CN111483481A - Replaceable wheel structure and railway vehicle detection equipment applying same - Google Patents
Replaceable wheel structure and railway vehicle detection equipment applying same Download PDFInfo
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- CN111483481A CN111483481A CN202010410458.XA CN202010410458A CN111483481A CN 111483481 A CN111483481 A CN 111483481A CN 202010410458 A CN202010410458 A CN 202010410458A CN 111483481 A CN111483481 A CN 111483481A
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- wheel
- rail
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- wheels
- rail vehicle
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- 238000001514 detection method Methods 0.000 title claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F1/00—Vehicles for use both on rail and on road; Conversions therefor
- B60F1/02—Vehicles for use both on rail and on road; Conversions therefor with rail and road wheels on the same axle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a replaceable wheel structure and rail vehicle detection equipment applying the same, belongs to the field of rail traffic equipment, and aims to solve the problems that the conventional rail vehicle bottom detection equipment needs to rely on a detection rail when scanning and photographing, the detection rail is inconvenient to mount and the mounting cost is high. The rail vehicle detection equipment comprises a wheel-rail dual-purpose trolley and an image acquisition unit, wherein the image acquisition unit is used for acquiring a bottom image of a rail vehicle; the wheel-rail dual-purpose trolley comprises wheels, a replaceable wheel structure and a power supply system, and when the wheels adopt elastic wheels, the wheel-rail dual-purpose trolley travels on the ground of the tunnel; when the wheels are rigid track wheels, the wheel-track dual-purpose trolley travels along the track. Removable wheel structure: a vertical output shaft of the steering driving motor is connected with a steering connecting mechanism through a steering transmission mechanism, the steering connecting mechanism is sleeved outside a shell of the walking driving motor, and a horizontal output shaft of the walking driving motor is inserted with an axle center of a wheel to drive the wheel to work.
Description
Technical Field
The invention relates to a wheel-rail dual-purpose detection trolley with replaceable wheels and suitable for different working environments, and belongs to the field of rail transit equipment.
Background
At present, in China, a camera is mostly used for scanning and shooting key parts at the bottom of a rail vehicle aiming at detection equipment for the bottom of the rail vehicle in a warehouse, the rail vehicle to be detected stops when the camera is used for shooting, and an image acquisition and identification module is installed on the detection equipment and used for scanning the bottom of the rail vehicle to be detected. Because the precision required for photographing is very high, the detection equipment provided with the image acquisition equipment needs to walk on a track specially installed for the detection equipment so as to improve the photographing precision. The tunnel with the track can be directly used, and the other tunnels without the track need to be constructed on site to install the track, so that earthwork construction is carried out on the constructed garage. And to the check out test set that moves on the track, a track can only install a check out test set, to the storehouse that possess many maintenance lines, need every maintenance line all to install a track and a set of check out test set, and the cost burden is higher, and operation and maintenance all need maintain in the gallery inconveniently.
Disclosure of Invention
The invention aims to solve the problems that the existing rail vehicle bottom detection equipment is required to depend on a detection rail when scanning and photographing, the detection rail is inconvenient to mount and the mounting cost is high, and provides a replaceable wheel structure and rail vehicle detection equipment applying the same.
The replaceable wheel structure comprises a steering driving motor 12, a walking driving motor 13, a steering transmission mechanism 14 and a steering connection mechanism 15, wherein a vertical output shaft of the steering driving motor 12 is connected with the steering connection mechanism 15 through the steering transmission mechanism 14, the steering connection mechanism 15 is sleeved outside a shell of the walking driving motor 13, and a horizontal output shaft of the walking driving motor 13 is inserted with an axis of a wheel 11 to drive the wheel 11 to work;
the wheels 11 are optionally replaced between resilient wheels and rigid track wheels.
Preferably, the end of the horizontal output shaft of the travel driving motor 13 is provided with a connector, and the insertion operation of the axle center of the wheel 11 and the connector realizes the assembly or disassembly of the wheel 11.
Preferably, the steering connecting mechanism 15 is a circular ring structure, the top end of the outer portion of the circular ring structure is connected to the bottom output end of the steering transmission mechanism 14, and the top input end of the steering transmission mechanism 14 is fixedly connected to the vertical output shaft of the steering driving motor 12.
The second scheme is as follows: the rail vehicle detection equipment applying the wheel-changeable structure comprises a wheel-rail dual-purpose trolley 1 and an image acquisition unit, wherein the image acquisition unit is used for acquiring bottom images of rail vehicles;
the wheel-rail dual-purpose trolley 1 comprises wheels 11, a replaceable wheel structure and a power supply system 9, wherein the power supply system 9 is used for providing power for the operation of the wheel-rail dual-purpose trolley 1;
when the wheels 11 are elastic wheels, the wheel-rail dual-purpose trolley 1 runs on the ground of the tunnel; when the wheels 11 are rigid track wheels, the wheel-track dual-purpose trolley 1 travels along the track.
Preferably, the image acquisition unit comprises a quick scanning module 4, a mechanical arm 5, an information acquisition module 6 and a mechanical arm lifting device 7;
the rapid scanning module 4 is arranged in the middle of the top end plane of the wheel-rail dual-purpose trolley 1; the rapid scanning module 4 is used for continuously acquiring image information of the bottom of the vehicle to be detected;
the bottom end of the mechanical arm lifting device 7 is arranged in the front of the plane of the top end of the wheel-rail dual-purpose trolley 1, one end of the mechanical arm 5 is fixed to the top end of the mechanical arm lifting device 7, the information acquisition module 6 is fixed to the other end of the mechanical arm 5, and the information acquisition module 6 is used for acquiring image information, temperature information and sound wave information of a to-be-overhauled part of a to-be-detected vehicle.
Preferably, the trolley further comprises a control system 8, wherein the control system 8 is arranged inside the wheel-rail dual-purpose trolley 1, and the control system 8 is used for receiving the information acquired by the image acquisition unit.
Preferably, the device further comprises a centering position detection unit, wherein the centering position detection unit comprises two lateral laser sensors 3, the two lateral laser sensors 3 are respectively arranged at the front end and the rear end of the side surface of the wheel-rail dual-purpose trolley 1, and position information of the two lateral laser sensors 3 apart from the same side rail is fed back to a control system 8 and is used for correcting the position of the wheel-rail dual-purpose trolley 1 to be in the middle position of the two rails.
Preferably, the positioning device further comprises a positioning module 10, the positioning module 10 is arranged at the rear part of the top end plane of the dual-purpose trolley 1, and the positioning module 10 is used for judging the relative position relationship between the dual-purpose trolley 1 and the rail vehicle in the advancing direction.
Preferably, the positioning module 10 is implemented by a laser sensor or an image recognition module;
the positioning module 10 is a laser sensor, and judges the position of the wheel-rail dual-purpose trolley 1 relative to the rail vehicle in the advancing direction according to the obtained distance information and time information by scanning the key position at the bottom of the rail vehicle;
the positioning module 10 is an image recognition module, and the position of the wheel-rail dual-purpose trolley 1 relative to the rail vehicle in the traveling direction is solved by shooting and recognizing the key position of the bottom of the rail vehicle.
Preferably, the vehicle further comprises a reflector 2, laser ranging sensors are arranged on the front and back of the travelling direction of the wheel-rail dual-purpose trolley 1, the reflector 2 is arranged on two end faces of the vehicle body of the wheel-rail dual-purpose trolley 1, and the laser ranging sensors are used for judging the absolute position of the trolley in the travelling direction by scanning the reflector 2.
The invention has the advantages that: the invention provides a replaceable wheel structure, when a special shooting track exists, a detection trolley needs to travel on the track, and a rigid wheel is installed on the replaceable wheel structure; when no special shooting track is available, the detection trolley needs to walk on the ground in the tunnel, and the replaceable wheel structure is provided with the elastic wheels.
Drawings
FIG. 1 is a schematic structural view of a rail vehicle inspection apparatus according to the present invention;
FIG. 2 is a schematic structural view of a replaceable wheel structure for mounting a rigid wheel;
fig. 3 is a left side view of fig. 2, in which: 11-1 is the wheel rim of the rigid rail wheel;
FIG. 4 is a schematic view of a replaceable wheel structure for mounting a resilient wheel;
fig. 5 is a left side view of fig. 4.
Detailed Description
The first embodiment is as follows: the present embodiment is described below with reference to fig. 2 to 5, where the replaceable wheel structure of the present embodiment includes a steering driving motor 12, a walking driving motor 13, a steering transmission mechanism 14 and a steering connection mechanism 15, a vertical output shaft of the steering driving motor 12 is connected to the steering connection mechanism 15 through the steering transmission mechanism 14, the steering connection mechanism 15 is sleeved outside a casing of the walking driving motor 13, and a horizontal output shaft of the walking driving motor 13 is inserted into an axis of the wheel 11 to drive the wheel 11 to operate;
the wheels 11 are optionally replaced between resilient wheels and rigid track wheels.
The end part of the horizontal output shaft of the walking driving motor 13 is provided with a connecting piece, and the assembly or the disassembly of the wheel 11 is realized by the inserting operation of the axle center of the wheel 11 and the connecting piece.
The steering connecting mechanism 15 is of a circular ring structure, the top end of the outer portion of the circular ring structure is connected with the output end of the bottom of the steering transmission mechanism 14, and the input end of the top of the steering transmission mechanism 14 is fixedly connected with the vertical output shaft of the steering driving motor 12.
When the wheels 11 are elastic wheels, the output shaft of the steering driving motor 12 drives the steering connecting mechanism 15 to rotate around the z axis (vertical direction) through the steering transmission mechanism 14, and then drives the horizontal output shaft of the walking driving motor 13 to swing in the horizontal plane, so that the steering of the wheels is realized;
when the wheels 11 are rigid track wheels, the steering driving motor 12 does not work and keeps a fixed position (angle), and only the walking driving motor 13 drives the wheels 11 to move forward along the track without steering.
According to the structure provided by the embodiment, when different wheels are replaced according to the environment, the driving mechanism is not changed, and the switching between ground walking and rail walking can be realized only by replacing the wheels (elasticity and rigidity).
The second embodiment is as follows: the following description is provided with reference to fig. 1, and the rail vehicle detection apparatus with a replaceable wheel structure according to the first embodiment of the present invention includes a wheel-rail dual-purpose trolley 1 and an image acquisition unit, where the image acquisition unit is used to acquire an image of a bottom of a rail vehicle;
the wheel-rail dual-purpose trolley 1 comprises wheels 11, a replaceable wheel structure and a power supply system 9, wherein the power supply system 9 is used for providing power for the operation of the wheel-rail dual-purpose trolley 1;
when the wheels 11 are elastic wheels, the wheel-rail dual-purpose trolley 1 runs on the ground of the tunnel; when the wheels 11 are rigid track wheels, the wheel-track dual-purpose trolley 1 travels along the track.
The image acquisition unit comprises a quick scanning module 4, a mechanical arm 5, an information acquisition module 6 and a mechanical arm lifting device 7;
the rapid scanning module 4 is arranged in the middle of the top end plane of the wheel-rail dual-purpose trolley 1; the rapid scanning module 4 is used for continuously acquiring image information of the bottom of the vehicle to be detected;
the bottom end of the mechanical arm lifting device 7 is arranged in the front of the plane of the top end of the wheel-rail dual-purpose trolley 1, one end of the mechanical arm 5 is fixed to the top end of the mechanical arm lifting device 7, the information acquisition module 6 is fixed to the other end of the mechanical arm 5, and the information acquisition module 6 is used for acquiring image information, temperature information and sound wave information of a to-be-overhauled part of a to-be-detected vehicle. The mechanical arm lifting device 7 is used for lifting the mechanical arm 5 so as to realize the maintenance operation of parts to be maintained at different positions and different heights.
The wheel-rail dual-purpose trolley further comprises a control system 8, wherein the control system 8 is arranged in the wheel-rail dual-purpose trolley 1, and the control system 8 is used for receiving information collected by the image collecting unit.
The third concrete implementation mode: the present embodiment will be described with reference to fig. 1, and the present embodiment is different from the second embodiment in that the present embodiment provides a positioning scheme of the carriage, including centering position detection, relative position relation detection between the wheeltrack carriage 1 and the rail vehicle in the traveling direction, and absolute position detection of the carriage in the traveling direction.
The middle position detection is realized by the middle position detection unit, the middle position detection unit includes two side direction laser sensor 3, and two side direction laser sensor 3 set up respectively in the front end and the rear end of wheel rail dual-purpose dolly 1 side, and two side direction laser sensor 3 apart from homonymy track position information feedback to control system 8 for the position of rectifying wheel rail dual-purpose dolly 1 is in two track median positions. The two lateral laser sensors 3 are arranged at the top of the side wall of the main structure in tandem and scan the same side track of the rail vehicle to be detected, the measurement results of the two lateral laser sensors 3 are transmitted to the control system 8, and whether the wheel-rail dual-purpose trolley 1 runs in the middle of the rail vehicle to be detected (namely the middle position of the two tracks) or not and whether the advancing direction is parallel to the length direction of the rail vehicle to be detected or not are judged by comparing the measurement results.
The relative position detection is realized by a positioning module 10, the positioning module 10 is arranged at the rear part of the top end plane of the wheel-rail dual-purpose trolley 1, and the positioning module 10 is used for judging the relative position relation between the wheel-rail dual-purpose trolley 1 and a rail vehicle in the advancing direction.
The positioning module 10 is realized by a laser sensor or an image recognition module;
the positioning module 10 is a laser sensor, and judges the position of the wheel-rail dual-purpose trolley 1 relative to the rail vehicle in the advancing direction according to the obtained distance information and time information by scanning the key position at the bottom of the rail vehicle;
the positioning module 10 is an image recognition module, and the position of the wheel-rail dual-purpose trolley 1 relative to the rail vehicle in the traveling direction is solved by shooting and recognizing the key position of the bottom of the rail vehicle.
The absolute position detection is realized by the reflector 2 in cooperation with laser ranging sensors in the front and the back of the vehicle, the laser ranging sensors are uniformly arranged in the front and the back of the advancing direction of the wheel-rail dual-purpose trolley 1, the reflectors 2 are arranged on two end faces of the vehicle body of the wheel-rail dual-purpose trolley 1, and the laser ranging sensors are used for judging the absolute position of the trolley in the advancing direction by scanning the reflectors 2.
Claims (10)
1. The replaceable wheel structure is characterized by comprising a steering driving motor (12), a walking driving motor (13), a steering transmission mechanism (14) and a steering connection mechanism (15), wherein a vertical output shaft of the steering driving motor (12) is connected with the steering connection mechanism (15) through the steering transmission mechanism (14), the steering connection mechanism (15) is sleeved outside a shell of the walking driving motor (13), and a horizontal output shaft of the walking driving motor (13) is inserted in the axis of a wheel (11) to drive the wheel (11) to work;
the wheels (11) are selectively replaced between resilient wheels and rigid track wheels.
2. The structure of replaceable wheels according to claim 1, characterized in that the end of the horizontal output shaft of the travel drive motor (13) is provided with a connection piece, the insertion of the axle centre of the wheel (11) with the connection piece effecting the assembly or disassembly of the wheel (11).
3. The structure of replaceable wheels according to claim 2, wherein the steering linkage (15) is a circular ring structure, the top end of the circular ring structure is connected to the bottom output end of the steering transmission mechanism (14), and the top input end of the steering transmission mechanism (14) is fixedly connected to the vertical output shaft of the steering driving motor (12).
4. The rail vehicle detection device with the replaceable wheel structure is characterized by comprising a wheel-rail dual-purpose trolley (1) and an image acquisition unit, wherein the image acquisition unit is used for acquiring bottom images of the rail vehicle;
the wheel-rail dual-purpose trolley (1) comprises wheels (11), a replaceable wheel structure and a power supply system (9), wherein the power supply system (9) is used for providing power for the operation of the wheel-rail dual-purpose trolley (1);
when the wheels (11) adopt elastic wheels, the wheel-rail dual-purpose trolley (1) runs on the ground of the tunnel; when the wheels (11) adopt rigid track wheels, the wheel-track dual-purpose trolley (1) travels along the track.
5. The rail vehicle detection apparatus according to claim 4, wherein the image acquisition unit comprises a fast scanning module (4), a mechanical arm (5), an information acquisition module (6) and a mechanical arm lifting device (7);
the rapid scanning module (4) is arranged in the middle of the top plane of the wheel-rail dual-purpose trolley (1); the rapid scanning module (4) is used for continuously acquiring image information of the bottom of the vehicle to be detected;
the bottom end of the mechanical arm lifting device (7) is arranged in the front of the top end plane of the wheel-rail dual-purpose trolley (1), one end of the mechanical arm (5) is fixed to the top end of the mechanical arm lifting device (7), the information acquisition module (6) is fixed to the other end of the mechanical arm (5), and the information acquisition module (6) is used for acquiring image information, temperature information and sound wave information of a to-be-overhauled part of a to-be-detected vehicle.
6. The rail vehicle detection device according to claim 4, further comprising a control system (8), wherein the control system (8) is arranged inside the wheel-rail dual-purpose trolley (1), and the control system (8) is used for receiving the information collected by the image collecting unit.
7. The rail vehicle detection device according to claim 6, further comprising a centering position detection unit, wherein the centering position detection unit comprises two lateral laser sensors (3), the two lateral laser sensors (3) are respectively arranged at the front end and the rear end of the side surface of the wheel-rail dual-purpose trolley (1), and the position information of the two lateral laser sensors (3) from the same side rail is fed back to the control system (8) so as to correct the position of the wheel-rail dual-purpose trolley (1) to be in the middle position of the two rails.
8. The rail vehicle detection device according to claim 6, further comprising a positioning module (10), wherein the positioning module (10) is arranged at the rear part of the top end plane of the dual-purpose trolley (1) for wheel and rail, and the positioning module (10) is used for judging the relative position relationship between the dual-purpose trolley (1) for wheel and rail and the rail vehicle in the traveling direction.
9. The rail vehicle detection apparatus according to claim 8, characterized in that the positioning module (10) is implemented using a laser sensor or an image recognition module;
the positioning module (10) is a laser sensor, and the position of the wheel-rail dual-purpose trolley (1) relative to the rail vehicle in the advancing direction is judged according to the obtained distance information and time information by scanning the key position at the bottom of the rail vehicle;
the positioning module (10) is an image recognition module, and the position of the wheel-rail dual-purpose trolley (1) relative to the rail vehicle in the advancing direction is solved by shooting and recognizing the key position of the bottom of the rail vehicle.
10. The rail vehicle detection device according to claim 4, further comprising a reflector (2), wherein the front and the back of the dual-purpose trolley (1) are respectively provided with a laser ranging sensor, the two end faces of the trolley body of the dual-purpose trolley (1) are respectively provided with the reflector (2), and the laser ranging sensors are used for judging the absolute position of the trolley in the advancing direction by scanning the reflectors (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010410458.XA CN111483481A (en) | 2020-05-15 | 2020-05-15 | Replaceable wheel structure and railway vehicle detection equipment applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010410458.XA CN111483481A (en) | 2020-05-15 | 2020-05-15 | Replaceable wheel structure and railway vehicle detection equipment applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111483481A true CN111483481A (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010410458.XA Withdrawn CN111483481A (en) | 2020-05-15 | 2020-05-15 | Replaceable wheel structure and railway vehicle detection equipment applying same |
Country Status (1)
| Country | Link |
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| CN (1) | CN111483481A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804764A (en) * | 2021-09-22 | 2021-12-17 | 广东汕头超声电子股份有限公司 | Single-wheel self-balancing track ultrasonic detection equipment |
| CN115092205A (en) * | 2022-05-19 | 2022-09-23 | 哈尔滨国铁科技集团股份有限公司 | Inspection equipment applied to vehicle warehouse-in and warehouse-out detection system |
-
2020
- 2020-05-15 CN CN202010410458.XA patent/CN111483481A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804764A (en) * | 2021-09-22 | 2021-12-17 | 广东汕头超声电子股份有限公司 | Single-wheel self-balancing track ultrasonic detection equipment |
| CN113804764B (en) * | 2021-09-22 | 2024-02-02 | 广东汕头超声电子股份有限公司 | Single-wheel self-balancing track ultrasonic detection equipment |
| CN115092205A (en) * | 2022-05-19 | 2022-09-23 | 哈尔滨国铁科技集团股份有限公司 | Inspection equipment applied to vehicle warehouse-in and warehouse-out detection system |
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Application publication date: 20200804 |