CN117450924A - Robot and method for detecting out-of-tolerance abrasion of guide rail - Google Patents
Robot and method for detecting out-of-tolerance abrasion of guide rail Download PDFInfo
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- CN117450924A CN117450924A CN202311411424.2A CN202311411424A CN117450924A CN 117450924 A CN117450924 A CN 117450924A CN 202311411424 A CN202311411424 A CN 202311411424A CN 117450924 A CN117450924 A CN 117450924A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005299 abrasion Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 135
- 238000005096 rolling process Methods 0.000 claims abstract description 25
- 230000008569 process Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000003825 pressing Methods 0.000 claims description 23
- 230000002787 reinforcement Effects 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 238000007664 blowing Methods 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 description 6
- 239000000523 sample Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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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
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of guide rail detection, and provides a guide rail out-of-tolerance abrasion detection robot and a detection method, wherein the guide rail out-of-tolerance abrasion detection robot comprises an intermediate body, two detection bodies and a positioning mechanism, the detection bodies comprise fixing seats, sliding seats, a first spring and a first laser range finder, and the distance between the two fixing seats is adjustable; the sliding seat is arranged on the fixed seat in a sliding manner, and a detection wheel is rotatably arranged on the sliding seat; the positioning mechanism comprises first positioning wheels, and a plurality of first positioning wheels are rotatably arranged on each fixed seat and used for being propped against and in rolling connection with two sides of the rail web. According to the invention, the first positioning wheel is arranged, the relative positions of the two detection bodies and the central line of the rail web can be kept unchanged in the detection process by utilizing the supporting of the first positioning wheel and the rail web, and the abrasion condition of each side of the rail head can be judged by utilizing the supporting of the two detection wheels and the two sides of the rail head and the monitoring of the moving distance of the first laser range finder, so that the detection precision of the abrasion of the guide rail is improved.
Description
Technical Field
The invention relates to the technical field of guide rail detection, in particular to a guide rail out-of-tolerance abrasion detection robot and a detection method.
Background
The guide rail is an important component of a crane traveling system, so that the crane moves along the arrangement direction of the guide rail, and the goods are processed, transported and loaded and unloaded, as the crane moving wheel can wear the side part of the guide rail during the working process, once the wear degree exceeds the standard deviation value, the crane moving wheel can shake on the guide rail, and the potential safety hazard is large, so that the out-of-tolerance wear detection of the guide rail is necessary.
The invention patent with the publication number of CN110500949B discloses a continuity detection device for track surface abrasion, through the arrangement of a probe rod mechanism and a piezoelectric sheet, the probe rod mechanism is utilized to finely move when moving on a steel rail and convert the probe rod mechanism into a current signal to feed back, compared with the existing track abrasion measuring scale, the continuity detection can be carried out on a specified track to obtain continuous detection data, rather than point-to-point detection, so that the stability and reliability of the obtained detection data are higher, effective arrangement analysis is convenient to carry out on the detection data, and the detection precision of the device is further effectively improved.
In the above technical scheme, in order to detect the wear condition of the two sides of the rail head, the side pulleys and the detection mechanism are relatively arranged on the fixed support, and the wear degree of the guide rail is judged according to the detected change of the width of the rail head, however, the detection device can only detect the whole wear value of the width direction of the rail head, but cannot specifically detect the corresponding value of the wear of each side of the rail head, so that the quick investigation of the wear cause is inconvenient, and the repair of the wear position is also unfavorable.
Disclosure of Invention
In view of the above, the invention provides a rail out-of-tolerance wear detection robot and a detection method, which can specifically detect the wear detection result of a rail to each side of a rail head and improve the detection precision of rail wear.
The technical scheme of the invention is realized as follows: on one hand, the invention provides a guide rail out-of-tolerance wear detection robot, which comprises an intermediate body, two detection bodies and a positioning mechanism, wherein,
the two detection bodies are oppositely arranged at two sides of the intermediate body, each detection body comprises a fixed seat, a sliding seat, a first spring and a first laser range finder, wherein,
the fixing seats are fixedly arranged on the intermediate body, and the distance between the two fixing seats is adjustable;
the sliding seat is arranged on the fixed seat in a sliding manner, and a detection wheel is rotatably arranged on the sliding seat;
two ends of the first spring are respectively propped against the fixed seat and the sliding seat, so that the two detection wheels are respectively propped against two sides of the rail head and are in rolling connection;
the first laser range finder is fixedly arranged on the fixed seat and is positioned at one side of the sliding seat far away from the rail head and used for measuring the distance between the sliding seat and the first laser range finder;
the positioning mechanism comprises first positioning wheels, and a plurality of first positioning wheels are rotatably arranged on each fixed seat and used for being propped against and in rolling connection with two sides of the rail web.
On the basis of the technical proposal, preferably, the fixed seat comprises a mounting seat, a movable seat, a second spring and a first telescopic rod, wherein,
the mounting seat is fixedly arranged on the intermediate body, the sliding seat is arranged on the mounting seat in a sliding manner, the first laser range finder is fixedly arranged on the mounting seat, and two ends of the first spring are respectively propped against the mounting seat and the sliding seat;
the movable seat is arranged on the mounting seat in a sliding manner, and the first positioning wheel is arranged on the movable seat in a rotating manner;
two ends of the second spring are respectively propped against the mounting seat and the movable seat, so that the plurality of first positioning wheels are respectively propped against two sides of the rail web and are in rolling connection;
the first telescopic rod is fixedly arranged on the movable seat, and the telescopic end of the first telescopic rod selectively abuts against the mounting seat.
Still further preferably, the positioning mechanism further comprises a fixed bracket and a second positioning wheel, wherein,
at least three fixing brackets are fixedly arranged on each mounting seat;
one end of each fixed support, which is far away from the mounting seat, is rotatably provided with one second positioning wheel, and the second positioning wheel is abutted against and in rolling connection with a side line, which is far away from the ground and is parallel to the length direction of the rail web, of the rail bottom.
Still further preferably, a plurality of rail pressing devices for connecting the rail bottom and the ground are fixedly arranged on one side of the rail bottom far away from the ground, and the second positioning wheels are selectively connected with the rail bottom or the rail pressing devices in a rolling way;
the fixed support comprises an elastic section, a first connecting section, a second connecting section and a second laser range finder, wherein,
the elastic section is made of a material having elasticity;
the first connecting section and the second connecting section are respectively and fixedly arranged at two ends of the elastic section, the first connecting section is fixedly arranged on the mounting seat, and the second positioning wheel is rotatably arranged on the second connecting section;
the second laser range finder is fixedly arranged on the mounting seat and is positioned on one side, away from the rail bottom, of one of the second connecting sections and used for measuring the distance between the second connecting section and the second laser range finder.
Still further preferably, the fixing bracket further comprises a reinforcement cylinder and a second telescopic rod, wherein,
the reinforcing cylinder is arranged on the outer side of the second connecting section in a sliding manner and is selectively sleeved on the outer sides of the elastic section, the first connecting section and the second connecting section;
the second telescopic rod is fixedly arranged on the second connecting section, and the telescopic end of the second telescopic rod is fixedly connected with the reinforcing cylinder.
On the basis of the technical scheme, preferably, the installation seat is fixedly provided with a plurality of sliding shafts, the sliding shafts are respectively connected with the sliding seat or the movable seat in a sliding manner, and the first springs and the second springs are sleeved on the sliding shafts.
Still more preferably, the intermediate body is rotatably provided with a travelling wheel, and the travelling wheel is in rolling connection with the top side of the rail head;
the middle body is fixedly provided with a positioning shaft, the mounting seat is connected with a fixing bolt through threaded fit, the mounting seat is in sliding connection with the positioning shaft, and the front end of the fixing bolt selectively abuts against the positioning shaft.
Still more preferably, the mounting seat is fixedly provided with a blowing nozzle for cleaning the rail head.
In a second aspect, the present invention provides a method for detecting excessive wear of a guide rail, which is applied to a guide rail to be detected, which is composed of a rail web, a rail head, a rail bottom and a plurality of rail presses, by using the detection robot, and includes the following steps:
s1, manufacturing a standard guide rail, butting the end parts of the standard guide rail and the guide rail to be detected, and enabling the center line of the standard guide rail to be coincident with the center line of the guide rail to be detected, wherein the standard guide rail has the same specification as the guide rail to be detected, consists of a rail web, a rail head, a rail bottom and a plurality of rail presses, and is a zero-abrasion standard part;
s2, controlling the second telescopic rod to extend, enabling the reinforcing cylinder to be sleeved outside the elastic section, the first connecting section and the second connecting section, installing a detection robot on the standard guide rail, enabling a plurality of second positioning wheels on two sides of the standard guide rail to be respectively propped against two side lines of the rail bottom far away from the ground and parallel to the length direction of the standard guide rail by adjusting the distance between the two fixed seats, enabling the two detection wheels to be respectively propped against two sides of the rail head by using the propping of the first spring to the movable seat, enabling the plurality of first positioning wheels to be respectively propped against two sides of the rail web, and controlling the first telescopic rod to extend, and enabling the telescopic end of the first telescopic rod to be propped against the mounting seat;
s3, controlling the second telescopic rod to shrink, enabling the reinforcement cylinder to be sleeved outside the second connecting section, enabling the intermediate body to reciprocate on the standard guide rail, recording a data change value of the second laser range finder from the supporting of the rail bottom to the supporting of the rail pressing device, and recording as delta Y;
s4, moving a detection robot to the guide rail to be detected, and moving the detection robot from one end of the guide rail to be detected to the other end of the guide rail to be detected, recording data of two first laser range finders in the process, respectively recording data of two second laser range finders in the process, respectively recording data of the two first laser range finders in the process, and respectively recording data of the two second laser range finders in the process as Y1 and Y2;
s5, observing whether variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, if the variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, the abrasion value of the guide rail to be detected is equal to the data variation value of the data X1 and X1, and if the variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, performing S6;
s6, controlling the second telescopic rod to extend, enabling the reinforcing cylinder to be sleeved outside the elastic section, the first connecting section and the second connecting section, controlling the first telescopic rod to shrink, enabling the telescopic end of the first telescopic rod to be separated from the mounting seat, enabling the detection robot to move at a position with variation fluctuation which is not equal to delta Y in data Y1 and Y2, recording data of two first laser rangefinders in the process, respectively recording the data as X3 and X4, and shrinking the second telescopic rod corresponding to the position of the second positioning wheel if the second positioning wheel abuts against the rail pressing device in the moving process of the detection robot;
s7, the abrasion value of the guide rail to be detected is equal to the data change value of the data X3 and the data X4.
On the basis of the above technical solution, preferably, when the second telescopic rod is controlled to stretch, the first positioning wheel corresponding to the position of the second telescopic rod is not abutted against the rail pressing device.
Compared with the prior art, the guide rail out-of-tolerance abrasion detection robot and the detection method have the following beneficial effects:
(1) By arranging the first positioning wheel, the relative positions of the two detection bodies and the central line of the rail web can be kept unchanged in the detection process by utilizing the supporting of the first positioning wheel and the rail web, and the abrasion condition of each side of the rail head can be judged by utilizing the supporting of the two detection wheels and the two sides of the rail head and the monitoring of the moving distance of the first laser range finder, so that the detection precision of the abrasion of the guide rail is improved;
(2) By arranging the second positioning wheel and the fixed support and arranging the reinforcing cylinder capable of sliding in the fixed support, the detection robot can be adapted to the guide rail to be detected provided with the rail pressing device and different detection methods;
(3) The data change value of the second positioning wheel from the abutting rail bottom to the abutting rail pressing device is acquired before the detection process, the damage condition of the rail web can be identified by utilizing the data change value, and the rail head with the damage part on the rail web is subjected to secondary detection, so that the accuracy of the detection result of the detection robot can be improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a rail out-of-tolerance wear detection robot of the present invention;
FIG. 2 is a perspective view of a detection robot mounted on a standard rail in the rail out-of-tolerance wear detection method of the present invention;
FIG. 3 is a front view of the mounting positions of the inspection robot and the rail to be inspected in the rail out-of-tolerance wear inspection robot of the present invention;
FIG. 4 is a perspective view of a detection body and a positioning mechanism in the guide rail out-of-tolerance wear detection robot of the present invention;
FIG. 5 is a perspective view of a slide in the rail out-of-tolerance wear detection robot of the present invention;
FIG. 6 is a perspective view of a second spring of the rail out-of-tolerance wear detection robot of the present invention;
FIG. 7 is a perspective view of a movable seat in the rail out-of-tolerance wear detection robot of the present invention;
FIG. 8 is a perspective view of a fixed bracket and a second positioning wheel in the rail out-of-tolerance wear detection robot of the present invention;
FIG. 9 is a front view of a guide rail out of tolerance wear detection robot of the present invention at a stationary bracket;
FIG. 10 is a perspective view of an intermediate in the rail out-of-tolerance wear detection robot of the present invention;
FIG. 11 is a perspective view of a guide rail out of tolerance wear detection robot of the present invention at a fixing bolt;
fig. 12 is a partial perspective view of a rail under test in the rail out-of-tolerance wear detection machine method of the present invention.
Wherein: 1. an intermediate; 11. a walking wheel; 12. positioning a shaft; 2. a detection body; 21. a fixing seat; 22. a slide; 23. a first spring; 24. a first laser rangefinder; 211. a mounting base; 212. a movable seat; 213. a second spring; 214. a first telescopic rod; 221. a detection wheel; 2111. a slide shaft; 2112. a fixing bolt; 2113. a blowing nozzle; 3. a positioning mechanism; 31. a first positioning wheel; 32. a fixed bracket; 33. a second positioning wheel; 321. an elastic section; 322. a first connection section; 323. a second connection section; 324. a second laser rangefinder; 325. a reinforcement cylinder; 326. a second telescopic rod; 4. a guide rail to be tested; 4a, standard guide rails; 41. rail waist; 42. a rail head; 43. a rail bottom; 44. a rail pressing device.
Detailed Description
The following description of the embodiments of the present invention will be made in detail and with reference to specific embodiments of the present invention, but it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
The invention is applied to out-of-tolerance wear detection of a guide rail 4 to be detected, as shown in fig. 12, the guide rail 4 to be detected comprises a rail web 41, a rail head 42 and a rail bottom 43, the rail web 41, the rail head 42 and the rail bottom 43 are integrally formed, the rail head 42 and the rail bottom 43 are respectively positioned at the top and the bottom of the rail web 41, the rail bottom 43 is used for fixing the guide rail 4 to be detected on the ground, the top side of the rail head 42 is in rolling connection with a moving wheel of a crane, the moving wheel of the crane is enabled to move, the left side and the right side of the rail head 42 limit the moving wheel of the crane, and the moving direction of the moving wheel is prevented from deviating, so that the left side and the right side of the rail head can rub with the moving wheel of the crane.
As shown in fig. 1 to 11, the guide rail out-of-tolerance wear detection robot of the present invention includes an intermediate body 1, a detection body 2, and a positioning mechanism 3.
The intermediate body 1 is a main body unit of the detection robot, a power supply, a wireless control transceiver, a circuit board, a connecting circuit of other electrical components and the like are installed in the main body unit, the intermediate body 1 is also provided with a travelling wheel 11 in a rotating mode, and the travelling wheel 11 is in rolling connection with the top side of the rail head 42, so that the detection robot moves on the guide rail 4 to be detected.
The detection bodies 2 are detection units of the detection robot, two detection bodies 2 are arranged, and the two detection bodies 2 are oppositely arranged at two sides of the intermediate body 1 so as to respectively detect two sides of the rail head 42; the detection body 2 comprises a fixed seat 21, a sliding seat 22, a first spring 23 and a first laser range finder 24, wherein the fixed seat 21 is fixedly arranged on the intermediate body 1, the distance between the two fixed seats 21 is adjustable, the detection robot can be adapted to guide rails 4 to be detected with different specifications, the detection robot can be conveniently assembled and disassembled with the guide rails 4 to be detected, the sliding seat 22 is slidably arranged on the fixed seat 21, the sliding seat 22 is rotatably provided with detection wheels 221, two ends of the first spring 23 are respectively abutted against the fixed seat 21 and the sliding seat 22, so that the two detection wheels 221 are respectively abutted against and in rolling connection with two sides of a rail head 42, and the first laser range finder 24 is fixedly arranged on the fixed seat 21 and positioned on one side of the sliding seat 22 far away from the rail head 42 and is used for measuring the distance between the sliding seat 22 and the first laser range finder 24; when the detection robot moves along the central line direction of the guide rail 4 to be detected, under the action of the elasticity of the first springs 23, the two detection wheels 221 respectively support against and roll on two sides of the rail head 42, if the side part of the rail head 42 is worn, the first springs 23 push the sliding seat 22 and the detection wheels 221 to move along the central line direction of the guide rail 4 to be detected by a distance corresponding to the wearing depth, and the moving distance of the sliding seat 22 is monitored by the first laser distance measuring instrument 24, so that the wearing condition of different positions on each side of the rail head 42 can be reflected by the data change monitored by the first laser distance measuring instrument 24, and the wearing condition of each side of the rail head 42 is judged, so that the detection precision of the wearing condition of the guide rail 4 to be detected is improved.
The positioning mechanism 3 is used for determining the moving direction of the detection robot in the detection process, the positioning mechanism 3 comprises a first positioning wheel 31, a plurality of first positioning wheels 31 are rotatably arranged on each fixed seat 21 and used for propping against and rolling connection with two sides of the rail web 41, as shown in fig. 3, the first positioning wheels 31 on two sides of the rail web 41 are respectively propped against and rolling connection with the rail web 41, so that when the detection robot moves on the guide rail 4 to be detected along the center line of the guide rail 4 to be detected, the data change detected by the two first laser distance measuring instruments 24, namely, the distance change between the two detection wheels 221 and the center line of the rail web 41 is respectively realized, and the detection on two sides of the rail head 42 is realized.
In order to ensure that the first positioning wheel 31 is abutted against two sides of the rail web 41 in the guide rail 4 to be tested with different specifications, the fixed seat 21 is preferably arranged to comprise a mounting seat 211, a movable seat 212, a second spring 213 and a first telescopic rod 214, the mounting seat 211 is fixedly arranged on the intermediate body 1, the sliding seat 22 is fixedly arranged on the mounting seat 211, the first laser range finder 24 is fixedly arranged on the mounting seat 211, two ends of the first spring 23 are respectively abutted against the mounting seat 211 and the sliding seat 22, the movable seat 212 is slidingly arranged on the mounting seat 211, the first positioning wheel 31 is rotatably arranged on the movable seat 212, two ends of the second spring 213 are respectively abutted against the mounting seat 211 and the movable seat 212, so that the plurality of first positioning wheels 31 are respectively abutted against two sides of the rail web 41 and are in rolling connection, the first telescopic rod 214 is fixedly arranged on the movable seat 212, and the telescopic end of the first telescopic rod 214 is selectively abutted against the mounting seat 211; as shown in fig. 4, 6 and 7, before the present inspection robot is mounted on the rail 4 to be inspected, the first telescopic rod 214 is controlled to retract so that the movable seat 212 and the first positioning wheel 31 can slide relative to the mounting seat 211, and when the first positioning wheel 31 abuts against the rail web 41, the first telescopic rod 214 is controlled to extend so that the movable seat 212 and the mounting seat 211 are fixed so that the first positioning wheel 31 always abuts against the side portion of the rail web 41.
In the use process of the crane, the movable wheels of the crane rub against the two sides of the rail head 42 to cause potential safety hazards, and when the friction force is large, the rail waist 41 is deformed, the scheme can only be applied to the condition that the rail waist 41 is not deformed, in order to enable the detection robot to be applied to the condition that the rail waist 41 is deformed, the positioning mechanism 3 can be provided with the fixed brackets 32 and the second positioning wheels 33, wherein each mounting seat 211 is fixedly provided with at least three fixed brackets 32, one end of each fixed bracket 32 far away from the mounting seat 211 is rotatably provided with one second positioning wheel 33, the second positioning wheels 33 are abutted against and in rolling connection with the edge line of the rail bottom 43 far away from the ground and parallel to the length direction of the rail waist 41, as shown in fig. 3, since the rail bottom 43 is always abutted against and fixed to the ground, the rail bottom 43 will not deform, when the rail web 41 deforms, if the movement direction of the inspection robot is determined by the cooperation of the first positioning wheel 31 and the rail web 41, the detection result will be affected, in order to ensure the accuracy of the detection result, the inspection robot can be moved along the center line of the rail bottom 43 which is not deformed, specifically, the first telescopic rod 214 is controlled to shrink, the first positioning wheel 31 can slide with the mounting seat 211, so that the first positioning wheel 31 loses the function of controlling the movement direction of the robot, and the movement direction of the inspection robot is determined by the abutment and rolling connection of the second positioning wheel 33 and the rail bottom 43; the rail bottom 43 has a small thickness, and the side surface thereof is easy to interfere with the ground when in abutting and rolling connection with the second positioning wheel 33, so that the second positioning wheel 33 and the rail bottom 43 can be selectively abutted and rolling connected with the edge line which is far away from the ground and parallel to the length direction of the rail web 41.
As shown in fig. 12, a plurality of rail pressing devices 44 for connecting the rail bottom 43 and the ground are fixedly arranged on one side of the rail bottom 43 far away from the ground, the rail bottom 43 is fixed by the rail pressing devices 44 in a common mode that the rail bottom 43 and the ground are fixed, specifically, one end of the rail pressing device 44 is welded on one side of the rail bottom 43 close to the rail head 42, the other end of the rail pressing device is provided with a bolt hole for being fixed with the ground through bolt fit, in this case, the second positioning wheel 33 cannot always support the rail bottom 43 and needs to be selectively connected with the rail bottom 43 or the rail pressing device 44 in a rolling way, and correspondingly, the fixed bracket 32 is preferably arranged to comprise an elastic section 321, a first connecting section 322, a second connecting section 323 and a second laser distance measuring device 324, wherein the elastic section 321 is made of elastic materials, the first connecting section 322 and the second connecting section 323 are respectively fixedly arranged on two ends of the elastic section 321, the first connecting section 322 is fixedly arranged on a mounting seat 211, the second positioning wheel 33 is rotatably arranged on the second connecting section 323, the second laser distance measuring device 324 is fixedly arranged on one side of the second connecting section 324 far away from the first connecting section 211 and is arranged on the second connecting section 323; as shown in fig. 2, when one of the second positioning wheels 33 contacts the rail pressing device 44, the deformation of the elastic section 321 can be utilized to enable the second positioning wheel 33 to climb over to the top of the rail pressing device 44, and the other second positioning wheels 33 are abutted against the rail bottom 43 and are in rolling connection, so that the moving direction of the detection robot is not interfered; at the same time, the second laser rangefinder 324 may monitor the deformation of the second connecting segment 323 in real time, thereby monitoring the deformation of the second positioning wheel 33 when it passes over the rail presser 44.
Since the elastic section 321 has elasticity, which affects the detection result of the detection robot to some extent, in order to avoid the existence of the affecting factor, it is preferable to provide the reinforcement cylinder 325 and the second telescopic rod 326 in the fixing bracket 32, wherein the reinforcement cylinder 325 is slidably disposed at the outer side of the second connecting section 323 and is selectively sleeved at the outer sides of the elastic section 321, the first connecting section 322 and the second connecting section 323, the second telescopic rod 326 is fixedly disposed on the second connecting section 323, and the telescopic end thereof is fixedly connected with the reinforcement cylinder 325; as shown in fig. 9, when the second expansion and contraction rod 326 is controlled to contract, the reinforcement cylinder 325 can be sleeved outside the second connecting section 323, the elastic section 321 can deform the fixing bracket 32, and when the second expansion and contraction rod 326 is controlled to extend, the reinforcement cylinder 325 can be sleeved outside the elastic section 321, the first connecting section 322 and the second connecting section 323, so that the fixing bracket 32 cannot deform.
As shown in fig. 5 and 6, a plurality of slide shafts 2111 are preferably fixed to the mount 211, the slide shafts 2111 are slidably connected to the slide 22 or the movable seat 212, and the first springs 23 and the second springs 213 are respectively fitted over the slide shafts 2111.
As shown in fig. 10 and 11, the space between the mounting bases 211 is preferably adjustable, the positioning shaft 12 is preferably fixed on the intermediate body 1, the mounting bases 211 are connected with the fixing bolts 2112 through screw thread fit, the mounting bases 211 are slidably connected with the positioning shaft 12, the front ends of the fixing bolts 2112 selectively abut against the positioning shaft 12, that is, the fixing bolts 2112 are rotated, when the fixing bolts 2112 are separated from the positioning shaft 12, the position of the mounting bases 211 on the intermediate body 1 can be slidably adjusted, after the fixing bolts 2112 are screwed to the proper position, the fixing bolts 2112 abut against the positioning shaft 12, and the space between the mounting bases 211 and the intermediate body 1 can be fixed, and the space between the two mounting bases 211 can be adjusted to the proper size.
When the crane is used outdoors, some impurities exist on the guide rail 4 to be tested, and the abrasion detection result is affected, so the air blowing nozzle 2113 is preferably fixedly arranged on the mounting seat 211 for cleaning the rail head 42.
The detection method of the guide rail out-of-tolerance abrasion detection robot comprises the following steps:
s1, as shown in FIG. 2, a standard guide rail 4a is manufactured, the standard guide rail 4a is in butt joint (no gap) with the end part of the guide rail 4 to be tested, and the center line of the standard guide rail 4a is overlapped with the center line of the guide rail 4 to be tested, wherein the standard guide rail 4a has the same specification as the guide rail 4 to be tested, the standard guide rail 4a consists of a rail web 41, a rail head 42, a rail bottom 43 and a plurality of rail presses 44, and the standard guide rail 4a is a zero-abrasion standard part;
s2, controlling the second telescopic rod 326 to extend, enabling the reinforcement cylinder 325 to be sleeved outside the elastic section 321, the first connecting section 322 and the second connecting section 323, installing the detection robot on the standard guide rail 4a, enabling a plurality of second positioning wheels 33 on two sides of the standard guide rail 4a to respectively abut against two side lines of the rail bottom 43 far away from the ground and parallel to the length direction of the standard guide rail 4a by adjusting the distance between the two fixed seats 21, enabling the two detection wheels 221 to respectively abut against two sides of the rail head 42 by abutting against the first spring 23 on the sliding seat 22, enabling the plurality of first positioning wheels 31 to respectively abut against two sides of the rail waist 41 by abutting against the second spring 213, controlling the first telescopic rod 214 to extend, enabling the telescopic ends of the first telescopic rod 214 to abut against the installation seat 211, and installing the detection robot in a mode shown in FIG. 3;
s3, controlling the second telescopic rod 326 to shrink, enabling the reinforcement cylinder 325 to be sleeved outside the second connecting section 323, enabling the intermediate body 1 to reciprocate on the standard guide rail 4a, recording the data change value of the second laser range finder 324 from the abutting rail bottom 43 to the abutting rail pressing device 44 when the second positioning wheel 33 is in contact with the rail, and recording as delta Y;
s4, moving the detection robot to the guide rail 4 to be detected, and moving the detection robot from one end to the other end of the guide rail 4 to be detected, recording data of two first laser rangefinders 24 in the process, respectively recorded as X1 and X2, recording data of two second laser rangefinders 324 in the process, respectively recorded as Y1 and Y2, and in the process, using the first positioning wheel 31 to prop against the rail web 41, so that the moving direction of the detection robot is the direction of the central line of the rail web 41;
s5, observing whether variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, if the variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, the rail waist 41 is not deformed, the abrasion value of the to-be-detected guide rail 4 is equal to the data variation value of the data X1 and X2, if the variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, the rail waist 41 is deformed, and then S6, adjusting the moving direction of the detection robot to the direction of the central line of the rail bottom 43;
s6, controlling the second telescopic rod 326 to extend so that the reinforcement cylinder 325 is sleeved outside the elastic section 321, the first connecting section 322 and the second connecting section 323, controlling the first telescopic rod 214 to retract so that the telescopic end of the first telescopic rod 214 is separated from the mounting seat 211, and enabling the detection robot to move at a position with variation fluctuation which is not equal to delta Y in the data Y1 and Y2, wherein the moving speed is half of the moving speed of the detection robot in the step S4 at the maximum, and recording the data of the two first laser rangefinders 24 in the process, namely X3 and X4 respectively, wherein during the moving process of the detection robot, if the second positioning wheel 33 abuts against the rail pressing device 44, the second telescopic rod 326 corresponding to the position of the second positioning wheel 33 is contracted so that the fixed bracket 32 corresponding to the position of the second positioning wheel 33 can deform;
s7, the abrasion value of the guide rail 4 to be detected is equal to the data change value of the data X3 and the data X4, in the detection process, the moving direction of the detection robot is firstly based on the central line of the rail web 41, and then based on the central line of the rail bottom 43, so that the detection efficiency and the accuracy of the detection result can be improved.
In the above steps, the second telescopic rod 326 needs to be controlled to be telescopic, and when the second telescopic rod 326 is controlled to be telescopic, the first positioning wheel 31 corresponding to the position of the second telescopic rod 326 needs to be prevented from abutting against the rail presser 44, so that the damage to each component in the fixed bracket 32 caused by the sliding of the reinforcement cylinder 325 is avoided.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. Guide rail out-of-tolerance wear detection robot, its characterized in that: comprises an intermediate body (1), two detection bodies (2) and a positioning mechanism (3), wherein,
the two detection bodies (2) are oppositely arranged at two sides of the intermediate body (1), the detection bodies (2) comprise a fixed seat (21), a sliding seat (22), a first spring (23) and a first laser range finder (24), wherein,
the fixing seats (21) are fixedly arranged on the intermediate body (1), and the distance between the two fixing seats (21) is adjustable;
the sliding seat (22) is arranged on the fixed seat (21) in a sliding manner, and a detection wheel (221) is rotatably arranged on the sliding seat (22);
two ends of the first spring (23) are respectively propped against the fixed seat (21) and the sliding seat (22), so that the two detection wheels (221) are respectively propped against two sides of the rail head (42) and are in rolling connection;
the first laser range finder (24) is fixedly arranged on the fixed seat (21) and is positioned on one side of the sliding seat (22) away from the rail head (42) and used for measuring the distance between the sliding seat (22) and the first laser range finder (24);
the positioning mechanism (3) comprises first positioning wheels (31), and a plurality of first positioning wheels (31) are rotatably arranged on each fixed seat (21) and are used for being abutted against and in rolling connection with two sides of the rail web (41).
2. The rail out-of-tolerance wear detection robot of claim 1, wherein: the fixed seat (21) comprises a mounting seat (211), a movable seat (212), a second spring (213) and a first telescopic rod (214), wherein,
the mounting seat (211) is fixedly arranged on the intermediate body (1), the sliding seat (22) is arranged on the mounting seat (211) in a sliding manner, the first laser range finder (24) is fixedly arranged on the mounting seat (211), and two ends of the first spring (23) are respectively propped against the mounting seat (211) and the sliding seat (22);
the movable seat (212) is arranged on the mounting seat (211) in a sliding manner, and the first positioning wheel (31) is rotatably arranged on the movable seat (212);
two ends of the second spring (213) are respectively propped against the mounting seat (211) and the movable seat (212), so that a plurality of first positioning wheels (31) are respectively propped against two sides of the rail web (41) and are in rolling connection;
the first telescopic rod (214) is fixedly arranged on the movable seat (212), and the telescopic end of the first telescopic rod (214) selectively abuts against the mounting seat (211).
3. The rail out-of-tolerance wear detection robot of claim 2, wherein: the positioning mechanism (3) also comprises a fixed bracket (32) and a second positioning wheel (33), wherein,
at least three fixing brackets (32) are fixedly arranged on each mounting seat (211);
one end of each fixed support (32) far away from the mounting seat (211) is rotatably provided with one second positioning wheel (33), and the second positioning wheel (33) is abutted against and in rolling connection with a side line of the rail bottom (43) far away from the ground and parallel to the length direction of the rail web (41).
4. The rail out-of-tolerance wear detection robot of claim 3, wherein: a plurality of rail pressing devices (44) for connecting the rail bottom (43) and the ground are fixedly arranged on one side of the rail bottom (43) far away from the ground, and the second positioning wheels (33) are selectively connected with the rail bottom (43) or the rail pressing devices (44) in a rolling way;
the fixed bracket (32) comprises an elastic section (321), a first connecting section (322), a second connecting section (323) and a second laser range finder (324), wherein,
the elastic section (321) is made of a material having elasticity;
the first connecting section (322) and the second connecting section (323) are respectively and fixedly arranged at two ends of the elastic section (321), the first connecting section (322) is fixedly arranged on the mounting seat (211), and the second positioning wheel (33) is rotatably arranged on the second connecting section (323);
the second laser range finder (324) is fixedly arranged on the mounting base (211) and is positioned on one side, far away from the rail bottom (43), of one second connecting section (323) and used for measuring the distance between the second connecting section (323) and the second laser range finder (324).
5. The rail out-of-tolerance wear detection robot of claim 4, wherein: the fixed bracket (32) also comprises a reinforcement cylinder (325) and a second telescopic rod (326), wherein,
the reinforcement cylinder (325) is slidably arranged outside the second connecting section (323) and is selectively sleeved outside the elastic section (321), the first connecting section (322) and the second connecting section (323);
the second telescopic rod (326) is fixedly arranged on the second connecting section (323), and the telescopic end of the second telescopic rod is fixedly connected with the reinforcing cylinder (325).
6. The rail out-of-tolerance wear detection robot of claim 2, wherein: the installation seat (211) is fixedly provided with a plurality of sliding shafts (2111), the sliding shafts (2111) are respectively connected with the sliding seat (22) or the movable seat (212) in a sliding mode, and the first springs (23) and the second springs (213) are sleeved on the sliding shafts (2111).
7. The rail out-of-tolerance wear detection robot of claim 2 or 6, wherein: a travelling wheel (11) is rotatably arranged on the intermediate body (1), and the travelling wheel (11) is in rolling connection with the top side of the rail head (42);
the middle body (1) is fixedly provided with a positioning shaft (12), a fixing bolt (2112) is connected to the mounting seat (211) through threaded fit, the mounting seat (211) is in sliding connection with the positioning shaft (12), and the front end of the fixing bolt (2112) selectively abuts against the positioning shaft (12).
8. The rail out-of-tolerance wear detection robot of claim 7, wherein: the mounting seat (211) is fixedly provided with a blowing nozzle (2113) for cleaning the rail head (42).
9. The method for detecting the out-of-tolerance wear of the guide rail is characterized by being applied to the guide rail (4) to be detected, which is composed of the rail web (41), the rail head (42), the rail bottom (43) and a plurality of rail presses (44), by adopting the detection robot as claimed in claim 5, and comprises the following steps:
s1, manufacturing a standard guide rail (4 a), butting the standard guide rail (4 a) with the end part of the guide rail (4) to be tested, and enabling the center line of the standard guide rail (4 a) to be coincident with the center line of the guide rail (4) to be tested, wherein the standard guide rail (4 a) has the same specification as the guide rail (4) to be tested, the standard guide rail (4 a) consists of a rail waist (41), a rail head (42), a rail bottom (43) and a plurality of rail pressing devices (44), and the standard guide rail (4 a) is a zero-abrasion standard piece;
s2, controlling the second telescopic rod (326) to extend, enabling the reinforcement cylinder (325) to be sleeved outside the elastic section (321), the first connecting section (322) and the second connecting section (323), installing a detection robot on the standard guide rail (4 a), enabling a plurality of second positioning wheels (33) on two sides of the standard guide rail (4 a) to be respectively abutted on two side lines of the rail bottom (43) far away from the ground and parallel to the length direction of the standard guide rail (4 a) by adjusting the distance between two fixed seats (21), enabling the two detection wheels (221) to be respectively abutted on two sides of the rail head (42) by utilizing the first spring (23), enabling the plurality of first positioning wheels (31) to be respectively abutted on two sides of the waist (41) by utilizing the second spring (213), and controlling the first telescopic rod (214) to be respectively abutted on two sides of the rail head (42), and enabling the first telescopic rod (214) to be respectively abutted on two sides of the rail head (211);
s3, controlling the second telescopic rod (326) to shrink, enabling the reinforcement cylinder (325) to be sleeved outside the second connecting section (323), enabling the intermediate body (1) to reciprocate on the standard guide rail (4 a), and recording a data change value of the second laser range finder (324) from the supporting of the rail bottom (43) to the supporting of the rail pressing device (44) when the second positioning wheel (33) is recorded as delta Y;
s4, moving a detection robot to the guide rail (4) to be detected, and moving the detection robot from one end of the guide rail (4) to the other end, recording data of two first laser range finders (24) in the process, respectively recording the data of two second laser range finders (324) in the process, respectively recording the data of Y1 and Y2;
s5, observing whether variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, if the variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, the abrasion value of the guide rail (4) to be detected is equal to the data variation value of the data X1 and X2, and if the variation fluctuation which is not equal to delta Y exists in the data Y1 and Y2, performing S6;
s6, controlling the second telescopic rod (326) to extend, enabling the reinforcement cylinder (325) to be sleeved outside the elastic section (321), the first connecting section (322) and the second connecting section (323), controlling the first telescopic rod (214) to shrink, enabling the telescopic end of the first telescopic rod (214) to be separated from the mounting seat (211), enabling the detection robot to move at a position with variation fluctuation which is not equal to delta Y in data Y1 and Y2, recording data of the two first laser range finders (24) in the process, respectively marking the data as X3 and X4, and shrinking the second telescopic rod (326) corresponding to the position of the second positioning wheel (33) if the second positioning wheel (33) abuts against the rail pressing device (44) in the moving process of the detection robot;
s7, the abrasion value of the guide rail (4) to be detected is equal to the data change value of the data X3 and the data X4.
10. The method for detecting excessive wear of a guide rail according to claim 9, wherein: when the second telescopic rod (326) is controlled to be telescopic, the first positioning wheel (31) corresponding to the position of the second telescopic rod (326) is not abutted against the rail pressing device (44).
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| CN117450924B (en) | 2024-04-02 |
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