotating shaft (3-4) and the axis of the Y-axis rotating shaft (3-9) are vertically arranged, a double-axis inclination angle sensor (3-11) is arranged on the top layer rotating platform (3-5), a bottom camera component (2) is arranged on the upper end surface of the top layer rotating platform (3-5), the X-axis servo motor (3-1), the Y-axis servo motor (3-6) and the double-axis tilt sensor (3-11) are respectively connected with the controller.
3. The motor train unit bottom fault detection device of claim 2, wherein: the X-axis transmission mechanism (3-3) comprises an X-axis driving gear and an X-axis driven gear, the X-axis driving gear is fixedly arranged on a motor shaft of the X-axis servo motor (3-1), the X-axis driven gear is fixedly arranged on the X-axis rotating shaft (3-4), the X-axis driving gear is meshed with the X-axis driven gear, and one end of the X-axis rotating shaft (3-4) is rotatably connected with the X-axis fixing frame (3-2);
the Y-axis transmission mechanism (3-8) comprises a Y-axis driving gear and a Y-axis driven gear, the Y-axis driving gear is fixedly arranged on a motor shaft of the Y-axis servo motor (3-6), the Y-axis driven gear is fixedly arranged on the Y-axis rotating shaft (3-9), the Y-axis driving gear is meshed with the Y-axis driven gear, and one end of the Y-axis rotating shaft (3-9) is rotatably connected with the Y-axis fixing frame (3-7).
4. The motor train unit bottom fault detection device of claim 3, wherein: the other end of the X-axis rotating shaft (3-4) is provided with an X-axis bearing seat (3-12), the X-axis bearing seat (3-12) is fixedly connected to the upper end face of the bottom layer rotating platform (3-10), the X-axis rotating shaft (3-4) is rotatably connected with the X-axis bearing seat (3-12) through a bearing, and the X-axis rotating shaft (3-4) is arranged along the length direction of the bottom layer rotating platform (3-10);
the other end of the Y-axis rotating shaft (3-9) is provided with a Y-axis bearing seat which is fixedly connected to the upper end face of the walking trolley (1), the Y-axis rotating shaft (3-9) is rotatably connected with the Y-axis bearing seat through a bearing, and the Y-axis rotating shaft (3-9) is arranged along the width direction of the bottom layer rotating platform (3-10).
5. The motor train unit bottom fault detection device of claim 2, wherein: a top-layer connecting block is fixedly sleeved in the middle of the X-axis rotating shaft (3-4), and the upper end face of the top-layer connecting block is fixedly connected with the lower end face of the top-layer rotating platform (3-5);
the middle part of the Y-axis rotating shaft (3-9) is sleeved and fixed with a bottom connecting block (3-13), and the upper end face of the bottom connecting block (3-13) is fixedly connected with the lower end face of a bottom rotating platform (3-10).
6. The motor train unit bottom fault detection device of claim 1, wherein: the horizontal moving mechanism (4) comprises a mechanical arm fixing base (4-1), a linear servo motor (4-2), a linear transmission mechanism (4-3), two horizontal guide rails (4-4) and two pairs of sliding blocks (4-5), the two horizontal guide rails (4-4) are arranged on the other side of the upper end of the walking trolley (1) in parallel, each horizontal guide rail (4-4) is arranged along the width direction of the walking trolley (1), the lower end face of the mechanical arm fixing base (4-1) is symmetrically provided with the two pairs of sliding blocks (4-5), each pair of sliding blocks (4-5) is sleeved on one horizontal guide rail (4-4), the linear servo motor (4-2) drives the mechanical arm fixing base (4-1) to move horizontally and linearly through the linear transmission mechanism (4-3), the mechanical arm (5) is fixedly connected to the upper end face of the mechanical arm fixing base (4-1), and the linear servo motor (4-2) is connected with the controller.
7. The motor train unit bottom fault detection device of claim 6, wherein: the linear transmission mechanism (4-3) comprises a linear rack, a transmission gear and a linear fixing frame, the linear fixing frame is arranged on one side of the mechanical arm fixing base (4-1), the linear rack is fixedly connected to the linear fixing frame, the linear rack is arranged in parallel with the horizontal guide rail (4-4), the transmission gear is fixedly connected to a motor shaft of the linear servo motor (4-2), the motor shaft of the linear servo motor (4-2) is rotatably connected with one side of the mechanical arm fixing base (4-1), and the transmission gear is meshed with the linear rack.
8. The motor train unit bottom fault detection device of claim 1, wherein: the mechanical arm (5) comprises a first joint (5-1), a second joint (5-2), a third joint (5-3), a fourth joint (5-4), a fifth joint (5-5), a sixth joint (5-6), a first support arm (5-7) and a second support arm (5-8), the lower end of the first joint (5-1) is fixedly connected to the horizontal moving mechanism (4), the upper end of the first joint (5-1) is rotatably connected with the lower end of the second joint (5-2), the upper end of the second joint (5-2) is rotatably connected with the lower end of the first support arm (5-7), the upper end of the first support arm (5-7) is provided with the third joint (5-3), one end of the second support arm (5-8) is provided with the fourth joint (5-4), the third joint (5-3) is rotationally connected with the fourth joint (5-4), the other end of the second support arm (5-8) is rotationally connected with the fifth joint (5-5), the fifth joint (5-5) is rotationally connected with one end of the sixth joint (5-6), and the other end of the sixth joint (5-6) is fixedly connected with the arm end camera component (6).
9. The motor train unit bottom fault detection device of claim 8, wherein: a first motor is vertically and fixedly connected in the first joint (5-1), a motor shaft of the first motor is vertically and fixedly connected with the lower end face of the second joint (5-2), a second motor is horizontally and fixedly connected in the lower end of the first support arm (5-7), a motor shaft of the second motor is vertically and fixedly connected with the side wall of the upper end of the second joint (5-2), a third motor is horizontally and fixedly connected in the fourth joint (5-4), a motor shaft of the third motor is vertically and fixedly connected with the side wall of the third joint (5-3), a fourth motor is horizontally and fixedly connected in the fifth joint (5-5), a motor shaft of the fourth motor is vertically and fixedly connected with the side wall of the other end of the second support arm (5-8), a fifth motor is arranged in the sixth joint (5-6), a motor shaft of the fifth motor is vertically and fixedly connected with the side wall of the fifth joint, the first motor, The second motor, the third motor, the fourth motor and the fifth motor are respectively connected with the controller.
10. The motor train unit bottom fault detection device of claim 1, wherein: four walking wheels (1-1) are uniformly distributed at the lower end of the walking trolley (1), and each walking wheel (1-1) is connected with a controller.
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| CN202010259445.7A CN111391883A (en) | 2020-04-03 | 2020-04-03 | Motor train unit bottom fault detection device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977551A (en) * | 2021-11-30 | 2022-01-28 | 福建省特种设备检验研究院泉州分院 | Elevator running performance detection robot |
| CN114365670A (en) * | 2022-01-27 | 2022-04-19 | 杨朝 | Garden machine trees transplanter of digging a pit |
| CN114543673A (en) * | 2022-02-14 | 2022-05-27 | 湖北工业大学 | Visual measurement platform for aircraft landing gear and measurement method thereof |
| CN115991212A (en) * | 2023-02-27 | 2023-04-21 | 广东科研世智能科技有限公司 | Motor train unit bottom detection equipment |
-
2020
- 2020-04-03 CN CN202010259445.7A patent/CN111391883A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977551A (en) * | 2021-11-30 | 2022-01-28 | 福建省特种设备检验研究院泉州分院 | Elevator running performance detection robot |
| CN114365670A (en) * | 2022-01-27 | 2022-04-19 | 杨朝 | Garden machine trees transplanter of digging a pit |
| CN114543673A (en) * | 2022-02-14 | 2022-05-27 | 湖北工业大学 | Visual measurement platform for aircraft landing gear and measurement method thereof |
| CN114543673B (en) * | 2022-02-14 | 2023-12-08 | 湖北工业大学 | Visual measurement platform for aircraft landing gear and measurement method thereof |
| CN115991212A (en) * | 2023-02-27 | 2023-04-21 | 广东科研世智能科技有限公司 | Motor train unit bottom detection equipment |
| CN115991212B (en) * | 2023-02-27 | 2023-08-04 | 广东科研世智能科技有限公司 | Motor train unit bottom detection equipment |
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