CN115991212B - Motor train unit bottom detection equipment - Google Patents
Motor train unit bottom detection equipment Download PDFInfo
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- CN115991212B CN115991212B CN202310173395.4A CN202310173395A CN115991212B CN 115991212 B CN115991212 B CN 115991212B CN 202310173395 A CN202310173395 A CN 202310173395A CN 115991212 B CN115991212 B CN 115991212B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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Abstract
The invention discloses a motor train unit bottom detection device, which comprises a running gear and a detection robot; the detection robot is arranged on the traveling device through a translation mechanism, and the translation mechanism comprises a translation trolley and a translation guide rail; the translation trolley comprises a trolley body and a driving assembly, wherein the driving assembly comprises a driving motor and a transmission structure, and the driving motor is fixedly arranged on the trolley body; the transmission structure comprises a gear and rack assembly, wherein the gear and rack assembly is provided with two groups, and the gear and rack assembly comprises a gear and a rack which are meshed with each other; the gear is connected with an output shaft of the driving motor, and the rack is fixedly arranged on the translation guide rail along with the translation guide rail; the translation guide rail is provided with two groups and is fixedly arranged on the vehicle body, and the translation guide rail comprises a vertical extension section, a horizontal extension section and a corner connecting section. The motor train unit bottom detection equipment has a larger operation range and a larger degree of freedom of movement, and can effectively improve the detection efficiency.
Description
Technical Field
The invention relates to motor train unit detection equipment, in particular to motor train unit bottom detection equipment.
Background
Along with the gradual development and the dense of the high-speed railway network, a plurality of high-speed railway lines are gradually opened, the number of running motor train units is increased year by year, the maintenance operation tasks borne by the corresponding motor trains are heavier, and the operation pressure is also greater. The daily maintenance of the motor train unit is mainly carried out by first-grade maintenance, each first-grade maintenance is completed by 1-2 maintenance operation groups, and the operation tasks of the first-grade maintenance of the motor train unit gradually increase along with the gradual increase of the number and the running routes of the motor train unit.
At present, the robot is mature and applied to various aspects of industry, agriculture, life service and the like, and has a deep technical background, and the robot at the bottom of a motor train unit, for example, the robot at the bottom of a motor train unit disclosed in the application of the invention with the application publication number of CN110142740A, comprises a walking track device, a bearing chassis, a walking driving device, a shell, a robot lifting device, a robot, a power supply device, a detection control device and a communication device. The robot lifting device is accurately positioned through the running driving device, the image data of the motor train unit are collected at the same time, and the result is calculated through software and then transmitted to a user through the command wireless network device.
The above-mentioned vehicle bottom robot can accomplish the detection work of motor vehicle automatically, but still has following shortcoming:
(1) Because the robot is fixedly arranged on the walking driving device, when the detection work is carried out, the operation range of the robot is limited by the size of the joints of the robot, and the assembly degree of the motor train unit is relatively long, so that the whole detection work can be completed only by the walking driving device walking and stopping for a plurality of times, and the detection efficiency needs to be improved.
(2) The two robots are arranged on the walking driving device, and as the detection contents of each robot are different, the working time of the two robots is possibly unequal, the robots cannot move and cannot move to a farther position for detection, so that the robots which finish the work firstly can move to the next detection station together after waiting for the other robot to finish the work, the time is wasted, and the detection efficiency is required to be improved.
Disclosure of Invention
The invention aims to overcome the problems and provide the motor train unit bottom detection equipment which has a larger operation range and a larger activity degree of freedom and can effectively improve the detection efficiency.
The aim of the invention is achieved by the following technical scheme:
the utility model provides a motor train unit vehicle bottom detection equipment, includes rail set, the running gear that is used for moving on rail set and is used for detecting motor train unit detection robot;
the detection robot is arranged on the traveling device through a translation mechanism, and the translation mechanism comprises a translation trolley and a translation guide rail; the translation trolley comprises a trolley body and a driving assembly, wherein the driving assembly comprises a driving motor and a transmission structure, and the driving motor is fixedly arranged on the trolley body; the transmission structure comprises a gear and rack assembly, wherein the gear and rack assembly is provided with two groups, and the gear and rack assembly comprises a gear and a rack which are meshed with each other; the gear is connected with an output shaft of the driving motor, and the rack is fixedly arranged on the translation guide rail along with the translation guide rail;
the translation guide rail is provided with two groups and is fixedly arranged on the traveling device, and comprises a vertical extension section, a horizontal extension section and a corner connection section; the vertical extension section is arranged in the storage space of the running gear, one end of the horizontal extension section is connected with the corner connecting section, and the other end of the horizontal extension section extends along the direction parallel to the length direction of the running gear.
The working principle of the motor train unit bottom detection equipment is as follows:
during operation, the motor train unit to be detected starts to the position right above the track device, the running gear carries the detection robot to move on the track device, the motor train unit stops below the first detection area, the detection robot shoots the bottom structure of the motor train unit, and then the obtained image is transmitted to the background processing center for image recognition, so that a detection result is obtained. Further, in the in-process that detects, detect the robot and take a picture the vehicle bottom structure of top earlier in storage space, after the detection work of this position is accomplished, drive detection robot through drive assembly and upwards remove along translation guide rail's vertical extension for detection robot removes from storage space, and the horizontal extension of rethread translation guide rail removes the switch to under the next position, carries out the detection work of next position then.
After the detection work of the first detection area is completed, the detection robot is driven to move to the next detection area by the traveling device until the detection work of all the detection areas is completed.
In a preferred embodiment of the present invention, the transmission structure further includes a transmission shaft and a synchronization assembly; the transmission shafts comprise a first transmission shaft and a second transmission shaft, and two first transmission shafts are arranged; the second transmission shaft is provided with four;
the synchronous assembly comprises a first synchronous assembly and a second synchronous assembly, wherein the first synchronous assembly is provided with two groups, one group of first synchronous assembly is arranged on one of the first transmission shaft and the output shaft of the driving motor, and the other group of first synchronous assembly is arranged on the other one of the first transmission shaft and the output shaft of the driving motor;
the second synchronous components are provided with four groups, and the four groups of second synchronous components are respectively arranged at two ends of the two first transmission shafts and on the four second transmission shafts;
the gear is coaxially arranged on the second transmission shaft.
Through the structure, the four gears can synchronously rotate by sharing the same driving motor, so that the structure can be simplified, the manufacturing cost is reduced, and meanwhile, the detection robot can be ensured to walk on the translation guide rail in a constant posture, namely, the detection robot cannot swing or incline, and the detection work is ensured to be smoothly and accurately finished.
Further, the transmission structure comprises a limit guide bearing which is coaxially connected to the second transmission shaft;
a limiting guide channel is arranged on the translation guide rail; in the working state, the limit guide bearing moves in the limit guide channel.
Further, the first synchronous component comprises a first synchronous belt and two first synchronous wheels, and the first synchronous belt is connected between the two first synchronous wheels; one of the first synchronous wheels is arranged on the first transmission shaft, and the other first synchronous wheel is arranged on the output shaft of the driving motor.
Further, the second synchronous assembly comprises a second synchronous belt and two second synchronous wheels, and the second synchronous belt is connected between the two second synchronous wheels; one of the second synchronizing wheels is arranged on the first transmission shaft, and the other second synchronizing wheel is arranged on the second transmission shaft.
Further, two second synchronizing wheels of the same group of second synchronizing assemblies are vertically arranged, and the second synchronizing wheels connected with the first transmission shaft are located above. The function of setting like this is that can be with translation guide rail subsidence setting, increase the distance between running gear's the upper surface and the bottom of a car of EMUs as far as possible, guarantee normal detection work.
In a preferred embodiment of the invention, the horizontal extension sections of the two sets of translation rails are located at different heights;
in the direction perpendicular to the length of the vehicle body, the two sets of translating rails lie in different planes. Through the structure, four-wheel synchronous movement is realized, the structure is more compact, and the space occupied by the translation mechanism is reduced.
In a preferred embodiment of the present invention, the detection robots and the translation mechanism are provided with two groups, and the two groups of detection robots are arranged along the length direction of the travelling device.
Further, the extending directions of the horizontal extending sections of the translation guide rails of the two groups of translation mechanisms are opposite.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the motor train unit bottom detection equipment, the transverse translation mechanism which can drive the detection robot to transversely move relative to the running gear is arranged, so that the degree of freedom of the detection robot is increased, namely the operation range is enlarged, the number of times of parking detection is reduced, and the detection efficiency can be effectively improved.
2. The detection robots have more degrees of freedom and larger working range, so that the detection work of the detection robots can be flexibly arranged, the detection work among different detection robots is optimized, the waiting time among the different detection robots is reduced as much as possible, and the working efficiency is further improved.
Drawings
Fig. 1 is a schematic perspective view of a motor train unit bottom detection apparatus according to the present invention.
Fig. 2 is a schematic perspective view of the inspection machine and the translation mechanism of the present invention.
Fig. 3 is a side view of the inspection machine and translation mechanism of the present invention.
Fig. 4 is an enlarged view of X in fig. 3.
Detailed Description
In order that those skilled in the art will well understand the technical solutions of the present invention, the following describes the present invention further with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 3, the motor train unit bottom detection apparatus of the present embodiment includes a track device 1, a traveling device 2 for moving on the track device 1, and a detection robot 3 for detecting a motor train unit; the detection robots 3 are arranged on the running gear 2 through translation mechanisms, two groups of detection robots 3 are arranged on the translation mechanisms, and the two groups of detection robots 3 are arranged along the length direction of the running gear 2; the extending directions of the horizontal extending sections of the translation guide rails 4 of the two groups of translation mechanisms are opposite.
Referring to fig. 1-3, the translation mechanism comprises a translation trolley and a translation guide rail 4; the translation trolley comprises a vehicle body 5 and a driving assembly, wherein the driving assembly comprises a driving motor 6 and a transmission structure, and the driving motor 6 is fixedly arranged on the vehicle body 5; the transmission structure comprises a gear and rack assembly, wherein the gear and rack assembly is provided with two groups and comprises a gear 7 and a rack 8 which are meshed with each other; the gear 7 is connected with an output shaft of the driving motor 6, and the rack 8 is fixedly arranged on the translation guide rail 4 along the translation guide rail; the translation guide rail 4 is provided with two groups and is fixedly arranged on the travelling device, and the translation guide rail 4 comprises a vertical extension section, a horizontal extension section and a corner connection section; the vertical extension section is arranged in the storage space of the running gear 2, one end of the horizontal extension section is connected with the corner connecting section, and the other end of the horizontal extension section extends along the direction parallel to the length direction of the running gear 2.
Referring to fig. 2-4, the drive structure further includes a drive shaft and a synchronizing assembly; the transmission shaft comprises a first transmission shaft 9 and a second transmission shaft 10, and the first transmission shaft 9 is provided with two transmission shafts; four second transmission shafts 10 are arranged; the synchronous assembly comprises a first synchronous assembly and a second synchronous assembly, wherein the first synchronous assembly is provided with two groups, one group of first synchronous assembly is arranged on one of the first transmission shafts 9 and the output shaft of the driving motor 6, and the other group of first synchronous assembly is arranged on the other first transmission shaft 9 and the output shaft of the driving motor 6; the second synchronous components are provided with four groups, and the four groups of second synchronous components are respectively arranged at two ends of the two first transmission shafts 9 and on the four second transmission shafts 10; the gear wheel 7 is coaxially arranged on the second transmission shaft 10. Through the structure, the four gears 7 can synchronously rotate by sharing the driving motor 6, so that the structure can be simplified, the manufacturing cost is reduced, and the detection robot 3 can be ensured to walk on the translation guide rail 4 in a constant posture, namely, the detection robot 3 cannot deflect or incline, and the detection work is ensured to be smoothly and accurately finished.
Further, the transmission structure comprises a limit guide bearing 11, and the limit guide bearing 11 is coaxially connected to the second transmission shaft 10;
a limit guide channel 4-1 is arranged on the translation guide rail 4; in the operating state, the limit guide bearing 11 moves in the limit guide passage 4-1.
Further, the first synchronization assembly includes a first synchronization belt 12 and two first synchronization wheels 13, the first synchronization belt 12 being connected between the two first synchronization wheels 13; one of the first synchronizing wheels 13 is arranged on the first transmission shaft 9 and the other first synchronizing wheel 13 is arranged on the output shaft of the drive motor 6.
Further, the second synchronous assembly comprises a second synchronous belt 14 and two second synchronous wheels 15, wherein the second synchronous belt 14 is connected between the two second synchronous wheels 15; one of the second synchronizing wheels 15 is arranged on the first drive shaft 9 and the other second synchronizing wheel 15 is arranged on the second drive shaft 10.
Further, two second synchronizing wheels 15 of the same set of second synchronizing assemblies are arranged vertically, and the second synchronizing wheel 15 connected to the first transmission shaft 9 is located above. The function of the arrangement is that the translation guide rail 4 can be sunk, the distance between the upper surface of the running gear 2 and the bottom of the motor train unit is increased as much as possible, and the normal detection work is ensured.
Referring to fig. 2-3, the horizontally extending sections of the two sets of translating rails 4 are located at different heights; in a direction perpendicular to the length of the vehicle body 5, the two sets of translating rails 4 lie in different planes. Through the structure, four-wheel synchronous movement is realized, the structure is more compact, and the space occupied by the translation mechanism is reduced.
Referring to fig. 1 to 4, the working principle of the motor train unit bottom detection device of the embodiment is as follows:
during operation, the motor train unit to be detected is started to the position right above the track device 1, the running gear 2 carries the detection robot 3 to move on the track device 1, the motor train unit stops below a first detection area, the detection robot 3 shoots the bottom structure of the motor train unit, and then the obtained image is transmitted to the background processing center for image recognition, so that a detection result is obtained. Further, in the detection process, the detection robot 3 firstly shoots and detects the vehicle bottom structure above in the storage space, after the detection work of the position is completed, the detection robot 3 is driven by the driving assembly to move upwards along the vertical extension section of the translation guide rail 4, so that the detection robot 3 moves out of the storage space, and then moves to the position right below the next position through the horizontal extension section moving switch of the translation guide rail 4, and then the detection work of the next position is carried out.
After the detection work of the first detection area is completed, the detection robot 3 is driven by the traveling device 2 to move to the next detection area until the detection work of all the detection areas is completed.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The utility model provides a motor train unit vehicle bottom detection equipment, includes running gear and is used for carrying out the detection robot that detects to motor train unit; it is characterized in that the method comprises the steps of,
the detection robot is arranged on the traveling device through a translation mechanism, and the translation mechanism comprises a translation trolley and a translation guide rail; the translation trolley comprises a trolley body and a driving assembly, wherein the driving assembly comprises a driving motor and a transmission structure, and the driving motor is fixedly arranged on the trolley body; the transmission structure comprises a gear and rack assembly, wherein the gear and rack assembly is provided with two groups, and the gear and rack assembly comprises a gear and a rack which are meshed with each other; the gear is connected with an output shaft of the driving motor, and the rack is fixedly arranged on the translation guide rail along with the translation guide rail;
the translation guide rail is provided with two groups and is fixedly arranged on the traveling device, and comprises a vertical extension section, a horizontal extension section and a corner connection section; the vertical extension section is arranged in the storage space of the running gear, one end of the horizontal extension section is connected with the corner connecting section, and the other end of the horizontal extension section extends along the direction parallel to the length direction of the running gear;
the transmission structure also comprises a transmission shaft and a synchronous assembly; the transmission shafts comprise a first transmission shaft and a second transmission shaft, and two first transmission shafts are arranged; the second transmission shaft is provided with four;
the synchronous assembly comprises a first synchronous assembly and a second synchronous assembly, wherein the first synchronous assembly is provided with two groups, one group of first synchronous assembly is arranged on one of the first transmission shaft and the output shaft of the driving motor, and the other group of first synchronous assembly is arranged on the other one of the first transmission shaft and the output shaft of the driving motor;
the second synchronous components are provided with four groups, and the four groups of second synchronous components are respectively arranged at two ends of the two first transmission shafts and on the four second transmission shafts;
the gear is coaxially arranged on the second transmission shaft.
2. The motor train unit bottom detection apparatus of claim 1, wherein the transmission structure includes a limit guide bearing coaxially connected to the second transmission shaft;
a limiting guide channel is arranged on the translation guide rail; in the working state, the limit guide bearing moves in the limit guide channel.
3. The motor train unit bottom detection apparatus according to claim 1, wherein the first synchronization assembly includes a first timing belt and two first synchronization wheels, the first timing belt being connected between the two first synchronization wheels; one of the first synchronous wheels is arranged on the first transmission shaft, and the other first synchronous wheel is arranged on the output shaft of the driving motor.
4. The motor train unit bottom detection apparatus of claim 1, wherein the second synchronization assembly includes a second timing belt and two second timing wheels, the second timing belt being connected between the two second timing wheels; one of the second synchronizing wheels is arranged on the first transmission shaft, and the other second synchronizing wheel is arranged on the second transmission shaft.
5. The motor train unit bottom detection apparatus of claim 4, wherein two second synchronizing wheels of a same set of second synchronizing assemblies are arranged vertically and a second synchronizing wheel connected to the first drive shaft is located above.
6. The motor train unit bottom detection apparatus of claim 1, wherein the horizontally extending sections of the two sets of translating rails are located at different heights.
7. The motor train unit bottom detection apparatus of claim 1, wherein the two sets of translating rails are located on different planes in a direction perpendicular to the length of the vehicle body.
8. The motor train unit bottom detection apparatus according to any one of claims 1 to 7, wherein the detection robots and the translation mechanism are provided in two groups, and the two groups of detection robots are arranged along a length direction of the running gear.
9. The motor train unit bottom detection apparatus of claim 8, wherein the extending directions of the horizontally extending sections of the translation rails of the two sets of translation mechanisms are opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310173395.4A CN115991212B (en) | 2023-02-27 | 2023-02-27 | Motor train unit bottom detection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310173395.4A CN115991212B (en) | 2023-02-27 | 2023-02-27 | Motor train unit bottom detection equipment |
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| Publication Number | Publication Date |
|---|---|
| CN115991212A CN115991212A (en) | 2023-04-21 |
| CN115991212B true CN115991212B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310173395.4A Active CN115991212B (en) | 2023-02-27 | 2023-02-27 | Motor train unit bottom detection equipment |
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| CN (1) | CN115991212B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066969A (en) * | 2000-08-25 | 2002-03-05 | Denso Corp | Mobile robot |
| CN110142740A (en) * | 2019-06-14 | 2019-08-20 | 东莞市科研世智能科技有限公司 | A kind of EMU car bottom detection robot |
| CN111161262A (en) * | 2020-02-14 | 2020-05-15 | 东莞市科研世智能科技有限公司 | Comprehensive train detection system |
| CN111391883A (en) * | 2020-04-03 | 2020-07-10 | 哈尔滨市科佳通用机电股份有限公司 | Motor train unit bottom fault detection device |
| CN214790040U (en) * | 2021-05-21 | 2021-11-19 | 上海新技实业有限公司 | Integrated equipment for detecting electric appliance at bottom of train |
-
2023
- 2023-02-27 CN CN202310173395.4A patent/CN115991212B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066969A (en) * | 2000-08-25 | 2002-03-05 | Denso Corp | Mobile robot |
| CN110142740A (en) * | 2019-06-14 | 2019-08-20 | 东莞市科研世智能科技有限公司 | A kind of EMU car bottom detection robot |
| CN111161262A (en) * | 2020-02-14 | 2020-05-15 | 东莞市科研世智能科技有限公司 | Comprehensive train detection system |
| CN111391883A (en) * | 2020-04-03 | 2020-07-10 | 哈尔滨市科佳通用机电股份有限公司 | Motor train unit bottom fault detection device |
| CN214790040U (en) * | 2021-05-21 | 2021-11-19 | 上海新技实业有限公司 | Integrated equipment for detecting electric appliance at bottom of train |
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| Publication number | Publication date |
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| CN115991212A (en) | 2023-04-21 |
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