CN112644556A - Robot for detecting train rail abrasion - Google Patents
Robot for detecting train rail abrasion Download PDFInfo
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- CN112644556A CN112644556A CN202110072134.4A CN202110072134A CN112644556A CN 112644556 A CN112644556 A CN 112644556A CN 202110072134 A CN202110072134 A CN 202110072134A CN 112644556 A CN112644556 A CN 112644556A
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- measuring
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- 238000005299 abrasion Methods 0.000 title claims description 10
- 238000001514 detection method Methods 0.000 claims abstract description 143
- 230000008602 contraction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
Abstract
The utility model provides a detect train rail wearing and tearing robot, includes bottom plate, first camera fixed plate, its characterized in that of two first cameras: the bottom plate is a rectangular plate, the first camera fixing plate is fixedly arranged in the middle of the front side of the upper surface of the bottom plate, and the two first cameras are fixedly arranged in front of the bottom plate; the fifth hydraulic cylinder drives the two first measuring rods to clamp the rail, the fourth hydraulic cylinder contracts to enable the two first detection wheels to be in contact with the two sides of the rail, and the sixth hydraulic cylinder contracts to enable the second detection wheels to be in contact with the upper surface of the rail; the detection is more accurate through contact detection; the steering wheel work makes measuring mechanism clockwise rotation degree, then second pneumatic cylinder work drives the auto-lock board and removes left, makes in the auto-lock board stretches into the auto-lock hole, through erectting detection device and make it leave the rail, makes to avoid train and machine storage all very convenient.
Description
Technical Field
The invention relates to the technical field of rail transit, particularly discloses a robot for detecting rail abrasion of a train, and belongs to the technical field of robots and rail transit.
Background
Aiming at the problem that the train rail abrasion needs to be detected, manual detection is time-consuming and labor-consuming, manual detection is not strict, and some manual detection is always ignored, so that a robot capable of automatically detecting the rail abrasion degree is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention provides a robot for detecting the abrasion of a train rail, which is characterized in that a fifth hydraulic cylinder drives two first measuring rods to clamp the rail, a fourth hydraulic cylinder contracts to enable two first detection wheels to be contacted with the two sides of the rail, and a sixth hydraulic cylinder contracts to enable a second detection wheel to be contacted with the upper surface of the rail; the detection is more accurate through contact detection; the steering wheel work makes measuring mechanism clockwise rotation degree, then second pneumatic cylinder work drives the auto-lock board and removes left, makes in the auto-lock board stretches into the auto-lock hole, through erectting detection device and make it leave the rail, makes to avoid train and machine storage all very convenient.
The technical scheme adopted by the invention is as follows: the utility model provides a detect train rail wearing and tearing robot, comprising a base plate, first camera fixed plate, two first cameras, first parallel mechanism base, six first pneumatic cylinders, second parallel mechanism base, a fixed base, the steering wheel, the auto-lock board fixed plate, the auto-lock board, two second pneumatic cylinders, the auto-lock mechanism fixed base, measuring mechanism, signal receiver, second camera fixed plate, two second cameras, the third pneumatic cylinder, survey the camera fixed plate, two survey the camera, the second camera bracing piece, two detect section, two track parts, the axle, its characterized in that: the bottom plate is a rectangular plate, the first camera fixing plate is fixedly arranged at the position, close to the front, in the middle of the upper surface of the bottom plate, and the two first cameras are fixedly arranged in front of the bottom plate; the lower surface of the base of the first parallel mechanism is fixedly arranged at the middle position on the bottom plate; the six first hydraulic cylinders are grouped pairwise, the bottom of the cylinder body of each first hydraulic cylinder is hinged to the upper side of the base of the first parallel mechanism, and the end part of the piston rod of each first hydraulic cylinder is hinged to the lower side of the base of the second parallel mechanism; the bottoms of the cylinder bodies of the two first hydraulic cylinders in each group of the first hydraulic cylinders are leaned together, the end parts of the piston rods of the two first hydraulic cylinders are separated, and the axes of the two first hydraulic cylinders are distributed in a V shape; the fixed seat is fixedly arranged on the second parallel mechanism base, and a hinge frame is arranged on the fixed seat; the bottom surface of the fixing seat of the self-locking mechanism is fixedly arranged at a position close to the right on the fixing seat, a rectangular hole is arranged on the fixing seat, the bottoms of the cylinder bodies of the two second hydraulic cylinders are fixedly arranged at the right side of the fixing seat of the self-locking mechanism, and the end part of a piston rod of each second hydraulic cylinder is fixedly connected with a fixing plate of the self-locking plate; the right end of the self-locking plate is fixedly arranged on the left side of the self-locking plate fixing plate, and the left end of the self-locking plate is slidably arranged in a rectangular hole in the self-locking mechanism fixing seat; the measuring mechanism comprises a measuring mechanism supporting plate, two measuring mechanism supporting plates, a third hydraulic cylinder fixing seat, a self-locking hole, a round hole, a second camera supporting rod fixing seat and a signal receiver fixing seat, wherein the measuring mechanism supporting plate is a rectangular plate, the signal receiver fixing seat is arranged in the middle of the upper surface of the measuring mechanism supporting plate, and the signal receiver is fixedly arranged on the signal receiver fixing seat; a second camera supporting rod fixing seat is arranged on the upper surface of the measuring mechanism supporting plate and is arranged on the left side of the signal receiver fixing seat; the second camera supporting rod is fixedly arranged in the second camera supporting rod fixing seat, a second camera fixing plate is arranged on the second camera supporting rod, and the two second cameras are fixedly arranged in front of the second camera fixing plate; the two measuring mechanism supporting plates and a third hydraulic cylinder fixing seat are fixedly arranged below the measuring mechanism supporting plates, and the third hydraulic cylinder fixing seat is arranged between the two measuring mechanism supporting plates; the rear end of the third hydraulic cylinder body is fixedly arranged in a third hydraulic cylinder fixing seat, the end part of a piston rod of the third hydraulic cylinder body is fixedly connected with the upper surface of a detection camera fixing plate, and the two detection cameras are fixedly arranged below the detection camera fixing plate; the four fifth hydraulic cylinders are divided into two groups, the rear end of each group of cylinder bodies is fixedly arranged below the two measuring mechanism supporting plates respectively, a third hydraulic cylinder fixing seat is arranged in the middle of the two measuring mechanism supporting plates, a self-locking hole is arranged at the left side of the upper surface of the measuring mechanism supporting plate, a round hole is arranged at the left side end of the measuring mechanism supporting plate and is fixedly arranged on a shaft, the shaft is rotatably arranged in the round hole of the hinge frame on the fixing seat, the steering engine is horizontally arranged, the side surface of the steering engine is fixedly connected with the fixing seat, and the motor shaft of the steering engine is fixedly connected with one end of the shaft through a;
the detection part comprises a detection part fixing plate, two first measuring rods, two fourth hydraulic cylinders, two second measuring rods, five detection sensors, two first detection wheels, two first detection wheel shells, two first detection wheel shafts, two fifth hydraulic cylinders, a third measuring rod, a sixth hydraulic cylinder, a second detection wheel shell, a second detection wheel shaft, a second detection wheel and two seventh hydraulic cylinders, wherein the detection part fixing plate is a rectangular plate, three rectangular holes are formed in the detection part fixing plate, the bottom ends of the cylinder bodies of the two fifth hydraulic cylinders are fixedly arranged below a measuring mechanism supporting plate, and the end part of a piston rod of the detection part fixing plate is fixedly connected with the upper surface of the detection part fixing plate; the first measuring rod is a rectangular plate, a marking groove is formed in the outer side of the first measuring rod, a rectangular hole is formed in the position, close to the upper side and the lower side of the marking groove, and the two first measuring rods are respectively installed in the two rectangular holes in the outer side of the fixed plate of the detection part in a sliding mode; the bottom ends of the cylinder bodies of the two seventh hydraulic cylinders are respectively and fixedly arranged on the fixed plate of the detection part, and the end parts of piston rods of the two seventh hydraulic cylinders are respectively and fixedly connected with the supporting plate behind the two first measuring rods; the rear ends of the cylinder bodies of the two fourth hydraulic cylinders are respectively and fixedly arranged at the outer sides of the two first measuring rods, the end parts of piston rods of the two fourth hydraulic cylinders are respectively and fixedly connected with supporting plates on the two second measuring rods, the second measuring rods are rectangular plates, marking grooves are formed in the lower surfaces of the second measuring rods, the shells of the two first detecting wheels are respectively and fixedly arranged at the inner side ends of the two second measuring rods, the two first detecting wheels are respectively and fixedly arranged on the two first detecting wheel shafts, and the two first detecting wheel shafts are respectively and rotatably arranged in holes on the shells of the two first detecting wheels; two of the five detection sensors are fixedly arranged on the outer sides of the two first measuring rods respectively and are positioned below the second measuring rod, the two detection sensors are fixedly arranged on the detection part fixing plate and are positioned on the outer sides of the two first measuring rods respectively, and the other detection sensor is fixedly arranged on the detection part fixing plate and is positioned on the left side of the third detection rod; the third detection rod is a rectangular plate, a marking groove is formed in the right side of the third detection rod, the third detection rod is slidably mounted in a hole in the middle of the detection part fixing plate, the rear end of the cylinder body of the sixth hydraulic cylinder is fixedly mounted on the detection part fixing plate, and the end part of a piston rod of the sixth hydraulic cylinder is fixedly connected with a support frame on the right side of the third detection rod; the second detection wheel shell is fixedly arranged below the third detection rod, the second detection wheel shaft is rotatably arranged in a hole in the second detection wheel shell, and the second detection wheel is fixedly arranged on the second detection wheel shaft;
the crawler belt part comprises a crawler belt, two first crawler wheels, two second crawler wheels, seven third crawler wheels, a first crawler wheel fixing plate, two servo motors, two servo motor fixing plates, a crawler belt supporting plate, a crawler belt fixing seat and a second crawler wheel fixing plate, wherein one end of each of the two first crawler wheels, the two second crawler wheels and the seven third crawler wheels is rotatably arranged in a hole in the upper surface of the first crawler wheel fixing plate, and the other end of each of the two first crawler wheels, the two second crawler wheels and the seven third crawler wheels is rotatably arranged in a hole in the upper surface of the second crawler wheel fixing plate; the crawler is arranged on the two first crawler wheels, the two second crawler wheels and seven third crawler wheels; the two servo motors are horizontally arranged, the back parts of the two servo motors are respectively and fixedly arranged on the two servo motor fixing plates, motor shafts of the two servo motors are respectively and fixedly connected with the two first crawler wheels, and the inner sides of the two servo motor fixing plates are fixedly arranged on two sides of the crawler supporting plate; the front end face of the crawler supporting plate is fixedly arranged on the outer side of the second crawler wheel fixing plate, the lower face of the crawler fixing seat is fixedly arranged on the crawler supporting plate, and the upper face of the crawler fixing seat is fixedly arranged below the bottom plate.
Further, the detection sensor reads the first measuring rod, the second measuring rod and the marking groove on the first detection wheel to obtain the rail abrasion degree.
The invention has the beneficial effects that: the fifth hydraulic cylinder drives the two first measuring rods to clamp the rail, the fourth hydraulic cylinder contracts to enable the two first detection wheels to be in contact with the two sides of the rail, and the sixth hydraulic cylinder contracts to enable the second detection wheels to be in contact with the upper surface of the rail; the detection is more accurate through contact detection; the steering wheel work makes measuring mechanism clockwise rotation degree, then second pneumatic cylinder work drives the auto-lock board and removes left, makes in the auto-lock board stretches into the auto-lock hole, through erectting detection device and make it leave the rail, makes to avoid train and machine storage all very convenient.
Drawings
Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.
Fig. 4 and 5 are schematic structural views of the measuring mechanism of the present invention.
Fig. 6, 7 and 8 are schematic structural views of the detecting part of the present invention.
Fig. 9 and 10 are schematic structural views of the crawler belt part of the present invention.
Reference numerals: 1-bottom plate, 2-first camera fixing plate, 3-first camera, 4-first parallel mechanism base, 5-first hydraulic cylinder, 6-second parallel mechanism base, 7-fixing base, 8-steering engine, 9-self-locking plate fixing plate, 10-self-locking plate, 11-second hydraulic cylinder, 12-self-locking mechanism fixing base, 13-measuring mechanism, 14-signal receiver, 15-second camera fixing plate, 16-second camera, 17-third hydraulic cylinder, 18-detection camera fixing plate, 19-detection camera, 20-second camera supporting rod, 21-detection part, 22-crawler part, 23-shaft, 1301-measuring mechanism supporting plate, 1302-measuring mechanism supporting plate, 1303-a third hydraulic cylinder fixing seat, 1304-an auto-lock hole, 1305-a round hole, 1306-a second camera supporting rod fixing seat, 1307-a signal receiver fixing seat, 2101-a detection part fixing plate, 2102-a first measuring rod, 2103-a fourth hydraulic cylinder, 2104-a second measuring rod, 2105-a detection sensor, 2106-a first detection wheel, 2107-a first detection wheel shell, 2108-a first detection wheel shaft, 2109-a fifth hydraulic cylinder, 2110-a third measuring rod, 2111-a sixth hydraulic cylinder, 2112-a second detection wheel shell, 2113-a second detection wheel shaft, 2114-a second detection wheel, 2201-a crawler belt, 2202-a first crawler wheel, 2203-a second crawler wheel, 2204-a third crawler wheel, 2205-a first crawler wheel fixing plate, 2206-a servo motor, 2207-a servo motor fixing plate, 2208-a track supporting plate, 2209-a track fixing seat and 2210-a second crawler wheel fixing plate.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
The embodiment is shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9 and fig. 10, a robot for detecting rail wear of a train, which includes a bottom plate 1, a first camera fixing plate 2, two first cameras 3, a first parallel mechanism base 4, six first hydraulic cylinders 5, a second parallel mechanism base 6, a fixing base 7, a steering engine 8, a self-locking plate fixing plate 9, a self-locking plate 10, two second hydraulic cylinders 11, a self-locking mechanism fixing base 12, a measuring mechanism 13, a signal receiver 14, a second camera fixing plate 15, two second cameras 16, a third hydraulic cylinder 17, a detection camera fixing plate 18, two detection cameras 19, a second camera supporting rod 20, two detection parts 21, two crawler parts 22 and a shaft 23, and is characterized in that: the base plate 1 is a rectangular plate, the first camera fixing plate 2 is fixedly arranged at the position, close to the front, in the middle of the upper surface of the base plate 1, and the two first cameras 3 are fixedly arranged in front of the base plate 1; the lower surface of the first parallel mechanism base 4 is fixedly arranged at the middle position on the bottom plate 1; the six first hydraulic cylinders 5 are grouped in pairs, the bottom of the cylinder body of each first hydraulic cylinder 5 is hinged to the upper side of the first parallel mechanism base 4, and the end part of the piston rod of each first hydraulic cylinder 5 is hinged to the lower side of the second parallel mechanism base 6; the bottoms of the cylinder bodies of the two first hydraulic cylinders 5 in each group of the first hydraulic cylinders 5 are close together, the end parts of the piston rods of the two first hydraulic cylinders 5 are separated, and the axes of the two first hydraulic cylinders 5 are distributed in a V shape; the fixed seat 7 is fixedly arranged on the second parallel mechanism base 6, and a hinge frame is arranged on the fixed seat 7; the bottom surface of the fixing seat 12 of the self-locking mechanism is fixedly arranged at a position close to the right on the fixing seat 7, a rectangular hole is arranged on the fixing seat 12, the bottoms of the cylinder bodies of the two second hydraulic cylinders 11 are fixedly arranged on the right side of the fixing seat 12 of the self-locking mechanism, and the end part of a piston rod of each second hydraulic cylinder is fixedly connected with the fixing plate 9 of the self-locking plate; the right end of the self-locking plate 10 is fixedly arranged at the left side of the self-locking plate fixing plate 9, and the left end of the self-locking plate is slidably arranged in a rectangular hole on the self-locking mechanism fixing seat 12; the measuring mechanism 13 comprises a measuring mechanism supporting plate 1301, two measuring mechanism supporting plates 1302, a third hydraulic cylinder fixing seat 1303, a self-locking hole 1304, a round hole 1305, a second camera supporting rod fixing seat 1306 and a signal receiver fixing seat 1307, wherein the measuring mechanism supporting plate 1301 is a rectangular plate, the signal receiver fixing seat 1307 is arranged in the middle of the upper side of the measuring mechanism supporting plate 1301, and the signal receiver 14 is fixedly installed on the signal receiver fixing seat 1307; a second camera supporting rod fixing seat 1306 is arranged on the measuring mechanism supporting plate 1301, and the second camera supporting rod fixing seat 1306 is arranged on the left side of the signal receiver fixing seat 1307; the second camera support rod 20 is fixedly installed in the second camera support rod fixing seat 1306, a second camera fixing plate 15 is arranged on the second camera support rod 20, and the two second cameras 16 are fixedly installed in front of the second camera fixing plate 15; the two measuring mechanism supporting plates 1302 and a third hydraulic cylinder fixing seat 1303 are fixedly arranged below the measuring mechanism supporting plate 1301, and the third hydraulic cylinder fixing seat 1303 is arranged between the two measuring mechanism supporting plates 1302; the rear end of the cylinder body of the third hydraulic cylinder 17 is fixedly arranged in the third hydraulic cylinder fixing seat 1303, the end part of a piston rod of the third hydraulic cylinder is fixedly connected with the upper surface of the detection camera fixing plate 18, and the two detection cameras 19 are fixedly arranged below the detection camera fixing plate 18; the four fifth hydraulic cylinders 2109 are divided into two groups, the rear end of each group of cylinders is fixedly arranged below the two measuring mechanism supporting plates 1302, a third hydraulic cylinder fixing seat 1303 is arranged in the middle of the two measuring mechanism supporting plates 1302, a self-locking hole 1304 is arranged at the left side of the upper surface of the measuring mechanism supporting plate 1301, a round hole 1305 is arranged at the left side end of the measuring mechanism supporting plate 1301, the round hole 1305 is fixedly arranged on the shaft 23, the shaft 23 is rotatably arranged in a round hole of a hinge frame on the fixing seat 7, the steering engine 8 is horizontally arranged, the side surface of the steering engine is fixedly connected with the fixing seat 7, and a motor shaft of the steering engine is fixedly connected with one end of the shaft;
the detection part 21 comprises a detection part fixing plate 2101, two first measuring rods 2102, two fourth hydraulic cylinders 2103, two second measuring rods 2104, five detection sensors 2105, two first detection wheels 2106, two first detection wheel housings 2107, two first detection wheel shafts 2108, two fifth hydraulic cylinders 2109, a third detection rod 2110, a sixth hydraulic cylinder 2111, a second detection wheel housing 2112, a second detection wheel shaft 2113, a second detection wheel 2114 and two seventh hydraulic cylinders 2115, wherein the detection part fixing plate 2101 is a rectangular plate, three rectangular holes are formed in the detection part fixing plate 2101, the bottom ends of cylinder bodies of the two fifth hydraulic cylinders 2119 are fixedly arranged below a measurement mechanism supporting plate 1302, and the end parts of piston rods of the two fifth hydraulic cylinders are fixedly connected with the upper surface of the detection part fixing plate 2101; the first measuring rod 2102 is a rectangular plate, a marking groove is formed in the outer side of the first measuring rod 2102, a rectangular hole is formed in the upper portion and the lower portion of the marking groove, and the two first measuring rods 2102 are slidably mounted in the two rectangular holes in the outer side of the detection part fixing plate 2101 respectively; the bottom ends of the cylinder bodies of the two seventh hydraulic cylinders 2115 are respectively and fixedly arranged on the detection part fixing plate 2101, and the end parts of the piston rods of the two seventh hydraulic cylinders are respectively and fixedly connected with the supporting plate behind the two first measuring rods 2102; the rear ends of the cylinder bodies of the two fourth hydraulic cylinders 2103 are respectively and fixedly arranged at the outer sides of the two first measuring rods 2102, the end parts of the piston rods of the two fourth hydraulic cylinders are respectively and fixedly connected with the supporting plates on the upper surfaces of the two second measuring rods 2104, the second measuring rods 2104 are rectangular plates, marking grooves are formed in the lower surfaces of the second measuring rods 2104, the two first detecting wheel housings 2107 are respectively and fixedly arranged at the inner side ends of the two second measuring rods 2104, the two first detecting wheels 2106 are respectively and fixedly arranged on the two first detecting wheel shafts 2108, and the two first detecting wheel shafts 2108 are respectively and rotatably arranged in holes in the upper surfaces of the two first detecting wheel housings 2107; two of the five detection sensors 2105 are fixedly mounted on the outer sides of the two first measuring rods 2102 and positioned below the second measuring rod 2104, two detection sensors 2105 are fixedly mounted on the fixing plate 2101 of the detection part and positioned on the outer sides of the two first measuring rods 2102, and the other detection sensor 2105 is fixedly mounted on the fixing plate 2101 of the detection part and positioned on the left side of the third detecting rod 2110; the third detecting rod 2110 is a rectangular plate, a marking groove is formed in the right side of the rectangular plate, the third detecting rod 2110 is slidably mounted in a hole in the middle of the detecting part fixing plate 2101, the rear end of a cylinder body of the sixth hydraulic cylinder 2111 is fixedly mounted on the detecting part fixing plate 2101, and the end of a piston rod of the sixth hydraulic cylinder 2111 is fixedly connected with a supporting frame on the right side of the third detecting rod 2110; the second detection wheel housing 2112 is fixedly arranged below the third detection rod 2110, the second detection wheel shaft 2113 is rotatably arranged in a hole on the second detection wheel housing 2112, and the second detection wheel 2114 is fixedly arranged on the second detection wheel shaft 2113;
the track part 22 comprises a track 2201, two first track wheels 2202, two second track wheels 2203, seven third track wheels 2204, a first track wheel fixing plate 2205, two servo motors 2206, two servo motor fixing plates 2207, a track supporting plate 2208, a track fixing seat 2209 and a second track wheel fixing plate 2210, wherein one end of each of the two first track wheels 2202, the two second track wheels 2203 and the seven third track wheels 2204 is rotatably mounted in a hole on the first track wheel fixing plate 2205, and the other end of each of the two first track wheels 2202, the two second track wheels 2203 and the seven third track wheels 2204 is rotatably mounted in a hole on the second track wheel fixing plate 2210; the crawler 2201 is arranged on two first crawler wheels 2202, two second crawler wheels 2203 and seven third crawler wheels 2204; the two servo motors 2206 are horizontally arranged, the rear surfaces of the two servo motors are respectively and fixedly installed on two servo motor fixing plates 2207, motor shafts of the two servo motors are respectively and fixedly connected with the two first crawler wheels 2202, and the inner sides of the two servo motor fixing plates 2207 are fixedly installed on two sides of a crawler supporting plate 2208; the front end surface of the track supporting plate 2208 is fixedly arranged on the outer side of the second track wheel fixing plate 2210, the lower surface of the track fixing seat 2209 is fixedly arranged on the track supporting plate 2208, and the upper surface of the track fixing seat is fixedly arranged on the lower surface of the bottom plate 1.
Further, the detecting sensor 2105 reads the marking grooves on the first measuring rod 2102, the second measuring rod 2104 and the first detecting wheel 2106 to obtain the rail wear.
The working principle of the invention is as follows: the invention detects the road by two first cameras 3, four first track wheels 2202 are driven by four servo motors 2206 of two track parts 22 to drive a robot to drive two tracks 2201 to drive the road beside the rail to run, a fixed seat 7 is descended by contraction of six first hydraulic cylinders 5, two detection parts 21 are descended to be positioned above the rail, two detection part fixing plates 2101 are driven by extension of four fifth hydraulic cylinders 2109 to move downwards, four first detection wheels 2106 are contacted with two sides of the rail by extension of four fourth hydraulic cylinders 2103, two second detection wheels 2114 are contacted with the upper surface of the rail by contraction of two sixth hydraulic cylinders 2111, then the robot walks forwards by the drive of the two track parts 22, scales outside four first measuring rods 2102, four second measuring rods 2104 and two third measuring rods 2110 are read by ten detection sensors 2105 to judge whether the rail is worn or not, when the abrasion of the rail is detected, the signal receiver 14 transmits the position of the abrasion position, when the two second cameras 16 detect that the train is on, the six first hydraulic cylinders 5, the four fourth hydraulic cylinders 2103, the four fifth hydraulic cylinders 2109, the two sixth hydraulic cylinders 2111 and the four seventh hydraulic cylinders 2115 work cooperatively to enable the four first detection wheels 2106 and the two second detection wheels 2114 to leave the rail, then the steering engine 8 works to enable the measuring mechanism 13 to rotate 90 degrees clockwise, then the two second hydraulic cylinders 11 contract to enable the self-locking plate 10 to move leftwards, the self-locking plate 10 extends into the self-locking hole 1304, the measuring mechanism 13 is fixed, and when the train passes, the detection is carried out according to the steps.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Claims (4)
1. The utility model provides a detect train rail wearing and tearing robot, including bottom plate (1), first camera fixed plate (2), two first cameras (3), first parallel mechanism base (4), six first pneumatic cylinders (5), second parallel mechanism base (6), fixing base (7), steering wheel (8), auto-lock board fixed plate (9), auto-lock board (10), two second pneumatic cylinders (11), self-lock mechanism fixing base (12), measuring mechanism (13), signal receiver (14), second camera fixed plate (15), two second cameras (16), third pneumatic cylinder (17), survey camera fixed plate (18), two survey cameras (19), second camera bracing piece (20), two testing section (21), two track parts (22), axle (23), its characterized in that: the bottom plate (1) is a rectangular plate, the first camera fixing plate (2) is fixedly arranged at the position, close to the front, in the middle of the upper surface of the bottom plate (1), and the two first cameras (3) are fixedly arranged in front of the bottom plate (1); the lower surface of the first parallel mechanism base (4) is fixedly arranged at the middle position on the bottom plate (1); the six first hydraulic cylinders (5) are grouped in pairs, the bottom of each first hydraulic cylinder (5) is hinged to the upper side of the first parallel mechanism base (4), and the end part of a piston rod of each first hydraulic cylinder (5) is hinged to the lower side of the second parallel mechanism base (6); the bottoms of the cylinder bodies of the two first hydraulic cylinders (5) in each group of the first hydraulic cylinders (5) are close to each other, the end parts of the piston rods of the two first hydraulic cylinders (5) are separated, and the axes of the two first hydraulic cylinders (5) are distributed in a V shape; the fixed seat (7) is fixedly arranged on the second parallel mechanism base (6), and a hinge frame is arranged on the fixed seat (7); the bottom surface of the self-locking mechanism fixing base (12) is fixedly arranged at a position close to the right on the fixing seat (7), a rectangular hole is formed in the fixing seat (12), the bottoms of the two second hydraulic cylinders (11) are fixedly arranged on the right side of the self-locking mechanism fixing seat (12), and the end part of a piston rod of each second hydraulic cylinder is fixedly connected with the self-locking plate fixing plate (9); the right end of the self-locking plate (10) is fixedly arranged on the left side of the self-locking plate fixing plate (9), and the left end of the self-locking plate is slidably arranged in a rectangular hole in the self-locking mechanism fixing seat (12); the measuring mechanism (13) comprises a measuring mechanism supporting plate (1301), two measuring mechanism supporting plates (1302), a third hydraulic cylinder fixing seat (1303), a self-locking hole (1304), a round hole (1305), a second camera supporting rod fixing seat (1306) and a signal receiver fixing seat (1307), wherein the measuring mechanism supporting plate (1301) is a rectangular plate, the signal receiver fixing seat (1307) is arranged in the middle of the upper side of the rectangular plate, and the signal receiver (14) is fixedly installed on the signal receiver fixing seat (1307); a second camera supporting rod fixing seat (1306) is arranged on the measuring mechanism supporting plate (1301), and the second camera supporting rod fixing seat (1306) is arranged on the left side of the signal receiver fixing seat (1307); the second camera supporting rod (20) is fixedly arranged in the second camera supporting rod fixing seat (1306), a second camera fixing plate (15) is arranged on the second camera supporting rod (20), and the two second cameras (16) are fixedly arranged in front of the second camera fixing plate (15); the two measuring mechanism supporting plates (1302) and a third hydraulic cylinder fixing seat (1303) are fixedly arranged below the measuring mechanism supporting plate (1301), and the third hydraulic cylinder fixing seat (1303) is arranged between the two measuring mechanism supporting plates (1302); the rear end of the cylinder body of the third hydraulic cylinder (17) is fixedly arranged in a third hydraulic cylinder fixing seat (1303), the end part of a piston rod of the third hydraulic cylinder is fixedly connected with the upper surface of a detection camera fixing plate (18), and the two detection cameras (19) are fixedly arranged below the detection camera fixing plate (18); the four fifth hydraulic cylinders (2109) are divided into two groups, the rear ends of the cylinders of each group are respectively and fixedly mounted below the two measuring mechanism supporting plates (1302), third hydraulic cylinder fixing seats (1303) are arranged in the middle of the two measuring mechanism supporting plates (1302), self-locking holes (1304) are formed in the left side positions of the measuring mechanism supporting plates (1301), round holes (1305) are formed in the left side ends of the measuring mechanism supporting plates (1301), the round holes (1305) are fixedly mounted on the shafts (23), the shafts (23) are rotatably mounted in round holes of hinge frames on the fixing seats (7), the steering gears (8) are horizontally placed, the side faces of the steering gears are fixedly connected with the fixing seats (7), and motor shafts of the steering gears are fixedly connected with one ends of the shafts (23) through couplers.
2. The robot for detecting wear of train rails according to claim 1, wherein: the detection part (21) comprises a detection part fixing plate (2101), two first measuring rods (2102), two fourth hydraulic cylinders (2103), two second measuring rods (2104), five detection sensors (2105), two first detection wheels (2106), two first detection wheel housings (2107), two first detection wheel shafts (2108), two fifth hydraulic cylinders (2109), a third detection rod (2110), a sixth hydraulic cylinder (2111), a second detection wheel housing (2112), a second detection wheel shaft (2113), a second detection wheel (2114) and two seventh hydraulic cylinders (2115), wherein the detection part fixing plate (2101) is a rectangular plate, three rectangular holes are arranged on the upper surface of the measuring mechanism, the bottom ends of cylinder bodies of the two fifth hydraulic cylinders (2109) are fixedly arranged below a supporting plate (1302) of the measuring mechanism, and the end parts of piston rods of the fifth hydraulic cylinders are fixedly connected with the upper surface of a fixing plate (2101) of the detecting part; the first measuring rod (2102) is a rectangular plate, a marking groove is formed in the outer side of the first measuring rod (2102), a rectangular hole is formed in the lower position of the marking groove, and the two first measuring rods (2102) are respectively installed in the two rectangular holes in the outer side of the detection part fixing plate (2101) in a sliding mode; the bottom ends of the cylinder bodies of the two seventh hydraulic cylinders (2115) are respectively and fixedly arranged on the detection part fixing plate (2101), and the end parts of piston rods of the two seventh hydraulic cylinders are respectively and fixedly connected with the supporting plate behind the two first measuring rods (2102); the rear ends of the cylinder bodies of the two fourth hydraulic cylinders (2103) are respectively and fixedly arranged at the outer sides of the two first measuring rods (2102), the end parts of the piston rods of the two fourth hydraulic cylinders are respectively and fixedly connected with the supporting plates above the two second measuring rods (2104), the second measuring rods (2104) are rectangular plates, marking grooves are formed in the lower surfaces of the second measuring rods, the two first detecting wheel shells (2107) are respectively and fixedly arranged at the inner side ends of the two second measuring rods (2104), the two first detecting wheels (2106) are respectively and fixedly arranged on the two first detecting wheel shafts (2108), and the two first detecting wheel shafts (2108) are respectively and rotatably arranged in holes in the upper surfaces of the two first detecting wheel shells (2107); two of the five detection sensors (2105) are fixedly arranged on the outer sides of the two first measuring rods (2102) respectively and are positioned below the second measuring rod (2104), two of the detection sensors (2105) are fixedly arranged on the detection part fixing plate (2101) and are positioned on the outer sides of the two first measuring rods (2102) respectively, and the other detection sensor (2105) is fixedly arranged on the detection part fixing plate (2101) and is positioned on the left side of the third detection rod (2110); the third detection rod (2110) is a rectangular plate, a marking groove is formed in the right side of the third detection rod (2110), the third detection rod (2110) is installed in a hole in the middle of the detection part fixing plate (2101) in a sliding mode, the rear end of a cylinder body of the sixth hydraulic cylinder (2111) is fixedly installed on the detection part fixing plate (2101), and the end portion of a piston rod of the sixth hydraulic cylinder is fixedly connected with a supporting frame on the right side of the third detection rod (2110); the second detection wheel housing (2112) is fixedly arranged below the third detection rod (2110), the second detection wheel shaft (2113) is rotatably arranged in a hole in the second detection wheel housing (2112), and the second detection wheel (2114) is fixedly arranged on the second detection wheel shaft (2113).
3. The robot for detecting wear of train rails according to claim 1, wherein: the crawler belt part (22) comprises a crawler belt (2201), two first crawler wheels (2202), two second crawler wheels (2203), seven third crawler wheels (2204), a first crawler wheel fixing plate (2205), two servo motors (2206), two servo motor fixing plates (2207), a crawler belt supporting plate (2208), a crawler belt fixing seat (2209) and a second crawler wheel fixing plate (2210), wherein one ends of the two first crawler wheels (2202), the two second crawler wheels (2203) and the seven third crawler wheels (2204) are rotatably arranged in holes in the first crawler wheel fixing plate (2205), and the other ends of the two first crawler wheels (2202), the two second crawler wheels (2203) and the seven third crawler wheels (2204) are rotatably arranged in holes in the second crawler wheel fixing plate (2210); the crawler belt (2201) is arranged on two first crawler wheels (2202), two second crawler wheels (2203) and seven third crawler wheels (2204); the two servo motors (2206) are horizontally arranged, the rear surfaces of the two servo motors are respectively and fixedly installed on two servo motor fixing plates (2207), motor shafts of the two servo motors are respectively and fixedly connected with the two first crawler wheels (2202), and the inner sides of the two servo motor fixing plates (2207) are fixedly installed on two sides of a crawler supporting plate (2208); the front end surface of the track supporting plate (2208) is fixedly arranged on the outer side of the second track wheel fixing plate (2210), the lower surface of the track fixing seat (2209) is fixedly arranged on the upper surface of the track supporting plate (2208), and the upper surface of the track fixing seat is fixedly arranged on the lower surface of the bottom plate (1).
4. The robot for detecting wear of train rails according to claim 1, wherein: the detection sensor (2105) reads the marking grooves on the first measuring rod (2102), the second measuring rod (2104) and the first detection wheel (2106) to obtain the rail abrasion degree.
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| CN202110072134.4A CN112644556B (en) | 2021-01-20 | 2021-01-20 | Robot for detecting abrasion of train rail |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110072134.4A CN112644556B (en) | 2021-01-20 | 2021-01-20 | Robot for detecting abrasion of train rail |
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| CN115027512A (en) * | 2022-06-24 | 2022-09-09 | 广东省特种设备检测研究院顺德检测院 | Track intelligent detection robot |
| CN116001842A (en) * | 2023-03-23 | 2023-04-25 | 山东省国土测绘院 | Portable railcar wheel tread mapping instrument |
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| CN112644556B (en) | 2024-03-12 |
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