CN114800561A - Rail track damage detection robot - Google Patents

Abstract

The invention relates to the technical field of rail damage detection equipment, and provides a rail damage detection robot, which comprises a mobile platform, wherein an information acquisition support is arranged on the mobile platform, an information acquisition module is arranged on the information acquisition support, and an information processing and transmitting module is arranged at the top of the mobile platform; the bottom of the mobile platform is provided with a travelling wheel, wherein the travelling wheel is connected with a travelling driving mechanism; the rail damage detection robot comprises a moving platform, a first mounting frame, a driving clamping mechanism, a first side plate, a driving opening and closing mechanism, an auxiliary clamping mechanism and a space, wherein the first mounting frame is mounted at the bottom of the moving platform and on one side close to a walking wheel, the driving clamping mechanism is mounted on the first mounting frame, the first side plate is mounted at the other side of the first mounting frame in a hinged mode, the driving opening and closing mechanism is arranged between the first side plate and the moving platform, the auxiliary clamping mechanism is mounted on the first side plate, and the space for clamping the rail damage detection robot on a rail is formed between the auxiliary clamping mechanism and the driving clamping mechanism. The invention has the characteristics of simple and convenient operation, smooth running on the track, high automation degree of on-track detection and convenient taking, placing and maintaining.

Description

Rail track damage detection robot

Technical Field

The invention relates to the technical field of rail damage detection equipment, in particular to a rail damage detection robot.

Background

With the development of economy in China, railways become main transportation means of residents in China, with the continuous increase of the freight volume of trains, the non-short increase of operation time, the increase and the successive speed increase of railway lines in China, particularly, the steel rails of the lines are seriously fatigued due to the investment of a large number of special railway passenger lines in recent years, so that higher requirements are brought to the daily maintenance and the service of the railway lines, but the problem of the over-service of the steel rails on the lines is caused by various factors, and great challenges are brought to the traffic safety.

One of the most effective methods is to perform regular flaw detection inspection on the steel rail through damage detection equipment so as to know potential safety problems existing in the rail in time and avoid driving accidents; at present, damage to the rail mainly uses manual detection as the main thing, but, manual detection has the problem of inefficiency, troublesome poeration, work load is big, also has some track check out test set on the market at present, but, mostly all the volume is great, and the field operation smoothness is poor, is difficult to realize the function of automatic detection on the track.

Therefore, the rail track damage detection robot is developed, and has urgent research value, good economic benefit and good industrial application potential.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides the rail track damage detection robot which has the characteristics of simplicity and convenience in operation, capability of smoothly running on a track, high automation degree of on-track detection and convenience in taking, placing and maintaining.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a rail track damage detection robot comprises a mobile platform, wherein an information acquisition support is installed at the head end of the mobile platform along the walking direction, an information acquisition module is installed on the information acquisition support, an information processing and transmission module is installed at the top of the mobile platform, and the information acquisition module is connected with the information processing and transmission module;

the bottom of the moving platform is relatively provided with walking wheels, wherein one walking wheel is connected with a walking driving mechanism, and the walking driving mechanism is arranged on the moving platform;

the utility model discloses a rail damage detection robot, including walking wheel, first mounting bracket, drive mechanism driven initiative clamping mechanism, first curb plate, supplementary clamping mechanism reaches form between the initiative clamping mechanism and press from both sides the space on the track with rail damage detection robot.

As an improved technical scheme, the information acquisition module comprises a camera, the camera is installed at the bottom of the information acquisition support and corresponds to the rail in arrangement, the camera is connected with the image acquisition module, the image acquisition module is installed at the top of the information acquisition support, and the display screen is installed at the top of the image acquisition module.

As an improved technical scheme, the information processing and transmitting module comprises an artificial intelligence board card, the artificial intelligence board card is installed at one end of the top of the mobile platform, and the image collecting module is connected with the artificial intelligence board card;

the other end of the top of the mobile platform is provided with a main controller, a GPS position transmission module and a cloud data transmission module, the GPS position transmission module is connected with the artificial intelligence board card, and the artificial intelligence board card is connected with the cloud data transmission module and the main controller;

the top of the mobile platform is close to the cloud data transmission module, a control switch is further installed at the position of the cloud data transmission module, the control switch is connected with a battery, and the battery is installed at the top of the mobile platform through a battery support.

As an improved technical scheme, the walking driving mechanism comprises a main control motor, the main control motor is mounted at the top of the mobile platform through a motor support, and the main control motor is in electric signal connection with the main controller;

the main control motor is characterized in that a driving wheel is mounted on an output shaft of the main control motor, a driven wheel is mounted on a main shaft of the traveling wheel, and a transmission belt is sleeved between the driven wheel and the driving wheel.

As an improved technical scheme, the active clamping mechanism comprises a first sliding block, the first sliding block is mounted on the first mounting frame, a first sliding rail is slidably mounted on the first sliding block, the first sliding rail is mounted on a rectangular rack, and the rectangular rack is in meshing transmission with the driving mechanism;

the rectangular rack is close to a first support frame is installed at one end of the rail, a second support frame is movably installed on the first support frame relatively, a first steering wheel is installed on the second support frame in a relative rotating mode, and the first steering wheel is close to one side of the rail.

As an improved technical solution, the first support frame includes a first support rod, an auxiliary reinforcement rod is disposed on the first support rod, the auxiliary reinforcement rod and the first support rod form an integrated structure, and are respectively mounted at the bottom of the rectangular rack through bolts, and the second support frame is relatively mounted at two ends of the first support rod;

the second support frame comprises a connecting plate, the connecting plate is movably mounted on the first support rod through a bolt and a connecting block, a second support rod is mounted on the connecting plate, a support block is mounted at one end, far away from the connecting plate, of the second support rod, and the first steering wheel is mounted on the support block in a relatively rotating mode.

As an improved technical scheme, the driving mechanism comprises a steering engine mounting frame, the steering engine mounting frame is mounted at the bottom of the moving platform, a steering engine is mounted on the steering engine mounting frame, an output shaft of the steering engine penetrates through the steering engine mounting frame and is connected with a transmission shaft through a coupler, a transmission gear is mounted on the transmission shaft, and the transmission gear is in meshing transmission with the rectangular rack.

As a modified technical scheme, the drive mechanism that opens and shuts includes driving motor, driving motor pass through the motor mounting bracket install in moving platform's bottom, be connected with the connecting rod through the connecting piece on driving motor's the output shaft, the connecting rod is kept away from driving motor's one end is connected with fisheye joint bearing, fisheye joint bearing rotates through the pivot and installs on the second slider, second slider slidable mounting is on the second slide rail, the second slide rail install in on the first curb plate, the both ends tip of second slide rail is installed respectively and is used for the restriction the stopper of slider stroke, first curb plate pass through hinge mount in moving platform is last.

As an improved technical scheme, the auxiliary clamping mechanism comprises a second mounting frame which is arranged oppositely, bearing seats are respectively mounted on the second mounting frame, supporting shafts are respectively rotatably mounted on the bearing seats, one ends of the supporting shafts are respectively penetrated through the supporting frame and connected with rockers, the rockers are arranged oppositely, the rockers are close to one ends of the tracks and are respectively rotatably mounted with second steering wheels, and the other ends of the rocking shafts are respectively penetrated through limiting holes formed in the first side plate and connected with springs.

As an improved technical scheme, the rocker comprises a first rod body and a second rod body, the first rod body and the second rod body are connected in an angle mode, and the supporting shaft is arranged at the joint of the first rod body and the second rod body;

one end of the first rod body, which is far away from the second rod body, is provided with a connecting shaft, the connecting shaft penetrates through the first rod body, and the two ends of the connecting shaft are respectively and rotatably provided with the second steering wheel;

and one end of the second rod body, which is far away from the first rod body, is provided with a mounting hole, and the end parts of the two ends of the spring are respectively arranged in the mounting hole.

After the technical scheme is adopted, the invention has the beneficial effects that:

the information acquisition module is arranged on the mobile platform through the information acquisition support, the damage condition of the track can be acquired through the information acquisition module, the information acquisition module is connected with the information processing and transmission module, the acquired damage condition of the track can be analyzed through the information processing and transmission module, the damage position is positioned, and the data is integrated and then the error is reported and stored, so that the fault tracing can be carried out at the later stage;

the bottom of the moving platform is relatively provided with walking wheels, wherein one walking wheel is connected with a walking driving mechanism, and the walking driving mechanism drives the walking wheels to move on the rail, so that the rail damage detection robot can automatically walk on the rail;

a first mounting frame is mounted at the bottom of the mobile platform and on one side close to the travelling wheels, an active clamping mechanism driven by a driving mechanism is mounted on the first mounting frame, an auxiliary clamping mechanism is mounted on one side, close to the travelling wheels, of the first side plate, acting force can be actively applied to the side face of the track through the active clamping mechanism, and the active clamping mechanism is matched with elastic acting force of the auxiliary clamping mechanism, so that clamping of the rail damage detection robot on the track is realized;

the information acquisition module comprises a camera, the camera can acquire image information on the surface of the rail in real time, the camera is connected with the image acquisition module, the image acquisition module can be used for collecting data of the information acquired by the camera, the top of the image acquisition module is provided with a display screen, and the display screen can be used for displaying the image information in real time;

the information processing and transmitting module comprises an artificial intelligence board card, the image collecting module is connected with the artificial intelligence board card, image information can be analyzed in real time through the artificial intelligence board card, a main controller is installed at the other end of the top of the mobile platform, a GPS position transmitting module and a cloud data transmitting module are connected with the GPS position transmitting module, position information can be transmitted to the artificial intelligence board card, damage and position information of the rail are integrated through the artificial intelligence board card and are transmitted to the cloud data transmitting module to be reported and stored, a battery is further installed on the mobile platform, and power is supplied to the rail track damage detection robot through the battery;

the walking driving mechanism comprises a main control motor, the main control motor is in electric signal connection with a main controller, the main controller can control the main control motor to run, and the main control motor can be controlled to suddenly stop when a damaged rail is met;

the driving clamping mechanism comprises a first sliding block, the first sliding block is arranged on a first mounting frame, a first sliding rail is arranged on the first sliding block in a sliding mode, the first sliding rail is arranged on a rectangular rack, the rectangular rack is in meshing transmission with the driving mechanism, the position precision of the rectangular rack during moving is guaranteed through arrangement of the first sliding block and the first sliding rail, and therefore complete meshing between the rectangular rack and the driving mechanism is guaranteed;

the rectangular rack is provided with a first support frame, the first support frame is relatively movably provided with a second support frame, and the second support frame is relatively rotatably provided with a first steering wheel, so that the first support frame can be driven to synchronously move through the movement of the rectangular rack, the first support frame drives the second support frame to synchronously move, the first steering wheel is tightly abutted against one side of the track and is matched with an auxiliary clamping mechanism to clamp the track;

the driving opening and closing mechanism comprises a driving motor, the driving motor is arranged at the bottom of the moving platform, an output shaft of the driving motor is connected with a connecting rod through a connecting piece, one end of the connecting rod, which is far away from the driving motor, is connected with a fisheye joint bearing, the fisheye joint bearing is rotatably arranged on a second sliding block, the second sliding block is slidably arranged on a second sliding rail, the second sliding rail is arranged on a first side plate, therefore, the connecting rod can be driven to rotate through the rotation of the output shaft of the driving motor, the second slide block is driven to move on the second slide rail, and the first side plate is pushed to rotate in the moving process of the second slide block, so that the angle and the position of the first side plate are adjusted, the rail damage detection robot can conveniently take, place and maintain the rail, the end parts of the two ends of the second slide rail are provided with limiting blocks, the limiting blocks limit the stroke of the second slide block on the second slide rail, and the second slide block is prevented from being separated from the slide rail;

the auxiliary clamping mechanism comprises a second mounting frame which is oppositely arranged, a bearing seat is mounted on the second mounting frame, a supporting shaft is rotatably mounted on the bearing seat, one end of the supporting shaft penetrates through the supporting frame and is connected with a rocker, the rocker is oppositely arranged, one end of the rocker, which is close to the track, is rotatably mounted with a second steering wheel, the other end of the rocker penetrates through a limiting hole on the first side plate and is connected with a spring, the second steering wheel is tightly abutted against the side surface of the track under the action of the spring, the clamping of the rail track damage detection robot on the track is realized by matching with the active clamping mechanism, when the bent track is encountered, the second steering wheel is subjected to the action force of the track and drives the rocker to rotate in opposite directions, the other end of the rocker reversely moves, and the spring is stretched, so that the action force of the track on the second steering wheel and the spring are balanced with each other, and the rail damage detection robot is always clamped on the track, guarantee that rail track damage detection robot can smoothly move on the track, avoid influencing detection efficiency, through setting up the turned angle and the direction of rotation that spacing hole has restricted the rocker.

In conclusion, the invention provides a rail track damage detection robot which has the characteristics of simple and convenient operation, smooth running on a rail, high automation degree of on-rail detection and convenience in taking, placing and maintaining.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a travel driving mechanism according to the present invention;

FIG. 3 is a schematic structural view of the movable platform, the second side plate, the driving mechanism and the active clamping mechanism according to the present invention;

FIG. 4 is a schematic structural diagram of a driving mechanism and an active clamping mechanism according to the present invention;

FIG. 5 is a schematic view of the driving mechanism and the active clamping mechanism of the present invention in another angular direction;

FIG. 6 is a schematic structural view of the movable platform, the driving opening and closing mechanism and the auxiliary clamping mechanism of the present invention;

FIG. 7 is a schematic structural view of the driving opening and closing mechanism and the auxiliary clamping mechanism of the present invention;

FIG. 8 is a schematic structural view of a rocker of the present invention;

reference numerals: 1. a mobile platform, 2, an information acquisition support, 3, an information acquisition module, 301, a camera, 302, a display screen, 4, an information processing and transmission module, 401, an artificial intelligence board, 402, a main controller, 403, a GPS position transmission module, 404, a cloud data transmission module, 405, a control switch, 406, a battery, 5, a traveling wheel, 6, a traveling driving mechanism, 601, a main control motor, 602, a driving wheel, 603, a driven wheel, 604, a transmission belt, 7, a first mounting rack, 8, a driving mechanism, 801, a steering gear mounting rack, 802, a steering gear, 803, a coupling, 804, a transmission shaft, 805, a transmission gear, 9, a driving clamping mechanism, 901, a first sliding block, 902, a first sliding rail, 903, a rectangular rack, 904, a first support frame, 9041, a first support rod, 9042, an auxiliary reinforcing rod, 905, a second support frame, a transmission gear, 9, a connecting plate, 9052, a connecting block, 9053. second bracing piece, 9054, the supporting shoe, 906, first steering wheel, 10, first curb plate, 11, the drive mechanism that opens and shuts, 1101, driving motor, 1102, the connecting piece, 1103, the connecting rod, 1104, fisheye joint bearing, 1105, the second slider, 1106, the second slide rail, 1107, the stopper, 12, supplementary clamping mechanism, 1201, the second mounting bracket, 1202, the bearing frame, 1203, the back shaft, 1204, the rocker, 1205, the second steering wheel, 1206, the spring, 1207, the first body of rod, 1208, the second body of rod, 1209, the connecting axle, 1210, the mounting hole, 13, the second curb plate.

Detailed Description

The invention is further illustrated by the following specific examples. The use and purpose of these exemplary embodiments are to illustrate the present invention, not to limit the actual scope of the present invention in any way, and not to limit the scope of the present invention in any way.

As shown in fig. 1-7, a rail track damage detection robot includes a mobile platform 1, an information acquisition bracket 2 is installed at the head end of the mobile platform 1 along a walking direction through a bolt, an information acquisition module 3 is installed on the information acquisition bracket 2, an arrow shown in fig. 1 is a moving direction, information acquisition can be performed on damage conditions of a track through the information acquisition module 3, an information processing and transmission module 4 is installed at the top of the mobile platform 1, the information acquisition module 3 is connected with the information processing and transmission module 4, the acquired track damage conditions can be analyzed through the information processing and transmission module 4, damage positions are located, errors are reported and stored after data are integrated, and fault tracing is performed at a later stage;

the bottom of the moving platform 1 is relatively provided with two traveling wheels 5, specifically, the two traveling wheels 5 are relatively arranged and are respectively rotatably installed on a traveling wheel 5 installation frame through a main shaft and a bearing, the traveling wheel 5 installation frame is fixedly installed at the bottom of the moving platform 1 through bolts, one traveling wheel 5 is connected with a traveling driving mechanism 6, the traveling driving mechanism 6 is installed on the moving platform 1, and the traveling wheels 5 are driven to move on the rail through the traveling driving mechanism 6, so that the traveling of the rail track damage detection robot on the rail is realized;

a first mounting frame 7 is mounted at the bottom of the movable platform 1 and on one side close to the travelling wheels 5 through bolts, an active clamping mechanism 9 driven by a driving mechanism 8 is mounted on the first mounting frame 7, a first side plate 10 is hinged at the bottom of the movable platform 1 and on the other side close to the travelling wheels 5, a driving opening and closing mechanism 11 is arranged between the first side plate 10 and the movable platform 1, the first side plate 10 can be pushed to open through the driving opening and closing mechanism 11, so that the rail track damage detection robot can be conveniently placed on or taken off a rail, meanwhile, the maintenance of an internal original piece is also facilitated, an auxiliary clamping mechanism 12 is mounted at one side of the first side plate 10 close to the travelling wheels 5, a space for clamping the rail damage detection robot on the rail is formed between the auxiliary clamping mechanism 12 and the active clamping mechanism 9, and acting force can be actively applied to the side of the rail through the active clamping mechanism 9, and the rail damage detection robot clamps the rail by matching with the elastic acting force of the auxiliary clamping mechanism 12.

In this embodiment, as shown in fig. 1, 2 and 6, the information collecting module 3 includes a camera 301, the camera 301 is a CCD camera, the camera 301 can collect image information on the surface of a rail in real time, the camera 301 is mounted at the bottom of the information collecting bracket 2 through a bolt and is arranged corresponding to a rail, the camera 301 is connected to the image collecting module, the image collecting module is an OV7670 chip camera image collecting module, the image collecting module is mounted at the top of the information collecting bracket 2 through a bolt, a display screen 302 is mounted at the top of the image collecting module through a bolt, data collection can be performed on the information collected by the camera 301 through the image collecting module, the display screen 302 is mounted at the top of the image collecting module, the image information can be displayed in real time through the display screen 302, and the image collecting module is located at the bottom of the display screen 302 and is hidden by the display screen 302, thus, the image collection module is not identified in the figure.

In this embodiment, as shown in fig. 1, fig. 2, and fig. 6, the information processing and transmitting module 4 includes an artificial intelligence board 401, the artificial intelligence board 401 is an NLE-AI800 artificial intelligence board, the artificial intelligence board 401 is mounted at one end of the top of the mobile platform 1 through a bolt, the image collecting module is connected to the artificial intelligence board 401, and the image information can be analyzed in real time through the artificial intelligence board 401;

a main controller 402, a GPS position transmission module 403 and a cloud data transmission module 404 are mounted at the other end of the top of the mobile platform 1 through bolts, wherein the main controller 402 adopts an stm32 main controller, the cloud data transmission module 404 adopts an ESP8266 cloud data transmission module, the GPS position transmission module 403 is common in daily life and belongs to common knowledge of technicians in the technical field, and details are not repeated herein, the GPS position transmission module 403 is connected with an artificial intelligent board 401, the artificial intelligent board 401 is connected with the cloud data transmission module 404 and the main controller 402, the GPS position transmission module 403 is connected with the artificial intelligent board 401 and can transmit position information to the artificial intelligent board 401, damage to a track and the position information are integrated by the artificial intelligent board 401 and are transmitted to the cloud data transmission module 404 for error reporting and storage;

the top of the mobile platform 1 is close to the cloud data transmission module 404 and is further provided with a control switch 405 through a bolt, the control switch 405 is connected with a battery 406, the battery 406 is mounted on the top of the mobile platform 1 through a bracket bolt of the battery 406, and the rail track damage detection robot is powered through the battery 406.

In this embodiment, as shown in fig. 1 to fig. 3, the walking driving mechanism 6 includes a main control motor 601, the main control motor 601 is mounted on the top of the mobile platform 1 through a motor bracket bolt, the main control motor 601 is electrically connected to the main controller 402, the main controller 402 can control the operation of the main control motor 601, when the artificial intelligent board 401 analyzes the image collected by the image collecting module in real time and finds that the rail has a defect, the information is transmitted to the main controller 402, the main controller 402 controls the main control motor 601 to stop running, so as to realize the emergency stop of the rail track damage detection robot, so that the GPS position transmission module 403 can transmit the position information to the artificial intelligent board 401 to determine the position of the rail defect;

a driving wheel 602 is mounted on an output shaft of the main control motor 601 through a bolt, a main shaft of the traveling wheel 5 extends to the outer side of a mounting rack of the traveling wheel 5 and is mounted with a driven wheel 603 through a bolt, a transmission belt 604 is sleeved between the driven wheel 603 and the driving wheel 602, the transmission belt 604 is driven to rotate through the rotation of the output shaft of the main control motor 601, the transmission belt 604 drives the driven wheel 603 to rotate, and then the traveling wheel 5 is driven to travel on a track.

In this embodiment, as shown in fig. 3 to 5, the active clamping mechanism 9 includes a first slider 901, the first slider 901 is mounted on the first mounting bracket 7 through a bolt, a first slide rail 902 is slidably mounted on the first slider 901, the first slide rail 902 is mounted on the rectangular rack 903 through a bolt, the rectangular rack 903 is in meshing transmission with the driving mechanism 8, the position accuracy of the rectangular rack 903 when moving is ensured by the arrangement of the first slider 901 and the first slide rail 902, and further, the rectangular rack 903 is completely meshed with the driving mechanism 8;

as the rectangular rack 903 is long, a position avoiding hole for avoiding the rectangular rack 903 is formed in the first side plate 10;

a first support frame 904 is mounted at one end, close to a track, of the rectangular rack 903 through bolts, a second support frame 905 is movably mounted on the first support frame 904 relatively, first steering wheels 906 are rotatably mounted on the second support frame 905 relatively, the first steering wheels 906 are arranged close to one side of the track, therefore, the first support frame 904 can be driven to synchronously move through the movement of the rectangular rack 903, the first support frame 904 drives the second support frame 905 to synchronously move, the first steering wheels 906 tightly abut against one side of the track, and the clamping of the track is realized by matching with the auxiliary clamping mechanism 12, meanwhile, as the second support frame 905 is movably mounted on the first support frame 904 relatively, the first steering wheels 906 can rotate at a certain angle when encountering the curved track, and the smooth and stable detection operation of a rail damage detection robot on the track is facilitated;

in addition, for some sharp turns, because the rotation angle of the second support frame 905 is limited, at this time, the steering engine 802 of the driving mechanism 8 needs to rotate reversely and drive the rectangular rack 903 to move reversely, so that the first steering wheel 906 leaves a certain distance from the side surface of the rail, and the rail is clamped and the smooth movement of the bent part is realized by matching with the auxiliary clamping mechanism 12.

In this embodiment, as shown in fig. 3 to fig. 5, the first support frame 904 includes a first support rod 9041, an auxiliary reinforcement rod 9042 is disposed on the first support rod 9041, the auxiliary reinforcement rod 9042 and the first support rod 9041 are connected by welding to form an integrated structure, so that the structural strength of the first support frame 904 is enhanced, the auxiliary reinforcement rod 9042 and the first support rod 9041 are respectively installed at the bottom of the rectangular rack 903 by bolts, and the second support frame 905 is installed at two ends of the first support rod 9041;

the second support frame 905 comprises a connecting plate 9051, the connecting plate 9051 is movably mounted on the first support rod 9041 through a bolt and a connecting block 9052, specifically, the connecting plate 9051 is mounted at the bottom of the first support rod 9041, the connecting block 9052 is arranged at the top of the first support rod 9041, the bolt penetrates through the connecting plate 9051, the first support rod 9041 and the connecting block 9052, and is in threaded connection with a nut, so that the connecting plate 9051 has a certain movable gap, a second support rod 9053 is mounted on the connecting plate 9051 in a welding mode, a support block 9054 is mounted at one end, far away from the connecting plate 9051, of the second support rod 9053 in a bolt or welding mode, and the first steering wheel 906 is relatively rotatably mounted on the support block 9054 through a bearing;

the connecting plate 9051 is of an L-shaped structure and is provided with a first plate body and a second plate body, the first plate body is arranged at the bottom of the first support rod 9041 and connected with the first support rod 9041, the second plate body is close to one side of the first support rod 9041 and connected with the second support rod 9053, and the second support frame 905 is movably mounted on the first support frame 904, so that the range of movement of the second support frame 905 is limited by the connecting plate 9051 with the L-shaped structure.

In this embodiment, as shown in fig. 3 to fig. 5, the driving mechanism 8 includes a steering engine mounting block 801, the steering engine mounting block 801 is mounted at the bottom of the mobile platform 1 through a bolt, a steering engine 802 is mounted on the steering engine mounting block 801 through a bolt, an output shaft of the steering engine 802 penetrates through the steering engine mounting block 801 and is connected with a transmission shaft 804 through a coupling 803, a transmission gear 805 is mounted on the transmission shaft 804 in a keyed joint manner, the transmission gear 805 is in meshed transmission with the rectangular rack 903, the transmission shaft 804 is driven to rotate through rotation of the steering engine 802, and then the rectangular rack 903 is driven to horizontally move through the transmission gear 805, so that clamping of the active clamping mechanism 9 is realized.

In this embodiment, as shown in fig. 6 to 7, the driving opening and closing mechanism 11 includes a driving motor 1101, the driving motor 1101 is installed at the bottom of the mobile platform 1 through a motor installation rack, an output shaft of the driving motor 1101 is connected with a connecting rod 1103 through a connecting piece 1102, specifically, one end of the connecting piece 1102 is fixed on the output shaft of the driving motor 1101 through a bolt, the other end is connected with the connecting rod 1103 in a threaded manner, one end of the connecting rod 1103, which is away from the driving motor 1101, is connected with a fisheye joint bearing 1104 in a threaded manner, the fisheye joint bearing 1104 is rotatably installed on a second slider 1105 through a rotating shaft, the second slider 1105 is slidably installed on a second sliding rail 1106, the second sliding rail 1106 is installed on the first side plate 10 through a bolt, two end portions of the second sliding rail 1106 are respectively installed with a limiting block 1107 for limiting a slider stroke, the first side plate 10 is installed on the mobile platform 1 through a hinge, from this, the rotation through the output shaft of driving motor 1101 can drive connecting rod 1103 to rotate, and then drive second slider 1105 and remove on second slide rail 1106, and promote first curb plate 10 at the in-process that second slider 1105 removed and rotate, realize the adjustment of first curb plate 10 angle and position, make things convenient for getting on the track of rail track damage detection robot and put and maintain, both ends tip installation stopper 1107 of second slide rail 1106, stopper 1107 has restricted the stroke of second slider 1105 on second slide rail 1106, avoid second slider 1105 to break away from out the slide rail.

In this embodiment, as shown in fig. 6 to 7, the auxiliary clamping mechanism 12 includes a second mounting frame 1201 arranged oppositely, the second mounting frame 1201 is mounted on the first side wall by bolts, bearing seats 1202 are respectively mounted on the second mounting frame 1201 by bolts, support shafts 1203 are respectively rotatably mounted on the bearing seats 1202 by bearings, one ends of the support shafts 1203 respectively penetrate through the support frames and are fixedly connected with rockers 1204, the rockers 1204 are arranged oppositely, a second steering wheel 1205 is rotatably mounted at one end of the rocker 1204 close to the track by bearings, the other end of the rocker 1204 respectively penetrates through a limiting hole arranged on the first side plate 10 and is connected with a spring 1206, the second steering wheel 1205 is tightly abutted against the side surface of the track by the elastic force of the spring 1206, and the active clamping mechanism 9 is engaged to clamp the rail track damage detection robot, when a curved track is encountered, the second steering wheel 1205 receives the acting force of the track, and drive rocker 1204 and rotate in opposite directions, and the other end of rocker 1204 is then reverse motion to extension spring 1206 makes the track effort that second steering wheel 1205 received and the elasticity of spring 1206 balance each other, makes rail track damage detection robot press from both sides tightly on the track all the time, guarantees that rail track damage detection robot can smoothly move on the track, avoids influencing detection efficiency, has restricted rocker 1204's turned angle and direction of rotation through setting up spacing hole.

In this embodiment, as shown in fig. 6 to 8, the rocker 1204 includes a first rod 1207 and a second rod 1208, and the first rod 1207 and the second rod 1208 are connected at an angle, in this embodiment, the first rod 1207 and the second rod 1208 are integrated, and the support shaft 1203 is disposed at a connection position of the first rod 1207 and the second rod 1208, and can rotate around the support shaft 1203 when the rocker 1204 is subjected to an external force;

a connecting shaft 1209 is arranged at one end, away from the second rod 1208, of the first rod 1207, specifically, a through hole for installing the connecting shaft 1209 is formed in the first rod 1207, the connecting shaft 1209 is fixedly installed in the through hole, and second steering wheels 1205 are rotatably installed at two ends of the connecting shaft 1209 through bearings respectively;

one end of the second rod 1208, which is far away from the first rod 1207, is provided with a mounting hole 1210, and two end portions of the spring 1206 are respectively mounted in the mounting hole 1210.

In this embodiment, as shown in fig. 2 to 7, the plastic layers are wrapped around the outer sides of the first steering wheel 906 and the second steering wheel 1205, and the rigid collision between the steering wheel and the track is avoided by wrapping the plastic layers around the outer sides of the steering wheel.

In this embodiment, as shown in fig. 1-3 and fig. 6, a second side plate 13 is disposed on one side of the mobile platform 1 and opposite to the first side plate 10, the second side plate 13 is connected with a plurality of baffles through a connecting frame, and the second side plate 13 and the baffles form a space for wrapping the active clamping mechanism 9, so as to prevent the active clamping mechanism 9 from being exposed outside;

in addition, a protection cover is further disposed on the top of the mobile platform 1, and the protection cover is used for protecting the information acquisition module 3 and the information processing and transmission module 4, and is not marked in the figure.

For ease of understanding, the working process of the present embodiment is given below:

as shown in fig. 1-8, the placement process of the rail track damage detection robot is as follows:

firstly, an output shaft of a driving motor 1101 of the opening and closing mechanism 11 is driven to rotate, a connecting rod 1103 is driven to rotate through a connecting piece 1102, the connecting rod 1103 drives a second sliding block 1105 to move along a second sliding rail 1106, the first side plate 10 is pushed to rotate upwards in the moving process of the second sliding block 1105, at the moment, one side of the rail track damage detection robot is in an open state, the rail track damage detection robot is placed on a track conveniently, and then the output shaft of the driving motor 1101 rotates reversely and drives the first side plate 10 to rotate downwards, and the first side plate 10 is closed;

the rail clamping process of the rail track damage detection robot comprises the following steps:

in the process that the first side plate 10 rotates downwards, a second steering wheel 1205 arranged on the rocker 1204 is in contact with one side of the track, under the action force of the side surface of the track, one end of the rocker 1204, which is provided with a first steering wheel 906, moves oppositely, the other end of the rocker 1204 moves reversely, and the spring 1206 is stretched, so that the action force applied to the first steering wheel 906 and the elastic force of the spring 1206 are balanced;

meanwhile, an output shaft of the steering engine 802 rotates and drives a transmission shaft 804 to rotate, the transmission shaft 804 drives a rectangular rack 903 to horizontally move through a transmission gear 805, a first support frame 904 is driven to synchronously move in the moving process of the rectangular rack 903, the first support frame 904 drives a second support frame 905 to synchronously move, and a first steering wheel 906 mounted on the second support frame 905 abuts against one side of the track;

when a curved track is encountered, the second support frame 905 is movably mounted on the first support frame 904, so that the first steering wheel 906 can rotate for a certain angle along the curved track, and meanwhile, the second steering wheel 1205 also drives the rocker 1204 to rotate, but under the action of the elastic force of the spring 1206, the second steering wheel 1205 on the rocker 1204 always abuts against the side surface of the track, so that the rail track damage detection robot is always clamped on the track;

the rail track damage detection robot comprises a walking driving process:

an output shaft of a main control motor 601 of the walking driving mechanism 6 drives a driving wheel 602 to rotate, the driving wheel 602 drives a driven wheel 603 on a main shaft of the walking wheel 5 to rotate through a transmission belt 604, and therefore stable walking of the walking wheel 5 along a track is achieved;

the information acquisition and processing process of the rail track damage detection robot comprises the following steps:

in the process that the rail track damage detection robot walks on the track, the camera 301 collects image information on the surface of the track in real time and transmits the image information to the image collection module, the image collection module displays the image information through the display screen 302 and simultaneously transmits the image information to the artificial intelligent board 401, the artificial intelligent board 401 analyzes the image information in real time, when the analyzed track image information has defects, the main controller 402 controls the main control motor 601 to stop rotating so that the rail track damage detection robot stops suddenly on the track, at the moment, the GPS position transmission module 403 transmits position information to the artificial intelligent board 401, the artificial intelligent board 401 integrates the defect image information and the position information of the track and transmits the image information and the position information to the cloud data transmission module 404 for error reporting and storage, thereby realizing the automatic on-track detection operation of the rail track damage detection robot, and in the operation process, the clamping device is always clamped on the track, the operation is stable and smooth, and the automation degree is high.

In conclusion, the invention provides the rail track damage detection robot which has the characteristics of simple and convenient operation, smooth running on the rail, high automation degree of on-rail detection and convenient taking, placing and maintaining.

It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should also be understood that various alterations, modifications and/or variations can be made to the present invention by those skilled in the art after reading the technical content of the present invention, and all such equivalents fall within the protective scope defined by the claims of the present application.

Claims (10)

1. A rail track damage detection robot which characterized in that: the mobile platform comprises a mobile platform, wherein an information acquisition support is arranged at the head end of the mobile platform along the walking direction, an information acquisition module is arranged on the information acquisition support, an information processing and transmitting module is arranged at the top of the mobile platform, and the information acquisition module is connected with the information processing and transmitting module;

the bottom of the moving platform is relatively provided with walking wheels, wherein one walking wheel is connected with a walking driving mechanism, and the walking driving mechanism is arranged on the moving platform;

the utility model discloses a rail damage detection robot, including walking wheel, first mounting bracket, drive mechanism driven initiative clamping mechanism, first curb plate, supplementary clamping mechanism reaches form between the initiative clamping mechanism and press from both sides the space on the track with rail damage detection robot.

2. A rail track damage detection robot as claimed in claim 1, wherein: the information acquisition module comprises a camera, the camera is installed at the bottom of the information acquisition support and corresponds to the rail in arrangement, the camera is connected with the image collection module, the image collection module is installed at the top of the information acquisition support, and the display screen is installed at the top of the image collection module.

3. A rail track damage detection robot as claimed in claim 2, wherein: the information processing and transmitting module comprises an artificial intelligence board card, the artificial intelligence board card is installed at one end of the top of the mobile platform, and the image collecting module is connected with the artificial intelligence board card;

the other end of the top of the mobile platform is provided with a main controller, a GPS position transmission module and a cloud data transmission module, the GPS position transmission module is connected with the artificial intelligence board card, and the artificial intelligence board card is connected with the cloud data transmission module and the main controller;

the top of the mobile platform is close to the cloud data transmission module, a control switch is further installed at the position of the cloud data transmission module, the control switch is connected with a battery, and the battery is installed at the top of the mobile platform through a battery support.

4. A rail track damage detection robot as claimed in claim 3, wherein: the walking driving mechanism comprises a main control motor, the main control motor is installed at the top of the mobile platform through a motor support, and the main control motor is in electric signal connection with the main controller;

the main control motor is characterized in that a driving wheel is mounted on an output shaft of the main control motor, a driven wheel is mounted on a main shaft of the traveling wheel, and a transmission belt is sleeved between the driven wheel and the driving wheel.

5. A rail track damage detection robot as claimed in claim 1, wherein: the active clamping mechanism comprises a first sliding block, the first sliding block is mounted on the first mounting frame, a first sliding rail is slidably mounted on the first sliding block, the first sliding rail is mounted on a rectangular rack, and the rectangular rack is in meshing transmission with the driving mechanism;

the rectangular rack is close to a first support frame is installed at one end of the rail, a second support frame is movably installed on the first support frame relatively, a first steering wheel is installed on the second support frame in a relative rotating mode, and the first steering wheel is close to one side of the rail.

6. A rail track damage detection robot as claimed in claim 5, wherein: the first support frame comprises a first support rod, an auxiliary reinforcing rod is arranged on the first support rod, the auxiliary reinforcing rod and the first support rod form an integrated structure and are respectively installed at the bottoms of the rectangular racks through bolts, and the second support frame is oppositely installed at two ends of the first support rod;

the second support frame comprises a connecting plate, the connecting plate is movably mounted on the first support rod through a bolt and a connecting block, a second support rod is mounted on the connecting plate, a support block is mounted at one end, far away from the connecting plate, of the second support rod, and the first steering wheel is mounted on the support block in a relatively rotating mode.

7. A rail track damage detection robot as claimed in claim 6, wherein: the driving mechanism comprises a steering engine mounting frame, the steering engine mounting frame is mounted at the bottom of the moving platform, a steering engine is mounted on the steering engine mounting frame, an output shaft of the steering engine penetrates through the steering engine mounting frame and is connected with a transmission shaft through a coupler, a transmission gear is mounted on the transmission shaft, and the transmission gear is in meshing transmission with the rectangular rack.

8. A rail track damage detection robot as claimed in claim 1, wherein: the driving opening and closing mechanism comprises a driving motor, the driving motor is installed in the bottom of the moving platform through a motor installation frame, a connecting rod is connected to an output shaft of the driving motor through a connecting piece, the connecting rod is kept away from one end of the driving motor is connected with a fisheye joint bearing, the fisheye joint bearing is installed on a second sliding block through a rotating shaft in a rotating mode, the second sliding block is installed on a second sliding rail in a sliding mode, the second sliding rail is installed on a first side plate, limiting blocks used for limiting the stroke of the sliding block are installed at the end portions of the two ends of the second sliding rail respectively, and the first side plate is installed on the moving platform through hinges.

9. A rail track damage detection robot as claimed in claim 1, wherein: the auxiliary clamping mechanism comprises a second mounting frame which is arranged oppositely, bearing seats are respectively mounted on the second mounting frame, supporting shafts are respectively rotatably mounted on the bearing seats, one ends of the supporting shafts are respectively penetrated through the supporting frames and connected with rockers, the rockers are arranged oppositely, the rockers are close to one ends of the tracks and are respectively rotatably mounted with second steering wheels, and the other ends of the rocking shafts are respectively penetrated through limiting holes formed in the first side plate and connected with springs.

10. A rail track damage detection robot as claimed in claim 9, wherein: the rocker comprises a first rod body and a second rod body, the first rod body and the second rod body are connected in an angle mode, and the supporting shaft is arranged at the joint of the first rod body and the second rod body;

one end of the first rod body, which is far away from the second rod body, is provided with a connecting shaft, the connecting shaft penetrates through the first rod body, and the two ends of the connecting shaft are respectively and rotatably provided with the second steering wheel;

and one end of the second rod body, which is far away from the first rod body, is provided with a mounting hole, and the end parts of the two ends of the spring are respectively arranged in the mounting hole.

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