CN114475678A - Based on ultrasonic wave suspension type track robot of detecting a flaw - Google Patents
Based on ultrasonic wave suspension type track robot of detecting a flaw Download PDFInfo
- Publication number
- CN114475678A CN114475678A CN202210193828.8A CN202210193828A CN114475678A CN 114475678 A CN114475678 A CN 114475678A CN 202210193828 A CN202210193828 A CN 202210193828A CN 114475678 A CN114475678 A CN 114475678A
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- Prior art keywords
- ultrasonic
- flaw
- robot
- flaw detection
- infrared
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/10—Number of transducers
- G01N2291/102—Number of transducers one emitter, one receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/262—Linear objects
- G01N2291/2623—Rails; Railroads
Abstract
The invention relates to the technical field of rail traffic, and particularly discloses an ultrasonic suspension type rail flaw detection robot, which comprises a flaw detection robot body, an ultrasonic detection system, an infrared detection system, a wireless network communication system and a power supply system, wherein the infrared detection system is electrically connected with the ultrasonic detection system and is used for detecting the smoothness of a guide rail, the wireless network communication system is electrically connected with the infrared detection system and the ultrasonic detection system, the flaw detection robot body comprises a balance body, a plurality of moving wheels fixedly connected to the bottom of the balance body, a control main body arranged on the balance body, and a flaw detection assembly arranged between the moving wheels and used for rail flaw detection, the moving wheels are in contact with the upper end of the guide rail, and the flaw detection assembly is in contact with the middle section of the guide rail.
Description
Technical Field
The application relates to the technical field of rail transit, and specifically discloses a robot based on ultrasonic suspension type track inspection.
Background
With the development of high-speed rail technology, the internal flaw detection of a steel rail needs to be more automatic and intelligent, and an ultrasonic suspension type rail flaw detection robot adopts a modular structure in design and can be suspended on a rail for automatic inspection; besides the internal flaw detection of the steel rail, the smoothness of the steel rail can be detected. Meanwhile, the laser distance measuring device is arranged, so that the track distance between the tracks can be detected, and the detection efficiency of the steel rail is greatly improved;
in the prior art, a rail flaw detection robot with the same function is lacked, and in view of the above, the inventor provides an ultrasonic suspension-based rail flaw detection robot.
Disclosure of Invention
The invention aims to solve the problem that the traditional rail flaw detection robot is single in function.
In order to achieve the above object, the present invention provides the following basic solutions:
a suspension type rail flaw detection robot based on ultrasonic waves comprises a flaw detection robot body, an ultrasonic detection system, an infrared detection system, a wireless network communication system and a power supply system, wherein the infrared detection system is electrically connected with the ultrasonic detection system and used for detecting the smoothness of a guide rail;
the robot body of detecting a flaw includes balanced body, rigid coupling in balanced body bottom a plurality of motion wheels and install the control main part on balanced body and install between the motion wheel and be used for the track subassembly of detecting a flaw, the upper end contact of motion wheel and guide rail, the middle section contact of subassembly and guide rail of detecting a flaw.
The principle and effect of this basic scheme lie in:
1. compared with the prior art, this device simple structure thinks about it is wonderful, and this device is the suspension type robot, need not the slip rail and lays, just can detect the guide rail, detects convenient quick, can stride and patrol and examine the track on the track, and ultrasonic detection rail surface records the place of rail defect.
2. Compared with the prior art, the device is a dual-mark flaw detection position, so that the detection position is accurate, and time and money are saved.
3. Compared with the prior art, this device function is various, not only can realize the inside of rail in the function and detect a flaw, can also detect the ride comfort of rail.
Further, the subassembly of detecting a flaw includes that the symmetry sets up at the stabilizer of balanced body and the telescopic cylinder who is used for connecting the stabilizer. And the accurate coverage of the flaw detection position is realized.
Further, the ultrasonic detection system comprises an ultrasonic probe arranged on the left balance wheel and an ultrasonic target head arranged on the right balance wheel, and the ultrasonic target head and the ultrasonic probe are in signal connection with the wireless network communication system. And realizing ultrasonic flaw detection.
Further, the wireless network communication system comprises a signal processing module for processing signals of the ultrasonic probe and the ultrasonic target head and a signal sending module electrically connected with the signal processing module, and the signal sending module is electrically connected with a wireless network and a mobile terminal.
Further, a timer for marking the track position is connected to the wireless network through signals. The position precision of the wound is realized.
Further, infrared detecting system is including setting up the infrared probe in the both sides of balanced body and establishing the infrared receiving target in the outside of moving wheel, and infrared receiving target is connected with infrared probe electricity, infrared probe and infrared receiving target all are connected with signal processing module electricity.
The paint marking device further comprises a paint marking module electrically connected with the signal sending module, wherein the paint marking module is electrically connected with a spray head assembly, and the spray head assembly is installed on the balance wheel. The wound position is accurate through the pigment marking module and the spray head assembly.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an ultrasonic suspension type rail flaw detection robot according to an embodiment of the present application;
fig. 2 shows a bottom view of an ultrasonic suspension type rail flaw detection robot according to an embodiment of the present application;
FIG. 3 is a schematic view illustrating an installation of an ultrasonic suspension type rail-based inspection robot according to an embodiment of the present application;
fig. 4 shows a flow control diagram of an ultrasonic suspension type rail-based flaw detection robot according to an embodiment of the application.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
Reference numerals in the drawings of the specification include: the flaw detection robot comprises a flaw detection robot body 1, a control box 2, a camera 3, an infrared probe 4, a moving wheel 5, a balance wheel 6 and a guide rail 7.
Examples are shown in fig. 1, 2, 3 and 4:
a suspension type rail flaw detection robot based on ultrasonic waves comprises a flaw detection robot body 1, an ultrasonic detection system, an infrared detection system, a wireless network communication system and a power supply system;
the flaw detection robot body 1 comprises a balance body, a plurality of moving wheels 5 fixedly connected to the bottom of the balance body, a control main body arranged on the balance body, and a flaw detection assembly which is arranged between the moving wheels 5 and used for rail flaw detection, wherein the moving wheels 5 are in contact with the upper end of a guide rail 7, and the flaw detection assembly is in contact with the middle section of the guide rail 7;
a control box 2 is fixedly connected above the balance body, a control chip is filled in the control box 2, and control programs of the ultrasonic detection system, the infrared detection system, the wireless network communication system and the power supply system are all integrated on the control chip;
specifically, the method comprises the following steps: the movable wheels 5 are designed to have two front ends and two rear ends, the movable wheels 5 are in contact with the upper end of the guide rail 7, the balance body is in contact with the guide rail 7, the device can slide on the guide rail 7 through the movement of the movable wheels 5, for the four movable wheels 5, the two front ends are control wheels to clamp the guide rail 7, and the two rear ends are driving wheels to output power;
in order to ensure the motion stability of the device, the device is provided with the camera 3 at the front end of the control box 2, the camera 3 is externally connected with an operation platform, the advancing direction of the device is judged through the camera 3, and whether the device falls off due to foreign objects or not can be judged through the camera 3.
The subassembly of detecting a flaw is installed between the moving wheel 5, including the symmetry set up at the stabilizer 6 of balanced body and the telescopic cylinder who is used for connecting stabilizer 6, drives stabilizer 6 through telescopic cylinder and reciprocates, because the middle section of guide rail 7 is the sense terminal, needs adjust from top to bottom, improves the scope and the precision that detect.
Infrared detecting system is including setting up that the equal rigid coupling in both sides of balanced body has infrared probe 4, the outside of motion wheel 5 is equipped with the infrared receiving target of being connected with infrared probe 4 electricity, infrared probe 4 keeps always with infrared receiving target in vertical direction, unevenness or slope appear when guide rail 7, because the relation of motion wheel 5, motion wheel 5 must take place to incline to one side or incline to the right, and then realize that transient signal dislocation appears in infrared probe 4 and infrared receiving target, and then utilize this principle to detect guide rail 7's roughness.
The specific implementation process comprises the following steps: the first step, the ultrasonic detection system comprises an ultrasonic probe arranged on the left balance wheel 6 and an ultrasonic target head arranged on the right balance wheel 6, the ultrasonic target head and the ultrasonic probe are in signal connection, the wireless network communication system comprises a signal processing module for processing signals of the ultrasonic probe and the ultrasonic target head and a signal sending module electrically connected with the signal processing module, the signal sending module is electrically connected with a wireless network and a mobile terminal, the flaw detection robot utilizes the wireless network to transmit the signals to the cloud platform in real time, the wireless network is in signal connection with a timer for marking, the position accuracy of railway flaws is realized, meanwhile, the mobile terminal can acquire detection information on the cloud platform in real time, the real-time performance of track flaw detection is improved, the infrared detection system is electrically connected with the ultrasonic detection system, and the infrared probe 4 and the infrared receiving target are both electrically connected with the signal processing module,
and the second step, the device also comprises a pigment marking module electrically connected with the signal sending module, wherein the pigment marking module is electrically connected with a spray head assembly, and the spray head assembly is arranged on the balance wheel 6.
Thirdly, when the device moves on the guide rail 7, the ultrasonic probe and the ultrasonic target head work in a matched mode to achieve flaw detection of the guide rail 7, the basic ultrasonic technology is adopted here and not described, signals are transmitted to the signal processing module, the signals are processed by the signal processing module and then transmitted to the signal sending module, the signal sending module sends the signals to the mobile terminal, the fact that people can know the signals is achieved, the signal sending module sends the signals to the cloud platform, the signals are transmitted in a network, in the transmission process, a timer module is arranged, the signals can be sent out only when the people know that the signals are generated due to flaw detection of the guide rail 7, the speed of the trolley is known, the timer module works through the signals, the specific positions of the flaw detection can be known through calculation, and overhauling and replacement of the rail can be achieved.
In order to improve the precision of the position of detecting a flaw, this device has set up pigment mark module, after this signal was hit out, direct control pigment mark module, and pigment mark module control shower nozzle subassembly blowout pigment, pigment directly spout on guide rail 7, and then wound position mark, through the dual mark track wound position of timer module and pigment mark module, improve the precision that the track detected a flaw.
The device adopts a modular structure in design, and can be suspended on a track for automatic inspection; besides the internal flaw detection of the steel rail, the smoothness of the steel rail can be detected.
The problem of traditional track inspection robot function singleness has been solved to this device.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a based on ultrasonic wave suspension type track robot of detecting a flaw which characterized in that: the flaw detection robot comprises a flaw detection robot body, an ultrasonic detection system, an infrared detection system, a wireless network communication system and a power supply system, wherein the infrared detection system is electrically connected with the ultrasonic detection system and is used for detecting the smoothness of a guide rail;
the robot body of detecting a flaw includes balanced body, rigid coupling in balanced body bottom a plurality of motion wheels and install the control main part on balanced body and install between the motion wheel and be used for the track subassembly of detecting a flaw, the upper end contact of motion wheel and guide rail, the middle section contact of subassembly and guide rail of detecting a flaw.
2. The ultrasonic suspended rail-based flaw detection robot of claim 1, wherein the flaw detection assembly comprises balance wheels symmetrically arranged on the balance body and telescopic cylinders used for connecting the balance wheels.
3. The ultrasonic suspension type rail flaw detection robot based on the claim 2 is characterized in that the ultrasonic detection system comprises an ultrasonic probe installed on a left balance wheel and an ultrasonic target head installed on a right balance wheel, and the ultrasonic target head and the ultrasonic probe are in signal connection with a wireless network communication system.
4. The ultrasonic-based suspended track inspection robot as claimed in claim 1, wherein the wireless network communication system comprises a signal processing module for processing signals of the ultrasonic probe and the ultrasonic target head, and a signal sending module connected with the signal processing module, and the signal sending module is electrically connected with a wireless network and a mobile terminal.
5. The ultrasonic suspended track inspection robot as claimed in claim 4, wherein a timer for marking the track position is connected to the wireless network via signals.
6. The ultrasonic suspension type rail flaw detection robot as claimed in claim 1, wherein the infrared detection system comprises infrared probes arranged on two sides of the balance body and infrared receiving targets arranged on the outer sides of the moving wheels, the infrared receiving targets are electrically connected with the infrared probes, and the infrared probes and the infrared receiving targets are electrically connected with the signal processing module.
7. The ultrasonic-based suspended track inspection robot of claim 1, further comprising a paint marking module electrically connected to the signaling module, the paint marking module electrically connected to a nozzle assembly, the nozzle assembly mounted on the balance wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210193828.8A CN114475678A (en) | 2022-03-01 | 2022-03-01 | Based on ultrasonic wave suspension type track robot of detecting a flaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210193828.8A CN114475678A (en) | 2022-03-01 | 2022-03-01 | Based on ultrasonic wave suspension type track robot of detecting a flaw |
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| Publication Number | Publication Date |
|---|---|
| CN114475678A true CN114475678A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210193828.8A Pending CN114475678A (en) | 2022-03-01 | 2022-03-01 | Based on ultrasonic wave suspension type track robot of detecting a flaw |
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| CN (1) | CN114475678A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115881079A (en) * | 2023-02-16 | 2023-03-31 | 山东铁路投资控股集团有限公司 | Noise early warning method, system, equipment and storage medium in railway track construction |
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