CN112644556B - Robot for detecting abrasion of train rail - Google Patents
Robot for detecting abrasion of train rail Download PDFInfo
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- CN112644556B CN112644556B CN202110072134.4A CN202110072134A CN112644556B CN 112644556 B CN112644556 B CN 112644556B CN 202110072134 A CN202110072134 A CN 202110072134A CN 112644556 B CN112644556 B CN 112644556B
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- 238000005299 abrasion Methods 0.000 title claims description 6
- 238000001514 detection method Methods 0.000 claims abstract description 152
- 230000008602 contraction Effects 0.000 claims abstract description 9
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 2
- 239000007788 liquid Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The utility model provides a detect train rail wearing and tearing robot, includes bottom plate, first camera fixed plate, two first cameras its characterized in that: the base plate is a rectangular plate, the first camera fixing plate is fixedly arranged at the middle position of the front side of the upper surface of the base plate, and the two first cameras are fixedly arranged in front of the base plate; the rail is clamped by the two first measuring rods through the driving of the fifth hydraulic cylinder, the two first detecting wheels are contacted with the two sides of the rail through the contraction of the fourth hydraulic cylinder, and the second detecting wheels are contacted with the upper surface of the rail through the contraction of the sixth hydraulic cylinder; the detection is more accurate through contact detection; the steering engine works, so that the measuring mechanism rotates clockwise, then the second hydraulic cylinder works to drive the self-locking plate to move leftwards, the self-locking plate stretches into the self-locking hole, and the detecting device is erected to leave the rail, so that trains and machines are avoided and the rail is very convenient to store.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a robot for detecting abrasion of a train rail, and belongs to the technical fields of robots and rail transit.
Background
Aiming at the problems that the rail wear of the train needs to be detected, manual detection is time-consuming and labor-consuming, manual detection is not strict, and the detection is always neglected, so that a robot capable of automatically detecting the rail wear degree is urgently needed.
Disclosure of Invention
In order to solve the problems, the invention provides a robot for detecting the abrasion of a train rail, which is driven by a fifth hydraulic cylinder to enable two first measuring rods to clamp the rail, enable two first detecting wheels to contact two sides of the rail through the contraction of a fourth hydraulic cylinder, and enable a second detecting wheel to contact the upper surface of the rail through the contraction of a sixth hydraulic cylinder; the detection is more accurate through contact detection; the steering engine works, so that the measuring mechanism rotates clockwise, then the second hydraulic cylinder works to drive the self-locking plate to move leftwards, the self-locking plate stretches into the self-locking hole, and the detecting device is erected to leave the rail, so that trains and machines are avoided and the rail is very convenient to store.
The technical scheme adopted by the invention is as follows: the utility model provides a detect train rail wearing and tearing robot, including the bottom plate, first camera fixed plate, two first cameras, first parallel mechanism base, six first pneumatic cylinders, second parallel mechanism base, the fixing base, the steering wheel, the auto-lock board fixed plate, the auto-lock board, two second pneumatic cylinders, the auto-lock mechanism fixing base, measuring mechanism, signal receiver, the second camera fixed plate, two second cameras, the third pneumatic cylinder, survey the camera fixed plate, two survey cameras, second camera bracing piece, two detection parts, two track parts, axle, its characterized in that: the base plate is a rectangular plate, the first camera fixing plate is fixedly arranged at the middle front position on the base plate, and the two first cameras are fixedly arranged in front of the base plate; the lower part of the first parallel mechanism base is fixedly arranged in the middle position above the bottom plate; the six first hydraulic cylinders are arranged in pairs, the bottom of each cylinder body of each first hydraulic cylinder is hinged to the upper side of the first parallel mechanism base, and the end part of a piston rod of each first hydraulic cylinder is hinged to the lower side of the second parallel mechanism base; the bottoms of the two first hydraulic cylinders in each group of first hydraulic cylinders are close together, the end parts of 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 bracket is arranged on the fixed seat; the bottom surface of the self-locking mechanism fixing seat is fixedly arranged on the right side of the upper surface of the fixing seat, a rectangular hole is formed in the upper surface of the self-locking mechanism fixing seat, the bottoms of the cylinder bodies of the two second hydraulic cylinders are fixedly arranged on the right side of the self-locking mechanism fixing seat, and the end parts of piston rods of the two second hydraulic cylinders are fixedly connected with a self-locking plate fixing 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 on the self-locking mechanism fixing seat;
the measuring mechanism comprises: the device 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 support rod fixing seat is arranged on the measuring mechanism support plate and is arranged on the left side of the signal receiver fixing seat; the second camera support rod is fixedly arranged in the second camera support rod fixing seat, a second camera fixing plate is arranged on the second camera support rod, and the two second cameras are fixedly arranged in front of the second camera fixing plate; the two measuring mechanism supporting plates and the 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 the detection camera fixing plate, and the two detection cameras are fixedly arranged below the detection camera fixing plate; the four fifth hydraulic cylinders are equally divided into two groups, the rear end of each group of cylinder bodies is respectively and fixedly arranged below two measuring mechanism supporting plates, a third hydraulic cylinder fixing seat is arranged in the middle of each measuring mechanism supporting plate, a self-locking hole is formed in the left side of the upper surface of each measuring mechanism supporting plate, a round hole is formed in the left side of each measuring mechanism supporting plate, the round hole is fixedly arranged on a shaft, the shaft is rotatably arranged in a round hole of a hinge bracket arranged 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 is fixedly connected with one end of the shaft through a coupling;
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 detection 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 rectangular plate, the bottom ends of the cylinder bodies of the two fifth hydraulic cylinders are fixedly arranged below a detection mechanism supporting plate, 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; the first measuring rod is a rectangular plate, a marking groove is arranged on the outer side of the first measuring rod, a rectangular hole is formed in the lower position of the marking groove, and the two first measuring rods are respectively and slidably arranged in the two rectangular holes on the outer side of the fixed plate of the detection part; the bottom ends of the two seventh hydraulic cylinder bodies are respectively and fixedly arranged on the detection part fixing plate, and the end parts of the piston rods of the two seventh hydraulic cylinder bodies are respectively and fixedly connected with the support plates behind the two first measuring rods; the rear ends of the cylinder bodies of the two fourth hydraulic cylinders are respectively and fixedly arranged on the outer sides of the two first measuring rods, the end parts of the piston rods of the two fourth hydraulic cylinders are respectively and fixedly connected with the supporting plates on the two second measuring rods, the second measuring rods are rectangular plates, marking grooves are formed below the second measuring rods, the two first detection wheel shells are respectively and fixedly arranged on the inner sides of the two second measuring rods, the two first detection wheels are respectively and fixedly arranged on the two first detection wheel shafts, and the two first detection wheel shafts are respectively and rotatably arranged in the holes on the two first detection wheel shells; the five detection sensors are respectively and fixedly arranged on the outer sides of the two first measuring rods, the positions of the five detection sensors are below the second measuring rods, the two detection sensors are fixedly arranged on the fixing plate of the detection part, the positions of the two detection sensors are respectively arranged on the outer sides of the two first measuring rods, the other detection sensor is fixedly arranged on the fixing plate of the detection part, and the positions of the two detection sensors are arranged on the left side of the third measuring 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 arranged in a hole in the middle of the detection part fixing plate, the rear end of the sixth hydraulic cylinder body is fixedly arranged on the detection part fixing plate, and the end part of a piston rod of the sixth hydraulic cylinder body 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 on 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 belt wheels, two second crawler belt wheels, seven third crawler belt wheels, a first crawler belt 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 belt wheel fixing plate, one end of each of the two first crawler belt wheels, the two second crawler belt wheels and the seven third crawler belt wheels is rotatably arranged in a hole on the first crawler belt wheel fixing plate, and the other end of each of the two first crawler belt wheels, the two second crawler belt wheels and the seven third crawler belt wheels is rotatably arranged in a hole on the second crawler belt wheel fixing plate; the crawler belt is arranged on the two first crawler wheels, the two second crawler wheels and the seven third crawler wheels; the two servo motors are horizontally arranged, the rear ends of the two servo motors are respectively and fixedly arranged on two servo motor fixing plates, motor shafts of the two servo motors are respectively and fixedly connected with two first crawler wheels, and the inner sides of the two servo motor fixing plates are fixedly arranged on two sides of a crawler support plate; the front end surface of the crawler support plate is fixedly arranged on the outer side of the second crawler wheel fixing plate, the lower surface of the crawler fixing seat is fixedly arranged on the crawler support plate, and the upper surface of the crawler fixing seat is fixedly arranged below the bottom plate.
Further, the detection sensor obtains the rail abrasion degree by reading the first measuring rod, the second measuring rod and the marking grooves on the first detection wheel.
The invention has the beneficial effects that: the rail is clamped by the two first measuring rods through the driving of the fifth hydraulic cylinder, the two first detecting wheels are contacted with the two sides of the rail through the contraction of the fourth hydraulic cylinder, and the second detecting wheels are contacted with the upper surface of the rail through the contraction of the sixth hydraulic cylinder; the detection is more accurate through contact detection; the steering engine works, so that the measuring mechanism rotates clockwise, then the second hydraulic cylinder works to drive the self-locking plate to move leftwards, the self-locking plate stretches into the self-locking hole, and the detecting device is erected to leave the rail, so that trains and machines are avoided and the rail is very convenient to store.
Drawings
Fig. 1, 2 and 3 are schematic views of the overall structure 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 portion of the present invention.
Fig. 9 and 10 are schematic structural views of the track portion 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-fixed seat, 8-steering engine, 9-self-locking plate fixing plate, 10-self-locking plate, 11-second hydraulic cylinder, 12-self-locking mechanism fixed seat, 13-measuring mechanism, 14-signal receiver, 15-second camera fixing plate, 16-second camera, 17-third hydraulic cylinder, 18-detecting camera fixing plate, 19-detecting camera, 20-second camera supporting rod, 21-detecting part, 22-crawler part, 23-shaft, 1301-measuring mechanism supporting plate, 1302-measuring mechanism supporting plate, 1303-third hydraulic cylinder fixing seat 1304-self-locking hole, 1305-round hole, 1306-second camera support rod fixing seat, 1307-signal receiver fixing seat, 2101-detection part fixing plate, 2102-first measuring rod, 2103-fourth hydraulic cylinder, 2104-second measuring rod, 2105-detection sensor, 2106-first detection wheel, 2107-first detection wheel housing, 2108-first detection wheel shaft, 2109-fifth hydraulic cylinder, 2110-third detection rod, 2111-sixth hydraulic cylinder, 2112-second detection wheel housing, 2113-second detection wheel shaft, 2114-second detection wheel, 2201-crawler belt, 2202-first crawler belt, 2203-second crawler belt, 2204-third crawler belt, 2205-first crawler belt fixing plate, 2206-servo motor, 2207-servo motor fixing plate, 2208-track supporting plate, 2209-track fixing seat and 2210-second track wheel fixing plate.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to 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, fig. 10, and a robot for detecting rail wear of a train, which comprises a base 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 track 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 middle front position on the base plate 1, and the two first cameras 3 are fixedly arranged in front of the base plate 1; the lower part of the first parallel mechanism base 4 is fixedly arranged in the middle position above the bottom plate 1; the six first hydraulic cylinders 5 are arranged in pairs, the bottom of each 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 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 two first hydraulic cylinders 5 in each group of first hydraulic cylinders 5 are close together, the end parts of 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 bracket is arranged on the fixed seat 7; the bottom surface of the self-locking mechanism fixing seat 12 is fixedly arranged on the right side of the upper surface of the fixing seat 7, a rectangular hole is formed in the upper surface of the self-locking mechanism 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 self-locking mechanism fixing seat 12, and the end parts of piston rods of the two second hydraulic cylinders are 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 on the self-locking mechanism fixing seat 12; the measuring mechanism 13 comprises a measuring mechanism support plate 1301, two measuring mechanism support plates 1302, a third hydraulic cylinder fixing seat 1303, a self-locking hole 1304, a round hole 1305, a second camera support rod fixing seat 1306 and a signal receiver fixing seat 1307, wherein the measuring mechanism support plate 1301 is a rectangular plate, the signal receiver fixing seat 1307 is arranged in the middle of the upper surface of the measuring mechanism support plate 1301, and the signal receiver 14 is fixedly arranged on the signal receiver fixing seat 1307; a second camera support bar fixing seat 1306 is arranged on the measuring mechanism support plate 1301, and the second camera support bar 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 support plates 1302 and a third hydraulic cylinder fixing seat 1303 are fixedly arranged below the measuring mechanism support plates 1301, and the third hydraulic cylinder fixing seat 1303 is arranged between the two measuring mechanism support 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 equally divided into two groups, the rear end of each group of cylinders is fixedly arranged below two measuring mechanism support plates 1302 respectively, a third hydraulic cylinder fixing seat 1303 is arranged in the middle of the two measuring mechanism support plates 1302, a self-locking hole 1304 is arranged at the left side of the upper surface of each measuring mechanism support plate 1301, a round hole 1305 is arranged at the left side of each measuring mechanism support plate 1301, the round hole 1305 is fixedly arranged above a shaft 23, the shaft 23 is rotatably arranged in a round hole of a hinge bracket above 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 the motor shaft of the steering engine is fixedly connected with one end of the shaft 23 through a coupler;
the detecting part 21 comprises a detecting part fixing plate 2101, two first measuring rods 2102, two fourth hydraulic cylinders 2103, two second measuring rods 2104, five detecting sensors 2105, two first detecting wheels 2106, two first detecting wheel shells 2107, two first detecting wheel shafts 2108, two fifth hydraulic cylinders 2109, a third detecting rod 2110, a sixth hydraulic cylinder 2111, a second detecting wheel shell 2112, a second detecting wheel shaft 2113, a second detecting wheel 2114 and two seventh hydraulic cylinders 2115, wherein the detecting part fixing plate 2101 is a rectangular plate, three rectangular holes are formed in the rectangular plate, the bottom ends of the cylinder bodies of the two fifth hydraulic cylinders 2109 are fixedly arranged below the measuring mechanism supporting plate 1302, and the end parts of the piston rods are fixedly connected with the upper surface of the detecting part fixing plate 2101; the first measuring rod 2102 is a rectangular plate, a marking groove is arranged on the outer side of the first measuring rod 2102, a rectangular hole is arranged on the lower portion of the first measuring rod 2102, and the two first measuring rods 2102 are respectively and slidably arranged in the two rectangular holes on the outer side of the detecting part fixing plate 2101; the bottom ends 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 2115 are respectively and fixedly connected with the supporting plates behind the two first measuring rods 2102; the rear ends of the cylinders of the two fourth hydraulic cylinders 2103 are respectively and fixedly arranged on the outer sides of the two first measuring rods 2102, the end parts of piston rods of the two fourth hydraulic cylinders are respectively and fixedly connected with support plates on 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 detection wheel shells 2107 are respectively and fixedly arranged on the inner sides of the two second measuring rods 2104, the two first detection wheels 2106 are respectively and fixedly arranged on two first detection wheel shafts 2108, and the two first detection wheel shafts 2108 are respectively and rotatably arranged in holes on the two first detection wheel shells 2107; two of the five detection sensors 2105 are fixedly arranged outside the two first measuring rods 2102 respectively and positioned below the second measuring rod 2104, wherein the two detection sensors 2105 are fixedly arranged on the detection part fixing plate 2101 respectively and positioned outside the two first measuring rods 2102, and the other detection sensor 2105 is fixedly arranged on the detection part fixing plate 2101 and positioned on the left side of the third detection rod 2110; the third detection rod 2110 is a rectangular plate, a marking groove is arranged on the right side of the third detection rod 2110 is slidably arranged in a hole in the middle of the detection part fixing plate 2101, the rear end of the cylinder body of the sixth hydraulic cylinder 2111 is fixedly arranged on the detection part fixing plate 2101, and the end part of a piston rod of the sixth hydraulic cylinder 2110 is fixedly connected with a supporting frame on the right side of the third detection rod 2110; the second detecting wheel housing 2112 is fixedly installed below the third detecting rod 2110, the second detecting wheel axle 2113 is rotatably installed in a hole above the second detecting wheel housing 2112, and the second detecting wheel 2114 is fixedly installed on the second detecting wheel axle 2113;
the track portion 22 includes 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 the two first track wheels 2202, two second track wheels 2203, and seven third track wheels 2204 are rotatably installed in holes above the first track wheel fixing plate 2205, and the other end is rotatably installed in holes above the second track wheel fixing plate 2210; the crawler 2201 is mounted 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 sides of the two servo motors are respectively and fixedly arranged on two servo motor fixing plates 2207, motor shafts of the two servo motors are respectively and fixedly connected with two first crawler wheels 2202, and the inner sides of the two servo motor fixing plates 2207 are fixedly arranged on two sides of a crawler support plate 2208; the front end surface of the track support plate 2208 is fixedly mounted on the outer side of the second track wheel fixing plate 2210, the lower surface of the track fixing seat 2209 is fixedly mounted on the track support plate 2208, and the upper surface of the track fixing seat is fixedly mounted below the bottom plate 1.
Further, the detection sensor 2105 derives the rail wear level by reading the marking grooves on the first measuring bar 2102, the second measuring bar 2104 and the first detecting wheel 2106.
The working principle of the invention is as follows: the invention detects the road through two first cameras 3, drives four first crawler wheels 2202 through four servo motors 2206 of two crawler belt parts 22, drives two crawler belts 2201 to drive a robot to run on the road surface beside the rails, descends a fixed seat 7 through contraction of six first hydraulic cylinders 5, descends two detection parts 21 to be positioned above the rails, drives two detection part fixing plates 2101 to move downwards through extension of four fifth hydraulic cylinders 2109, enables four first detection wheels 2106 to contact two sides of the rails through extension of four fourth hydraulic cylinders 2103, enables two second detection wheels 2114 to contact the upper sides of the rails through contraction of two sixth hydraulic cylinders 2111, and then walks forwards under the drive of two crawler belt parts 22, the scales on the outer sides of the four first measuring bars 2102, the four second measuring bars 2104 and the two third measuring bars 2110 are read through ten detection sensors 2105 to judge whether the rail is worn, when the rail is detected to be worn, the positions of the worn positions are transmitted through the signal receivers 14, when the two second cameras 16 detect a train, the four first hydraulic cylinders 2106, 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 measuring wheels 2106 and the two second measuring wheels 2114 to leave the rail, then the steering engine 8 works to enable the measuring mechanism 13 to rotate clockwise by 90 degrees, then the self-locking plate 10 is retracted through the two second hydraulic cylinders 11 to enable the self-locking plate 10 to extend into the self-locking holes 1304, the measuring mechanism 13 is fixed, and when the train passes, the train is detected according to the steps.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "front", "rear", "left", "right", etc., are based on directions or positional relationships shown in the drawings, or directions or positional relationships in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Claims (1)
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), from locking plate (10), two second pneumatic cylinders (11), auto-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 camera (19), second camera bracing piece (20), two detection part (21), two track parts (22), axle (23), its characterized in that: the base plate (1) is a rectangular plate, the first camera fixing plate (2) is fixedly arranged at the middle front position on the base plate (1), and the two first cameras (3) are fixedly arranged in front of the base plate (1); the lower part of the first parallel mechanism base (4) is fixedly arranged at the middle position above the bottom plate (1); the six first hydraulic cylinders (5) are arranged in pairs, the bottom of each 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 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 first hydraulic cylinders (5) are close together, the end parts of piston rods of the two first hydraulic cylinders 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 bracket is arranged on the fixed seat (7); the bottom surface of the self-locking mechanism fixing seat (12) is fixedly arranged at a position close to the right above the fixing seat (7), a rectangular hole is formed in the upper surface of the self-locking mechanism 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 self-locking mechanism fixing seat (12), and the end parts of piston rods of the two second hydraulic cylinders are 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 on the self-locking mechanism fixing seat (12);
the measuring mechanism (13) comprises: the measuring mechanism 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 surface of the measuring mechanism supporting plate, and the signal receiver (14) is fixedly arranged on the signal receiver fixing seat (1307); a second camera support rod fixing seat (1306) is arranged on the measuring mechanism support plate (1301), and the second camera support 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 arranged 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 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 plates (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 equally divided into two groups, the rear end of each group of cylinder bodies is fixedly arranged below 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 each measuring mechanism supporting plate (1301), a round hole (1305) is arranged at the left side of each measuring mechanism supporting plate (1301), the round holes (1305) are fixedly arranged on a shaft (23), the shafts (23) are rotatably arranged in round holes of hinge brackets arranged on the fixing seats (7), steering engines (8) are horizontally arranged, the side surfaces of the steering engines are fixedly connected with the fixing seats (7), and motor shafts of the steering engines are fixedly connected with one ends of the shafts (23) through couplings;
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 shells (2107), two first detection wheel shafts (2108), two fifth hydraulic cylinders (2109), a third measuring rod (2110), a sixth hydraulic cylinder (2111), a second detection wheel shell (2112), a second detection wheel shaft (2113), a second detection wheel (2114) and two seventh liquids
The pressure cylinder (2115), the said detection part fixed plate (2101) is a rectangular plate, there are three rectangular holes on it, the said two fifth hydraulic cylinders (2109) cylinder body bottom is fixedly installed under the supporting plate (1302) of the measuring mechanism, its piston rod end fixedly connects with detection part fixed 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 lower position of the marking groove, and the two first measuring rods (2102) are respectively and slidably arranged in the two rectangular holes in the outer side of the detection part fixing plate (2101); 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 support plates 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 on the outer sides of the two first measuring rods (2102), the end parts of piston rods of the two fourth hydraulic cylinders are respectively and fixedly connected with support plates on 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 on the inner side ends of the two second measuring rods (2104), the two first detecting wheels (2106) are respectively and fixedly arranged on two first detecting wheel shafts (2108), and the two first detecting wheel shafts (2108) are respectively and rotatably arranged in holes on the two first detecting wheel shells (2107); the five detection sensors (2105) are fixedly arranged outside the two first measuring rods (2102) respectively, the positions of the five detection sensors are below the second measuring rods (2104), the two detection sensors (2105) are fixedly arranged on the detection part fixing plate (2101) respectively, the positions of the two detection sensors are outside the two first measuring rods (2102), the other detection sensor (2105) is fixedly arranged on the detection part fixing plate (2101) respectively, and the positions of the two detection sensors are 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) is slidably arranged in a hole in the middle of the detection part fixing plate (2101), the rear end of the cylinder body of the sixth hydraulic cylinder (2111) is fixedly arranged on the detection part fixing plate (2101), and the end part 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 above the second detection wheel housing (2112), and the second detection wheel (2114) is fixedly arranged on the second detection wheel shaft (2113);
the crawler belt part (22) comprises a crawler belt (2201), two first crawler belt wheels (2202), two second crawler belt wheels (2203), seven third crawler belt wheels (2204), a first crawler belt 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 belt wheel fixing plate (2210), one ends of the two first crawler belt wheels (2202), the two second crawler belt wheels (2203) and the seven third crawler belt wheels (2204) are rotatably arranged in holes on the first crawler belt wheel fixing plate (2205), and the other ends of the two first crawler belt wheels, the two second crawler belt wheels (2203) and the seven third crawler belt wheels (2204) are rotatably arranged in holes on the second crawler belt 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 parts of the two servo motors are respectively and fixedly arranged on two servo motor fixing plates (2207), motor shafts of the two servo motors are respectively and fixedly connected with two first crawler wheels (2202), and the inner sides of the two servo motor fixing plates (2207) are fixedly arranged on two sides of a crawler support plate (2208); the front end surface of the crawler support plate (2208) is fixedly arranged outside the second crawler wheel fixing plate (2210), the lower surface of the crawler fixing seat (2209) is fixedly arranged on the crawler support plate (2208), and the upper surface of the crawler fixing seat is fixedly arranged below the bottom plate (1);
the detection sensor (2105) obtains the rail abrasion degree by reading the first measuring rod (2102), the second measuring rod (2104) and the marking grooves on the first detection wheel (2106);
the road is detected through two first cameras (3), four servo motors (2206) of two crawler belt parts (22) drive four first crawler belt wheels (2202) to further drive two crawler belt (2201) to drive a robot to run on a road beside a rail, six first hydraulic cylinders (5) shrink to enable a fixing seat (7) to descend, two detection parts (21) are enabled to descend to be located above the rail, four fifth hydraulic cylinders (2109) stretch to drive two detection part fixing plates (2101) to move downwards, four first detection wheels (2106) are enabled to be in contact with two sides of the rail through stretching of four fourth hydraulic cylinders (2103), two second detection wheels (2114) are enabled to be in contact with the upper surface of the rail through shrinkage of two sixth hydraulic cylinders (2111), then the robot is enabled to walk forwards under the driving of the two crawler belt parts (22), ten detection sensors (2105) are enabled to read four first measurement rods (2102), four second measurement rods (2104) and two detection rods (2105) to move downwards, and the two detection rods (2105) are enabled to wear out, and when the four first hydraulic cylinders (2103) and the two detection rods (2105) wear out, the four first detection wheels (2114) are worn out, the four first hydraulic cylinders (2110) are worn out, the second hydraulic cylinders (2115) are worn out, and the positions of the four detection wheels (2105) are worn out, and the second detection wheels (2114) are worn out by the four detection wheels are judged when the four first detection cylinders (2105) and the four detection heads are worn out by the four detection heads and the detection heads are detected by the detection heads and the detection heads are made The four first detection wheels (2106) and the two second detection wheels (2114) are separated from the rail by the cooperation of the two sixth hydraulic cylinders (2111) and the four seventh hydraulic cylinders (2115), then the steering engine (8) is operated, the measuring mechanism (13) is rotated clockwise (90 degrees), then the self-locking plate (10) is moved leftwards by the contraction of the two second hydraulic cylinders (11), the self-locking plate (10) stretches into the self-locking hole (1304), the measuring mechanism (13) is fixed, and the train is detected according to the steps above when passing.
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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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| CN202110072134.4A CN112644556B (en) | 2021-01-20 | 2021-01-20 | Robot for detecting abrasion of train rail |
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| CN112644556B true CN112644556B (en) | 2024-03-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113602316B (en) * | 2021-07-14 | 2022-07-01 | 河南省爱普尔信息科技有限公司 | Image acquisition method and acquisition device for track gauge detection |
| CN115027512B (en) * | 2022-06-24 | 2023-11-28 | 广东省特种设备检测研究院顺德检测院 | Intelligent rail 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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