CN118753326A - A modular rail inspection robot - Google Patents
A modular rail inspection robot Download PDFInfo
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- CN118753326A CN118753326A CN202411051300.2A CN202411051300A CN118753326A CN 118753326 A CN118753326 A CN 118753326A CN 202411051300 A CN202411051300 A CN 202411051300A CN 118753326 A CN118753326 A CN 118753326A
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- Prior art keywords
- assembly
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- inspection robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B17/00—Wheels characterised by rail-engaging elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B17/00—Wheels characterised by rail-engaging elements
- B60B17/0027—Resilient wheels, e.g. resilient hubs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The application relates to a modularized track inspection robot, the whole chassis adopts a detachable structure, which can effectively cope with complex and changeable terrains in a tunnel, effectively reduce the labor input, labor intensity and risk, the walking assembly is detachably connected with the vehicle body assembly, and the battery power supply assembly is detachably mounted below the vehicle body assembly.
Description
Technical Field
The application relates to a modularized track inspection robot.
Background
In a rail transit system, a rail structure is used as a main structure for directly bearing an upper train, and a stable and reliable service state is a key for guaranteeing line safety. At present, in daily maintenance and inspection of a track structure, two main modes are adopted for inspection and maintenance: a manual patrol way mode and a vehicle-mounted patrol way mode.
When the manual inspection mode is used, the detection result is greatly influenced by factors such as experience, responsibility center and weather of inspection personnel, subjective judgment errors exist, the detection result cannot be digitally stored and subsequently compared, the problems of low detection efficiency and incomplete inspection exist, the requirements of a railway line maintenance department cannot be met, and the defects of large workload, low informatization degree, high management cost and the like also exist.
The vehicle-mounted track inspection mode generally adopts large-scale track inspection equipment, and the condition of the track surface is detected by photographing while fast running, however, the large-scale track inspection equipment is complex in application and wide in involved area, and each time the inspection task is executed, a plurality of departments are required to coordinate, and the large-scale track inspection equipment generally belongs to spot inspection equipment, so that the requirement of daily maintenance and detection on site cannot be met.
Therefore, in order to fill the middle missing part, the development is towards the trend of intellectualization and unmanned; locomotive-type, manned trolley-type, flat-plate unmanned trolley-type, manual trolley-type and other rail transit inspection equipment also appear, and the inspection level can be improved to a certain extent by adopting a manual pushing or self-walking mode to run on a rail; however, the manual hand-push type unpowered trolley has the problems of low inspection efficiency, high precision, single function, incapability of autonomously passing through a turnout and the like; the obvious defects of the manned flat plate type trolleys are the problems of huge equipment volume, heavy self weight, difficult rail loading and transportation, long preparation time and the like; because the track line inspection work skylight period is short, simultaneously because work content is comparatively complicated, lead to staff working strength big, consequently have stronger constraint to portability and the whole weight of this track inspection equipment.
In addition, because of adopting train wheel pair design mostly, can independently pass through the switch but because of serpentine motion exists and leads to the precision poor, can not adapt to the convenience of daily inspection.
The snake-like movement is special movement of railway rolling stock, and the existing automatic inspection equipment such as rail inspection trolleys, rail inspection robots and the like on the market has a large number of wheel sets which imitate train wheel set designs, so that the snake-like movement also exists in the products, and the first requirement for restraining the snake-like movement is met when the snake-like movement is detected at a quantitative level which depends on the accuracy of the robot;
Because the tread of the wheel has a certain taper and a certain gap exists between the rim and the steel rail, when the center of the wheel set occasionally deviates from the center line of the linear track during running of the locomotive, the two wheels roll on the steel rail by rolling circles with different diameters, so that the wheel set swings transversely while swinging around the vertical axis of the center of gravity during running, and a wave-shaped motion called as hunting motion is formed.
In order to eliminate the influence of snake-shaped movement, the existing part of inspection equipment cancels the design of an imitation wheel, but when the inspection equipment passes through an interval turnout section, the running part of the inspection equipment is limited in self-passing capacity, and most of the inspection equipment cannot cooperate with an inspection plan to realize self-adaptive smooth turnout, so that the inspection equipment usually needs manual assistance to pass through smoothly, and part of the inspection equipment also possibly needs turnout switching locking cooperation. The road drop can also occur due to harmful space when the frog passes through the fixed point rail, which certainly reduces the interval inspection efficiency, and simultaneously makes unmanned and intelligent inspection impossible.
Therefore, in order to improve the inspection efficiency and meet the daily inspection requirement, how to optimize the running equipment of the track inspection equipment, it is very necessary to design a running gear which effectively aims at complex and changeable terrains in the tunnel, effectively reduces the manual input amount, labor intensity and risk, resists the snaking movement, improves the stability of the running gear and can autonomously pass through the turnout section.
Disclosure of Invention
The application aims to provide a modularized track inspection robot, and the whole chassis adopts a detachable structure, so that the robot can effectively cope with complex and changeable terrains in a tunnel, and the labor input, labor intensity and risk are effectively reduced.
In order to achieve the above purpose, the application provides a modularized track inspection robot, which comprises a detection sensor module and a motion chassis module, wherein the detection sensor module is detachably connected with the motion chassis module, the motion chassis module comprises a walking component, a vehicle body assembly component and a battery power supply component, the walking component is detachably connected with the vehicle body assembly component, and the battery power supply component is detachably hung below the vehicle body assembly component.
Preferably, a quick-release guide locking mechanism is arranged between the walking assembly and the vehicle body assembly; the quick-release guide locking mechanism comprises a quick-release locking component and a groove guide piece, wherein the quick-release locking component is arranged on the vehicle body assembly component, the groove guide piece is arranged on the traveling component and is used for being connected with the quick-release locking component, and the quick-release locking component and the groove guide piece are matched to realize quick-release and quick-assembly between the traveling component and the vehicle body assembly component.
Preferably, the groove guide piece comprises a guide edge, a lapping step arranged at the top of the guide edge and a limiting protrusion arranged on the guide edge, the quick-release locking assembly comprises a positioning guide block and a locking mechanism arranged on the positioning guide block, when the quick-release locking assembly is assembled, the locking mechanism is opened, then the lapping step arranged at the top of the guide edge is carried on the positioning guide block, the guide edge passes through the locking mechanism, after the locking mechanism is locked, the limiting protrusion and the positioning guide block form limiting.
Preferably, the vehicle body assembly component comprises a vehicle frame main body, walking components are mounted at two ends of the vehicle frame main body, the vehicle frame main body is provided with a driving motor and a transmission component connected with the driving motor, and the transmission component is respectively connected with the walking components at two ends of the vehicle frame main body.
Preferably, the frame main body is at least provided with one of a chassis processing module, a safe touch edge and a light supplementing lamp.
Preferably, telescopic movable casters are arranged on the walking assembly and the vehicle body assembly.
Preferably, the walking assembly comprises a walking base, the walking base is provided with wheels for contacting with the top surface of the guide rail, and the walking base is provided with an elastic guide wheel set and a fixed limit wheel set for contacting with the side surface of the guide rail.
Preferably, the elastic guide wheel set comprises a wedge-shaped guide assembly, an elastic-damping mechanism, a guide shaft and a ranging sensor; the wedge-shaped guide assembly is connected with the guide shaft through a movable swing arm and can move on the guide shaft, and the elastic-damping mechanism spreads the load of the wedge-shaped guide assembly attached to the inner side of the guide rail.
Preferably, the wedge-shaped guide assembly comprises wedge-shaped guide blocks and guide wheels, the wedge-shaped guide blocks are symmetrically designed, the guide wheels are located in the middle of the wedge-shaped guide blocks, inclined planes are arranged on two sides of the wedge-shaped guide blocks, and wear-resisting blocks are arranged on the inclined planes.
Preferably, the device further comprises a ranging sensor for detecting the movable swing arm.
Preferably, the movable swing arm is connected with the guide shaft through a linear bearing.
Preferably, the elastic-damping mechanism includes a spring and a hydraulic shock absorber.
Preferably, the detection sensor module comprises a track detection module and a data acquisition and storage module.
Preferably, the track detection module at least comprises one of a 3D vision component, a limit detection component, a track bed detection component and a laser obstacle avoidance component.
Preferably, the data acquisition and storage module comprises a main industrial personal computer, a sub-processor module and a communication and connection assembly.
Preferably, the data acquisition and storage module comprises a sensor module power supply assembly for individually powering the detection sensor modules.
Preferably, the data acquisition and storage module comprises a display component capable of performing external display.
According to the above, the application has the following beneficial effects:
The application is wholly and modularly detachable, each part can be portable and carried, and is convenient and rapid to assemble, and meanwhile, the transportation work under the condition of complex tunnel roads is convenient;
The chassis adopts the running gear design that wheel plus elastic wheel and spacing wheel combine, can play the effect of anti snaking motion, promotes chassis stability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic view of the structure of the present application when it is running on a rail;
FIG. 2 is an exploded view of the present application as it operates on a rail;
FIG. 3 is a schematic diagram of a detection sensor module according to the present application;
FIG. 4 is a schematic view of a chassis module according to the present application;
FIG. 5 is a schematic diagram of a quick release guide locking mechanism according to the present application;
FIG. 6 is a second schematic diagram of a quick release guide locking mechanism according to the present application;
FIG. 7 is a schematic illustration of a vehicle body assembly component of the present application;
FIG. 8 is a schematic diagram of a part of the present application;
FIG. 9 is a schematic diagram of a portion of a second embodiment of the present application;
FIG. 10 is a schematic diagram of a walking assembly according to the present application;
FIG. 11 is a second schematic view of the walking assembly of the present application;
FIG. 12 is a schematic diagram III of a walking assembly of the present application;
FIG. 13 is a schematic view of an elastic guide wheel set of the present application;
FIG. 14 is a schematic diagram of the overall structure of the present application;
Fig. 15 is a schematic diagram of the overall structure of the present application.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person of ordinary skill in the art based on the embodiments provided by the present application without making any inventive effort, are intended to fall within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by those of ordinary skill in the art that the described embodiments of the application can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," and similar referents in the context of the application are not to be construed as limiting the quantity, but rather as singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in connection with the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means greater than or equal to two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
Referring to fig. 1 to 15, the embodiment relates to a modularized track inspection robot, which comprises a detection sensor module 1 and a motion chassis module 2, wherein the detection sensor module 1 and the motion chassis module 2 are detachably connected, each area of the robot is in modularized design, and different detection modules can be replaced according to different working conditions, so that the robot is suitable for daily inspection convenience.
The motion chassis module 2 adopts a quick detach formula motion chassis module, but this quick detach formula motion chassis module overall structure is the H type, including automobile body assembly subassembly 2-2, automobile body assembly subassembly 2-2 both ends are equipped with walking subassembly 2-1 respectively, and automobile body assembly subassembly 2-2 rear portion is equipped with battery powered subassembly 2-3, walking subassembly 2-1 with automobile body assembly subassembly 2-2 detachable connection, battery powered subassembly 2-3 detachable hang in automobile body assembly subassembly 2-2 below, all module support quick dismantlement can reduce and cause the influence to the staff because of site size and chassis dead weight.
A quick-release guide locking mechanism is arranged between the walking assembly 2-1 and the vehicle body assembly 2-2; the quick-release guide locking mechanism comprises a quick-release locking component 2-2.5 arranged on the vehicle body assembly component 2-2 and a groove guide piece 2-1.6 arranged on the traveling component 2-1 and used for being connected with the quick-release locking component 2-2.5, and quick-release and quick-assembly between the traveling component 2-1 and the vehicle body assembly component 2-2 are realized through cooperation of the quick-release locking component 2-2.5 and the groove guide piece 2-1.6.
Preferably, the groove guide 2-1.6 comprises a guide edge 2-1.6-1, a lapping step 2-1.6-2 arranged at the top of the guide edge 2-1.6-1 and a limiting protrusion 2-1.6-3 arranged on the guide edge 2-1.6-1, the quick-release locking assembly 2-2.5 comprises a positioning guide block 2-2.5-1 and a locking mechanism 2-2.5-2 arranged on the positioning guide block 2-2.5-1, and the locking mechanism 2-2.5-2 can be a bolt locking assembly or a pull locking assembly and other commonly used locking assemblies. During assembly, the locking mechanism 2-2.5-2 is opened, then the scrap edge step 2-1.6-2 at the top of the guide edge 2-1.6-1 is carried on the positioning guide block 2-2.5-1, the guide edge 2-1.6-1 passes through the locking mechanism 2-2.5-2, after locking, the locking mechanism 2-2.5-2, the limiting boss 2-1.6-3 and the positioning guide block 2-2.5-1 form a limit, and then the assembly of the walking assembly 2-1 and the vehicle body assembly 2-2 can be completed, wherein the limit of the limiting boss 2-1.6-3 and the positioning guide block 2-2.5-1 can be realized by the lower edge of the positioning guide block 2-2.5-1 being matched with the limiting boss 2-1.6-3, and the upper edge and the side 2-1.6-2 being matched with the scrap edge 2-1.6-2, so that the positioning guide block 2-2.5-1 is positioned between the limiting boss 2-1.6-3 and the scrap edge 2-2.5-1 and the connecting boss 2.5-1 can be matched with the connecting boss 2.1 or the connecting boss 2-2.5-1.
The vehicle body assembly component 2-2 comprises a vehicle frame main body 2-2.2, the vehicle frame main body 2-2.2 adopts a light-weight design, the weight is further reduced under the condition of ensuring the strength of the vehicle body, the inside is of a fully-closed structure, the inside is provided with a chassis processing module 2-2.4, comprises a control module which is matched with a built-in communication module and can communicate with a detection sensor module 1 and transmit data, the two ends of the frame main body 2-2.2 are provided with a walking component 2-1, the rear part of the frame main body 2-2.2 is provided with a driving motor 2-2.7 and a transmission assembly 2-2.1 connected with the driving motor 2-2.7, two ends of the transmission assembly 2-2.1 are respectively connected with a walking assembly 2-1 at two ends of the frame main body 2-2.2 through a coupler, the driving motor 2-2.7 comprises a servo motor and a speed reducer, and a high-precision encoder carried by the servo motor is utilized for mileage positioning and image output while power is provided, so that recognition and positioning precision is improved; the transmission component 2-2.1 consists of a transmission rod 2-2.1-1 and two side quick-dismantling couplings 2-2.1-2, and can quickly complete transmission and disassembly with the walking component 2-1 without tools.
The front and back of the frame main body 2-2.2 are provided with bumpers, and the safety contact edges 2-2.6 are arranged on the front and back of the frame main body and can be matched with a first laser obstacle avoidance assembly 1-3 and a second laser obstacle avoidance assembly 1-9 which are described later, so that the safety problem of the motion chassis during movement is further guaranteed.
Preferably, telescopic movable casters are mounted on the walking assembly 2-1 and the vehicle body assembly 2-2. Specifically, the telescopic movable casters 2-1.4 are installed on the walking assembly 2-1, the movable casters 2-2.3 are installed on the car body assembly 2-2, the movement chassis has a modular design capable of being quickly disassembled, and when the whole machine and the independent modules are combined, operators can choose to push or disassemble the movable casters directly according to road conditions and then carry the movable casters independently, so that the equipment is light in weight, and the problems of difficult track loading and carrying are solved.
In this embodiment, the walking assembly 2-1 includes a walking base 2-1.3, the walking base 2-1.3 is provided with wheels 2-1.2 for contacting with the top surface of the guide rail, and the walking base 2-1.3 is provided with an elastic guiding wheel set 2-1.5 and a fixed limiting wheel set 2-1.1 for contacting with the side surface of the guide rail. The wheel 2-1.2 is of a cylindrical design, is not a round table of an ordinary imitative train wheel, adopts a high-hardness polyurethane material coated on the surface of the wheel for maintaining insulation, and has a wear-resistant insulation effect; when in curve, the tread of the existing train wheel pair is designed into a conical inclined plane, the circumference of a steel rail at the outer side of the curve is longer than that of an inner measurement, the problem of train passing can be solved by the self-adaptive mechanical mode, but the angle difference between the train and the steel rail plane can be caused, and the detection precision of the inspection robot is unfavorable, so the train is designed into a cylinder shape; meanwhile, the fixed limiting wheel set 2-1.1 plays a limiting role, and the fixed limiting wheel set 2-1.1 is combined with the wheels 2-1.2, so that the robot can normally run on a track rail, the problem of derailment of the robot in normal inspection operation is prevented, and the chassis is prevented from derailing risk; the elastic guide wheel sets 2-1.5 can reduce the snakelike motion of the chassis, reduce the shaking in the motion process of the chassis and improve the operation precision.
Preferably, the elastic guide wheel set 2-1.5 comprises a base 2-1.5-7, a wedge-shaped guide assembly, an elastic-damping mechanism, a guide shaft 2-1.5-3 and a ranging sensor 2-1.5-5; the wedge-shaped guide assembly is connected with the guide shaft 2-1.5-3 through the movable swing arm 2-1.5-6 and can move on the guide shaft 2-1.5-3, the elastic-damping mechanism spreads the load of the wedge-shaped guide assembly attached to the inner side of the guide rail, preferably, the wedge-shaped guide assembly comprises a wedge-shaped guide block 2-1.5-2 and a guide wheel 2-1.5-8, the wedge-shaped guide block 2-1.5-2 is symmetrically designed, the guide wheel is positioned in the middle of the wedge-shaped guide block 2-1.5-2, inclined planes are arranged on two sides of the wedge-shaped guide block 2-1.5-2, and the inclined planes are provided with wear-resisting blocks 2-1.5-1. The movable swing arm 2-1.5-6 is connected with the guide shaft 2-1.5-3 through a linear bearing. The wedge-shaped guide assembly 2-1.5-2 moves on the guide shaft through the linear bearing, so that the guide wheel is attached to the inner side of the rail surface, and the inner sides of the steel rails on two sides are subjected to load spreading through the elastic-damping mechanism, so that snakelike movement of the robot in the running process is counteracted, and the influence on the detection precision of a sensor arranged on the robot is reduced.
The device also comprises a ranging sensor 2-1.5-5 for detecting the movable swing arm 2-1.5-6. The distance measuring sensor 2-1.5-5 is used for detecting the movable swing arm 2-1.5-6, and detection precision errors can be further reduced through an algorithm.
The elastic-damping mechanism comprises springs 2-1.5-4 and oil pressure buffers 2-1.5-5. The damping mechanism is added to inhibit oscillation of the spring during rebound after shock absorption, so that self-reciprocating motion of the spring is eliminated, and the damping mechanism is an adjustable oil pressure buffer and can be adaptively adjusted according to the types of on-site steel rails and turnout points; and the limiting wheel sets are fixed, so that the structure constraint effect can be achieved, and the maximum deflection angle of the robot is effectively limited under the condition that the wheel spacing is not increased.
In this embodiment, the elastic guide wheel assembly has an autonomous aisle fork function. When the existing robot passes through the interval turnout section, the running part has limited self-passing capacity, most of the running part cannot be matched with a patrol plan to realize self-adaptive smooth turnout, manual assistance is usually needed to pass through smoothly, and turnout switching locking matching is also needed in part of cases; the guide wheel sets can not be retracted due to harmful space when the fixed point rail frog passes through, so that the robot is blocked in movement and even derailed. In the embodiment, when the robot passes through the turnout, the fixed limiting wheels positioned on the outer side can finish the angle adjustment of the robot body in advance by virtue of the guard rail, so that the guide wheels are effectively prevented from being blocked in a harmful space, and the guide wheels pass through the turnout by virtue of the wedge-shaped guide blocks and the guidance of the frog center; the contact surface of the frog core adopts the wear-resistant blocks made of wear-resistant materials, so that the damage to the turnout is reduced, the use times of the component can be effectively increased by optimizing the angle of the wedge-shaped guide block, and the cost is reduced.
The detection sensor module 1 comprises a track detection module and a data acquisition and storage module, wherein the track detection module comprises a 3D vision component 1-1, a limit detection component 1-8, a track bed detection component 1-4, a first laser obstacle avoidance component 1-3 on one side and a second laser obstacle avoidance component 1-9 on the other side, and the data acquisition and storage module comprises a main industrial personal computer 1-2, a sub-processor module 1-7 and a communication and connection component 1-5.
The track inspection robot can select a detection sensor module with a corresponding detection function according to the current working condition and the inspection task, and each sensor component in the detection sensor module can independently or jointly perform detection operation; the 3D vision component 1-1 and various parameter information of the track can be analyzed according to the image of the track, such as track geometry, fastener missing, track abrasion degree, track wave grinding, track head contour and the like; the frame main body 2-2.2 is also provided with a light supplementing lamp 2-2.8, and the ballast bed detection assembly 1-4 can be used for detecting foreign matters and ballast bed defects in a ballast bed by matching with the light supplementing lamp 2-2.8; the limit detection assembly 1-8 can be used for carrying out limit verification on pipelines, lines and the like in the track, so as to confirm whether limit invasion exists or not and influence the running safety of the train; aiming at the robot, safety detection can be carried out on the inside of the track in the moving direction of the robot through the first laser obstacle avoidance assemblies 1-3 and the second laser obstacle avoidance assemblies 1-9 positioned at the front side and the rear side of the detection sensor module, once an invaded object is found, braking can be actively triggered, and injury to the robot body and personnel working in the track is prevented;
The data acquisition and storage module comprises a display component capable of performing external display, data detected by all sensors are processed through a sub-processor module 1-7 arranged in the module, then data analysis is completed in the host industrial personal computer 1-2 uniformly, and a detection result is output. Preferably, the display assembly is an industrial pad assembly. The staff can use the external pad to check the detection result through interacting with the communication and connection assembly 1-5; the robot body can also be controlled to start, stop and accelerate and decelerate through the pad.
The data acquisition and storage module comprises a sensor module power supply assembly 1-6 for supplying power to the detection sensor module 1 alone, and preferably, the sensor module power supply assembly 1-6 adopts a small battery pack. When the inspection robot is inspected on a track, if other workers need to avoid, the workers can directly disconnect the sensor module from the motion chassis module, and the small battery pack can be connected to supply power without shutdown operation and waiting for data storage; after the avoidance is completed, the connection can be completed to continue to carry out subsequent tasks, so that the operation time and redundant operation are saved;
The invention discloses a modularized rail transit line inspection robot, which has the following characteristics:
1) The robot is integrally of a modularized design, and the detection sensor module and the motion chassis module are designed to be detachable, so that different detection sensor modules can be replaced and selected according to different use conditions, and the requirements of daily inspection of equipment are met;
2) Each module is designed in a lightweight way, the whole machine is small in size after being split, and the problem that the upper rail is difficult to carry is solved; the quick-inserting positioning assembly is utilized, so that the problem of long preparation time is solved while the quick-inserting positioning assembly is firm and reliable;
3) An independent power supply exists in the sensor module, and the operation of the sensor module can be independently maintained after the sensor module is disconnected with a main power supply in the motion chassis module; when the device is used for dealing with the inspection of the same track, the device can be directly disassembled when meeting other working conditions and needing to avoid, does not need to be powered off for storage, reduces the avoidance waiting, and saves the operation time;
4) According to the invention, the network signal is adopted to remotely control the trolley, and meanwhile, the intelligent vehicle safety protection system has active and passive obstacle avoidance protection, so that the labor cost can be saved on the premise of ensuring safety, and the team inspection is reduced to 2 persons.
The invention relates to a quick-detachable track inspection motion chassis for an inspection robot of a track traffic line, which has the following characteristics:
1) The walking device is designed for resisting snaking movement, so that the stability of the walking device is effectively improved; the travelling mechanism with wheels and elastic wheel sets is adopted, the wheels are cylindrical, compared with the traditional round platform-shaped wheel design, the contact surface with the surface of a steel rail is reduced, and the conical tread and the rail head partially counteract errors generated by the arc rail surface robot at a bending section; the elastic wheel sets can counteract serpentine motion which is easy to occur when the robot normally walks, so that the self-walking error of the robot is effectively reduced, and the detection precision is improved;
2) The adjusting part of the elastic guide wheel is a spring-damping combined mechanism, and the adjusting mechanism applies pressure to the side surface of the track through springs at two sides to offset the influence of snake-shaped maneuver on the robot body; meanwhile, a damping mechanism is added to inhibit oscillation of the spring during rebound after shock absorption, and the self-reciprocating motion of the spring is eliminated;
3) The running gear can pass through the turnout section independently; the limit wheels are adopted, an elastic wheel set wedge-shaped design is additionally adopted, and the turnout section can be passed; because in ordinary passenger and inter-city railways, the turnout is mostly fixed by a central track, and a harmful space section exists, a limiting wheel mechanism and a guard rail are combined to limit the robot, and the wedge mechanism is designed to enable the elastic wheel to normally pass through the turnout area;
Meanwhile, the whole chassis adopts a split type design, and the joint adopts a quick-dismantling structure, so that the complex and changeable terrains in the tunnel can be effectively treated, and the labor input, labor intensity and risk are effectively reduced.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (17)
1. The utility model provides a robot is patrolled and examined to modularization track, includes detection sensor module and motion chassis module, its characterized in that: the detection sensor module is detachably connected with the motion chassis module, the motion chassis module comprises a walking assembly, a vehicle body assembly component and a battery power supply component, the walking assembly is detachably connected with the vehicle body assembly component, and the battery power supply component is detachably hung below the vehicle body assembly component.
2. A modular track inspection robot according to claim 1, wherein: a quick-release guide locking mechanism is arranged between the walking assembly and the vehicle body assembly; the quick-release guide locking mechanism comprises a quick-release locking component and a groove guide piece, wherein the quick-release locking component is arranged on the vehicle body assembly component, the groove guide piece is arranged on the traveling component and is used for being connected with the quick-release locking component, and the quick-release locking component and the groove guide piece are matched to realize quick-release and quick-assembly between the traveling component and the vehicle body assembly component.
3. A modular track inspection robot according to claim 2, wherein: the groove guide piece comprises a guide edge, a lapping step arranged at the top of the guide edge and a limiting protrusion arranged on the guide edge, the quick-release locking assembly comprises a positioning guide block and a locking mechanism arranged on the positioning guide block, when the quick-release locking assembly is assembled, the locking mechanism is opened, then the lapping step arranged at the top of the guide edge is carried on the positioning guide block, the guide edge passes through the locking mechanism, after the locking mechanism is locked, the limiting protrusion and the positioning guide block form limiting.
4. A modular track inspection robot according to claim 1, wherein: the vehicle body assembly component comprises a vehicle frame main body, walking components are mounted at two ends of the vehicle frame main body, the vehicle frame main body is provided with a driving motor and a transmission component connected with the driving motor, and the transmission component is respectively connected with the walking components at two ends of the vehicle frame main body.
5. A modular track inspection robot according to claim 1, wherein: the frame main body is provided with at least one of a chassis processing module, a safe touch edge and a light supplementing lamp.
6. A modular track inspection robot according to claim 1, wherein: and telescopic movable casters are arranged on the walking assembly and the vehicle body assembly.
7. A modular track inspection robot according to claim 1, wherein: the walking assembly comprises a walking base, wheels used for being in contact with the top surface of the guide rail are arranged on the walking base, and an elastic guide wheel set and a fixed limit wheel set used for being in contact with the side surface of the guide rail are arranged on the walking base.
8. The modular track inspection robot of claim 7, wherein: the elastic guide wheel set comprises a wedge-shaped guide assembly, an elastic-damping mechanism, a guide shaft and a distance measuring sensor; the wedge-shaped guide assembly is connected with the guide shaft through a movable swing arm and can move on the guide shaft, and the elastic-damping mechanism spreads the load of the wedge-shaped guide assembly attached to the inner side of the guide rail.
9. The modular track inspection robot of claim 8, wherein: the wedge-shaped guide assembly comprises wedge-shaped guide blocks and guide wheels, the wedge-shaped guide blocks are symmetrically designed, the guide wheels are located in the middle of the wedge-shaped guide blocks, inclined planes are arranged on two sides of the wedge-shaped guide blocks, and wear-resisting blocks are arranged on the inclined planes.
10. The modular track inspection robot of claim 8, wherein: the device also comprises a ranging sensor for detecting the movable swing arm.
11. The modular track inspection robot of claim 8, wherein: the movable swing arm is connected with the guide shaft through a linear bearing.
12. The modular track inspection robot of claim 8, wherein: the elastic-damping mechanism includes a spring and an oil pressure buffer.
13. A modular track inspection robot according to any one of claims 1 to 12, wherein: the detection sensor module comprises a track detection module and a data acquisition and storage module.
14. A modular track inspection robot in accordance with claim 13, wherein: the track detection module at least comprises one of a 3D vision assembly, a limit detection assembly, a track bed detection assembly and a laser obstacle avoidance assembly.
15. A modular track inspection robot in accordance with claim 13, wherein: the data acquisition and storage module comprises a main industrial personal computer, a sub-processor module and a communication and connection assembly.
16. A modular track inspection robot in accordance with claim 13, wherein: the data acquisition and storage module comprises a sensor module power supply assembly for supplying power to the detection sensor module independently.
17. A modular track inspection robot in accordance with claim 16, wherein: the data acquisition and storage module comprises a display component capable of performing external display.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411051300.2A CN118753326A (en) | 2024-08-01 | 2024-08-01 | A modular rail inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411051300.2A CN118753326A (en) | 2024-08-01 | 2024-08-01 | A modular rail inspection robot |
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| CN118753326A true CN118753326A (en) | 2024-10-11 |
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| CN202411051300.2A Pending CN118753326A (en) | 2024-08-01 | 2024-08-01 | A modular rail inspection robot |
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