CN114394123B - Pressure detection device for track inspection robot and track inspection robot - Google Patents
Pressure detection device for track inspection robot and track inspection robot Download PDFInfo
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- CN114394123B CN114394123B CN202111547546.5A CN202111547546A CN114394123B CN 114394123 B CN114394123 B CN 114394123B CN 202111547546 A CN202111547546 A CN 202111547546A CN 114394123 B CN114394123 B CN 114394123B
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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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Abstract
The application relates to a pressure detection device for track inspection robot, the device includes: the first support arm, the second support arm and the first connecting rod; the detection wheel is arranged at one end of the first support arm, the elastic compression assembly is arranged at the other end of the first support arm, the first support arm is rotatably connected with the elastic compression assembly, a pressure sensor is arranged in the elastic compression assembly, and the middle part of the first support arm is rotatably connected with one end of the first connecting rod; the detection wheel can rotate and walk on the surface or the web of the steel rail at one side; one end of the second supporting arm is vertical to the other end of the connecting rod and is fixedly connected with the other end of the connecting rod, the other end of the second supporting arm is fixedly connected with the track inspection robot, and the middle of the second supporting arm is fixedly connected with the elastic compression assembly. The pressure detection device can accurately detect the wheel pressure change caused by the rail local deformation caused by rail defect damage, material degradation and corrosion, thereby realizing the fine detection of the rail local deformation.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a pressure detection device for a track inspection robot and the track inspection robot.
Background
The rapid development of high-speed railways in China brings challenges to the state maintenance and safety guarantee of railway infrastructure, steel rails are main component parts of railway tracks, the pressure transmitted by wheel sets is directly born, defect damage and material degradation occur in the long-term use process to influence the service performance of the steel rails and threaten the driving safety, the steel rails are deformed and corroded due to faults such as steel rail stress, fatigue and defects to cause major accidents of derailment and overturning of trains, so that casualties and huge property loss are caused, and the probability of steel rail faults and damage increases along with the increase of the driving density and the driving speed of high-speed railways, the load and the extrusion and impact degree of the steel rails.
The existing track measuring instrument and the track inspection instrument are provided with a track gauge sensor and a horizontal sensor in a measuring main shaft based on a digital gyro measuring principle so as to finish measuring track gauge and horizontal parameters of a track. The middle parts of the left measuring arm and the right measuring arm are respectively provided with a high-low and rail-direction sensor, and the detection of the high, low and rail-directions of the left rail and the right rail is completed. However, the existing track measuring instrument and track inspection instrument cannot carry out fine detection on the local deformation of the steel rail caused by defect damage, material degradation and corrosion.
Therefore, it is necessary to provide a track inspection robot so as to realize detection of local deformation of the steel rail.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned drawbacks and shortcomings of the prior art, the present application provides a pressure detection device for a track inspection robot and a track inspection robot.
(II) technical scheme
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, embodiments of the present application provide a pressure detection device for a track inspection robot, the device comprising: the first support arm, the second support arm and the first connecting rod;
the detection wheel is arranged at one end of the first support arm, the elastic compression assembly is arranged at the other end of the first support arm, the first support arm is rotatably connected with the elastic compression assembly, a pressure sensor is arranged in the elastic compression assembly, and the middle part of the first support arm is rotatably connected with one end of the first connecting rod; the detection wheel can rotate and walk on the surface or the web of the steel rail at one side;
one end of the second supporting arm is vertical to the other end of the connecting rod and is fixedly connected with the other end of the connecting rod, the other end of the second supporting arm is fixedly connected with the track inspection robot, and the middle of the second supporting arm is fixedly connected with the elastic compression assembly.
Optionally, the device further comprises a detection module, wherein the detection module is connected with the pressure sensor and is used for receiving an analog pressure signal output by the pressure sensor, converting the analog pressure signal into a digital pressure signal and outputting the digital pressure signal.
Optionally, the elastic compression assembly includes: the device comprises a base, a guide tube, a spring, a gasket and a piston; the spring and the gasket are sequentially arranged in the guide tube, two ends of the spring are respectively fixedly connected with the base and the gasket, the piston comprises a plug part and a plug rod, the plug rod is rotatably connected with the first supporting arm, and the plug part is arranged in the guide tube and can move in the guide tube.
Optionally, the pressure sensor is disposed in the center of the plug portion.
Optionally, the pressure sensor is a capacitive pressure sensor.
In a second aspect, embodiments of the present application provide a track inspection robot, the track inspection robot includes: the pressure detection device according to at least any one of the first aspects, and a robot body capable of traveling on at least one rail, a positioning unit, a processing unit;
the pressure detection device is used for detecting the pressure applied to the surface or the rail web of the rail by the detection wheel of the rail inspection robot when the surface or the rail web of the rail to be detected walks;
the positioning unit is arranged on the robot body and connected with the processing unit, and is used for collecting the coordinate information of the current position in real time and sending the coordinate information to the processing unit;
the processing unit is arranged on the robot body and connected with the pressure detection device, and is used for controlling the pressure detection device to detect the pressure of the steel rail to be detected and generating a steel rail deformation detection result according to the pressure detection result and the coordinate information sent by the positioning unit.
Optionally, the robot body can advance on two rails, just the track inspection robot includes two pressure detection device, and every pressure detection device's detection wheel walks at the web of a rail respectively, then processing unit still is used for according to rail deformation testing result and two detect the distance between the wheel, obtain the distance of two rails.
Optionally, the robot body comprises a vehicle body, a transmission unit, a motor, a controller and a storage battery, wherein the motor drives the vehicle body to travel on a steel rail through the transmission unit under the control of the controller.
Optionally, the pressure detection device is installed below the vehicle body through a telescopic device; in a non-measurement working state of the track inspection robot, the telescopic device lifts the pressure detection device off a running surface and retracts to the robot body; under the measuring working state of the track inspection robot, the telescopic device lowers the pressure detection device from the robot body and contacts with the steel rail for measurement.
Optionally, the track inspection robot further comprises a storage unit connected with the processing unit;
and the storage unit is used for storing the pressure detection result, the corresponding coordinate information and the steel rail deformation detection result.
(III) beneficial effects
The beneficial effects of this application are: the application provides a pressure detection device for track inspection robot, the device includes: the first support arm, the second support arm and the first connecting rod; the detection wheel is arranged at one end of the first support arm, the elastic compression assembly is arranged at the other end of the first support arm, the first support arm is rotatably connected with the elastic compression assembly, a pressure sensor is arranged in the elastic compression assembly, and the middle part of the first support arm is rotatably connected with one end of the first connecting rod; the detection wheel can rotate and walk on the surface or the web of the steel rail at one side; one end of the second supporting arm is vertical to the other end of the connecting rod and is fixedly connected with the other end of the connecting rod, the other end of the second supporting arm is fixedly connected with the track inspection robot, and the middle of the second supporting arm is fixedly connected with the elastic compression assembly. The pressure detection device can accurately detect the wheel pressure change caused by the rail local deformation caused by rail defect damage, material degradation and corrosion, thereby realizing the fine detection of the rail local deformation.
Further, the application also provides a track inspection robot, and the fine detection of the local deformation of the steel rail caused by defect damage, material degradation and corrosion is realized by detecting the steel rail pressure received by the wheels during running.
Drawings
The application is described with the aid of the following figures:
fig. 1 is a schematic structural diagram of a pressure detection device for a track inspection robot according to an embodiment of the present application;
FIG. 2 is a schematic view of the internal structure of an elastic compression assembly according to one embodiment of the present application;
fig. 3 is a schematic structural diagram of a track inspection robot according to another embodiment of the present application.
Reference numerals illustrate:
1-first support arm 1, 2-second support arm 2, 3-head rod, 4-detection wheel, 5-elastic compression subassembly, 6-pressure sensor, 51-base, 52-stand pipe, 53-spring, 54-gasket, 55-piston, 551-stopper, 552-stopper rod, 100-track inspection robot, 101-pressure detection device, 102-positioning unit, 103-robot body, 104-processing unit.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings. It is to be understood that the specific embodiments described below are merely illustrative of the related invention, and not restrictive of the invention. In addition, it should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other; for convenience of description, only parts related to the invention are shown in the drawings.
Example 1
Fig. 1 is a schematic structural diagram of a pressure detection device for a track inspection robot according to an embodiment of the present application. As shown in fig. 1, the pressure detection device for a track inspection robot of the present embodiment includes: a first support arm 1, a second support arm 2 and a first connecting rod 3;
one end of the first supporting arm 1 is provided with a detection wheel 4, the other end of the first supporting arm 1 is provided with an elastic compression assembly 5, the first supporting arm 1 is rotatably connected with the elastic compression assembly 5, a pressure sensor 6 is arranged in the elastic compression assembly 5, and the middle part of the first supporting arm 1 is rotatably connected with one end of the first connecting rod 3; the detection wheel 4 can rotate and walk on the surface or the web of the steel rail at one side;
one end of the second supporting arm 2 is perpendicular to the other end of the connecting rod 3 and is fixedly connected with the other end of the connecting rod, the other end of the second supporting arm is fixedly connected with the track inspection robot, and the middle part of the second supporting arm is fixedly connected with the elastic compression assembly 5.
The pressure detection device of the application is corresponding to the elastic compression assembly through the pressure sensor, so that the pressure can be detected more accurately, the device can accurately detect the wheel pressure change caused by the rail local deformation caused by rail defect damage, material degradation and corrosion, and further fine detection of the rail local deformation is realized.
In order to better understand the present invention, each component in this embodiment is explained below.
In this embodiment, the apparatus further includes a detection module, which is connected to the pressure sensor 6, and is configured to receive an analog pressure signal output by the pressure sensor 6, convert the analog pressure signal into a digital pressure signal, and output the digital pressure signal.
The detection module can comprise a sampling unit and an analog-to-digital conversion unit;
the sampling unit is used for sampling the analog pressure signal to obtain a sampling signal;
the analog-to-digital conversion unit is used for performing analog-to-digital conversion on the sampling signal to obtain a digital pressure signal and outputting the digital pressure signal.
Fig. 2 is a schematic structural diagram of an elastic compression assembly according to an embodiment of the present application, as shown in fig. 2, in this embodiment, the elastic compression assembly 5 includes: base 51, guide tube 52, spring 53, spacer 54, piston 55; the spring 53 and the gasket 54 are sequentially arranged in the guide tube 52, two ends of the spring 53 are fixedly connected with the base 51 and the gasket 54 respectively, the piston 55 comprises a plug portion 551 and a plug rod 552, the plug rod 552 is rotatably connected with the first support arm 1, and the plug portion 552 is arranged in the guide tube 52 and can move in the guide tube 52.
In this embodiment, the pressure sensor 6 is provided in the center of the 551 plug portion.
Specifically, the pressure sensor is a capacitive pressure sensor.
Example two
The second aspect of the present application provides a track inspection robot 100, fig. 3 is a schematic structural diagram of the track inspection robot in another embodiment of the present application, as shown in fig. 3, the track inspection robot 100 includes: at least one pressure detection device 101 according to any one of the first aspect above, and a robot body 103 capable of travelling on at least one rail, a positioning unit 102, a processing unit 104;
the pressure detection device 101 is arranged on the robot body 103 and is used for detecting the pressure applied to the surface or the rail web of the rail by the detection wheel of the rail inspection robot 100 when the surface or the rail web of the rail to be detected walks;
the positioning unit 102 is arranged on the robot body 100 and connected with the processing unit 104, and is used for collecting the coordinate information of the current position in real time and sending the coordinate information to the processing unit 104;
and a processing unit 104, which is arranged on the robot body 103 and connected with the pressure detection device 101, and is used for controlling the pressure detection device 101 to perform pressure detection on the steel rail to be detected, and generating a steel rail deformation detection result according to the pressure detection result and the coordinate information sent by the positioning unit 102.
The track inspection robot of the embodiment realizes the fine detection of the local deformation of the steel rail caused by defect damage, material degradation and corrosion by detecting the pressure of the steel rail received by the wheels during running.
In order to better understand the present invention, each component in this embodiment is explained below.
In this embodiment, the positioning unit may be a GPS positioning unit and/or a beidou positioning unit, and other positioning units are also applicable to this embodiment. Through the positioning unit, the accurate positioning of the measurement result of the inspection robot can be further ensured, and meanwhile, the position information of the inspection robot can be sent in real time, so that the management and control of the night on-road equipment of the railway bureau are facilitated.
It should be noted that the above-mentioned GPS positioning unit and/or beidou positioning unit are only exemplary, and do not constitute a specific limitation of the positioning unit device.
In this embodiment, the robot body 103 can travel on two rails, and the track inspection robot 100 includes two pressure detection devices 101, and the detection wheel of each pressure detection device 101 travels on the web of one rail, so the processing unit 104 is further configured to obtain the distance between two rails according to the rail deformation detection result and the distance between two detection wheels.
In this embodiment, the robot body 103 includes a vehicle body, a transmission unit, a motor, a controller, and a battery, and the motor drives the vehicle body to travel on the rail through the transmission unit under the control of the controller.
The robot body 103 runs on a rail in a skylight period and has autonomous power; the device is formed by assembling a plurality of modules, is convenient for the time track and the flat time storage of the skylight, and mainly comprises a vehicle body, a transmission unit, a motor, a controller and a storage battery, wherein the storage battery provides power for the vehicle and also provides power for other modules assembled on the vehicle; the vehicle body specifically comprises wheels and a vehicle frame. When the robot body 103 is operated on only a single rail, the wheels are two, and the robot body 103 further includes a balance control unit for controlling left and right balance of the robot. When the robot body 103 runs on the double rail, the wheels are four. The motor drives the car body to move through the transmission unit under the control of the controller, so that the whole movement of the robot is realized. The driving of the vehicle body through the transmission unit belongs to the prior art, and will not be described here again.
Preferably, there are two wheels, the robot body 103 only running on a single rail. Therefore, two or more rail fasteners can be independently detected, and the detection efficiency of the skylight period is improved.
In the present embodiment, the pressure detecting device 101 is installed below the vehicle body by a telescopic device; in a non-measurement working state of the track inspection robot, the telescopic device lifts the pressure detection device 101 off the running surface and retracts to the robot body 103; in the measurement operation state of the track inspection robot 100, the telescopic device lowers the pressure detection device 101 from the robot body 103 to contact the rail for measurement.
For example, the telescopic device may be an electric push rod, the electric push rod is mounted on the vehicle body, and the electric push rod is connected with the second support arm of the pressure detection device.
In this embodiment, the track inspection robot 100 further includes a storage unit connected to the processing unit 104;
and the storage unit is used for storing the pressure detection result, the corresponding coordinate information and the steel rail deformation detection result.
The storage unit may be a machine-readable storage medium for storing data, code, and/or instructions. The storage unit may include mass storage units, removable storage units, volatile read-write memory, read-only memory units ROM, and the like.
The controller used for implementing the embodiments of the present application may be an integrated circuit chip having signal processing capability; or a general controller, including a central processing unit (CentralProcessing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (ApplicationSpecific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-ProgrammableGate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general purpose controller may be a microprocessor or the controller may be any conventional controller or the like.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. The use of the terms first, second, third, etc. are for convenience of description only and do not denote any order. These terms may be understood as part of the component name.
Furthermore, it should be noted that in the description of the present specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with the embodiment or example being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art upon learning the basic inventive concepts. Therefore, the appended claims should be construed to include preferred embodiments and all such variations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention should also include such modifications and variations provided that they come within the scope of the following claims and their equivalents.
Claims (7)
1. A pressure detection device for a track inspection robot, the device comprising: the first support arm, the second support arm and the first connecting rod;
the detection wheel is arranged at one end of the first support arm, the elastic compression assembly is arranged at the other end of the first support arm, the first support arm is rotatably connected with the elastic compression assembly, a pressure sensor is arranged in the elastic compression assembly, and the middle part of the first support arm is rotatably connected with one end of the first connecting rod; the detection wheel can rotate and walk on the rail web of one side of the steel rail;
one end of the second supporting arm is perpendicular to the other end of the connecting rod and fixedly connected with the other end of the connecting rod, the other end of the second supporting arm is fixedly connected with the track inspection robot, the middle part of the second supporting arm is fixedly connected with the elastic compression assembly, and the elastic compression assembly comprises: the device comprises a base, a guide tube, a spring, a gasket and a piston; the spring and the gasket are sequentially arranged in the guide pipe, two ends of the spring are respectively and fixedly connected with the base and the gasket, the piston comprises a plug part and a plug rod, the plug rod is rotatably connected with the first supporting arm, and the plug part is arranged in the guide pipe and can move in the guide pipe;
the pressure sensor is arranged between the plug part and the gasket and is positioned in the center of the plug part, and the pressure sensor is a capacitive pressure sensor.
2. The pressure detection device for a track inspection robot according to claim 1, further comprising a detection module connected to the pressure sensor for receiving an analog pressure signal output by the pressure sensor, converting the analog pressure signal into a digital pressure signal, and outputting the digital pressure signal.
3. The utility model provides a robot is patrolled and examined to track which characterized in that, the robot is patrolled and examined to track includes: at least one pressure detection device according to any one of claims 1-2, and a robot body capable of travelling on at least one rail, a positioning unit, a processing unit;
the pressure detection device is arranged on the robot body and is used for detecting the pressure applied to the rail web of the rail when the detection wheel of the rail inspection robot walks on the web of the rail to be detected;
the positioning unit is arranged on the robot body and connected with the processing unit, and is used for collecting the coordinate information of the current position in real time and sending the coordinate information to the processing unit;
the processing unit is arranged on the robot body and connected with the pressure detection device, and is used for controlling the pressure detection device to detect the pressure of the steel rail to be detected and generating a steel rail deformation detection result according to the pressure detection result and the coordinate information sent by the positioning unit.
4. A track inspection robot according to claim 3, characterized in that the robot body is capable of travelling on two rails and the track inspection robot comprises two pressure detection devices, the detection wheel of each pressure detection device respectively walks on the web of one rail, and the processing unit is further configured to obtain the distance between the two rails according to the rail deformation detection result and the distance between the two detection wheels.
5. A track inspection robot according to claim 3, wherein the robot body comprises a vehicle body, a transmission unit, a motor, a controller and a battery, the motor driving the vehicle body to travel on a rail through the transmission unit under the control of the controller.
6. The track inspection robot according to claim 5, wherein the pressure detection device is installed below the vehicle body through a telescopic device; in a non-measurement working state of the track inspection robot, the telescopic device lifts the pressure detection device off a running surface and retracts to the robot body; under the measuring working state of the track inspection robot, the telescopic device lowers the pressure detection device from the robot body and contacts with the steel rail for measurement.
7. The track inspection robot of claim 3, further comprising a storage unit coupled to the processing unit;
and the storage unit is used for storing the pressure detection result, the corresponding coordinate information and the steel rail deformation detection result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547546.5A CN114394123B (en) | 2021-12-16 | 2021-12-16 | Pressure detection device for track inspection robot and track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547546.5A CN114394123B (en) | 2021-12-16 | 2021-12-16 | Pressure detection device for track inspection robot and track inspection robot |
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| CN114394123A CN114394123A (en) | 2022-04-26 |
| CN114394123B true CN114394123B (en) | 2023-04-28 |
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| CN202111547546.5A Active CN114394123B (en) | 2021-12-16 | 2021-12-16 | Pressure detection device for track inspection robot and track inspection robot |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100529702C (en) * | 2007-12-20 | 2009-08-19 | 成都主导科技有限责任公司 | On-line checkout equipment for contact pressure of motorcycle pantograph |
| JP5528401B2 (en) * | 2011-06-29 | 2014-06-25 | 日本機械保線株式会社 | Orbital inspection equipment |
| CN202133384U (en) * | 2011-07-04 | 2012-02-01 | 江苏南大尚诚高科技实业有限公司 | Steel rail surface detector |
| CN202195904U (en) * | 2011-09-08 | 2012-04-18 | 南京拓控信息科技有限公司 | Pantograph contact pressure on-line detection device of rail locomotive |
| US9950716B2 (en) * | 2014-07-07 | 2018-04-24 | Rail Pod Incorporated | Automated track inspection system |
| CN205044760U (en) * | 2015-09-26 | 2016-02-24 | 夏一燕 | Device of regulation and control train brake shoe pressure |
| CN108974045A (en) * | 2018-08-24 | 2018-12-11 | 福建铁工机智能机器人有限公司 | A kind of automatically walk track detector based on machine vision |
| CN210793207U (en) * | 2019-10-31 | 2020-06-19 | 成都轨道建设管理有限公司 | Track horizontal flatness monitoring device |
| CN112278006B (en) * | 2020-09-03 | 2021-09-07 | 中国港湾工程有限责任公司 | Quick measuring instrument for small-clear-distance rail abrasion of set-rail railway |
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