CN204758541U - Mobile robot through type round wheel defectoscope that does not fall - Google Patents
Mobile robot through type round wheel defectoscope that does not fall Download PDFInfo
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- CN204758541U CN204758541U CN201520465862.1U CN201520465862U CN204758541U CN 204758541 U CN204758541 U CN 204758541U CN 201520465862 U CN201520465862 U CN 201520465862U CN 204758541 U CN204758541 U CN 204758541U
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Abstract
The utility model discloses a mobile robot through type round wheel defectoscope that does not fall, include: platform truck traveling system, the robot translation system, it sets up on platform truck traveling system, robot system, its movably robot translation system that is connected to, elevating system, it sets up on platform truck traveling system, translation actuating mechanism, its drive robot system remove, Y -type lifting devices, it is set up in platform truck traveling system's top by the hydraulic system supporting, stretching device, it can be followed platform truck traveling system both sides and set up with stretching out on platform truck traveling system, elevating system rises, and the extension is stretched out, and Y -type lifting devices lifts the wheel pair, forms robot system's walking space, and translation actuating mechanism drive robot system removes from Y -type lifting devices's below, realizes that the wheel pair both sides are switched to detect a flaw. The utility model discloses on an advancing direction, realize detecting a flaw to each wheel pair both sides on the bogie, improved equipment rigidity and intensity simultaneously, avoided local intervene problem.
Description
Technical field
The utility model relates to a kind of defectoscope used in track wheel of vehicle carrying out flaw detection situation.More particularly, the utility model relate to a kind of be used in flaw detection situation is carried out to wheel of vehicle each on bogie under mobile robot's through type of using do not fall to taking turns detecting flaw of wheel machine.
Background technology
Rail vehicle wheel is in operation and is subject to large alterante stress for a long time, and its inside may crack, and causes potential safety hazard, therefore regularly should carry out UT (Ultrasonic Testing) to wheel.Recent domestic develops a series of equipment not falling to taking turns UT (Ultrasonic Testing), namely wheel need not be removed, but detects a flaw normally be contained in the state on vehicle at wheel under.The citation form of this defect-detecting equipment is: vehicle is parked on the vehicle rail of special hanger rail bridge, the defectoscope track that in trench below track bridge, laying one is parallel with vehicle rail, defectoscope chassis moves on this track, can be parked in below each wheel of vehicle successively, then the top wheel carrier of defectoscope rises, wheel jack-up is departed from rail, and turns a wheel, Ultrasound Probe Device can cling on wheel by the tread flaw detection mechanical arm in execution architecture detects a flaw.
Current domestic existing technical equipment has three kinds of forms,
The first form defect-detecting equipment, probe assembly topworks is fixed on side, can only realize detecting a flaw to wheel side at wheel.Motor-car and engine truck wheel have cowcatcher and spread tube to outside, and wheel is to reasons such as motor limited inside space, want wheel to not having obstacle side to detect a flaw, probe assembly topworks must carry out complicated sports equipment and turns to or rotate, complex operation is time-consuming, and efficiency is lower.
The second form defect-detecting equipment, the lifting of pushing up wheel carrier and vertical guide rail during flaw detection is serial kinematic, and namely vertical guide rail is arranged on above the wheel carrier of top, indulges guide rail and rise thereupon when top wheel carrier rises.The comparatively rise that wheel jack-up must be exceeded safety standard during flaw detection from, could not collide with parts at the bottom of car, even if like this under some vehicle or cannot use.In addition, the position of tread flaw detection mechanical arm is high, makes probe holder to be moved to opposite side by the side of wheel, and realize in the flaw detection of wheel either side, mechanical arm must carry out complicated motion, and complex operation is time-consuming, and efficiency is lower.
The third form defect-detecting equipment, its principal character be movement chassis above be fixed wtih support, tread probe mechanical arm is connected with vertical slide with its mechanical arm vertical guide rail frame, and can move along vertical guide rail, and the vertical guide rail both sides on support are installed with two cover lifting devices respectively.Though this defectoscope can solve the drawback of top wheel carrier and vertical guide rail serial kinematic, but due to defectoscope both sides support beam hook and top wheel carrier separate, and be positioned at the both sides of longitudinal rail, when top wheel carrier is by wheel jack-up, when support beam hook bears the power of jack-up wheel, bottom is fixed on pedestal, the intensity of the support beam hook that separate and center of gravity is higher is more weak, easy distortion even fractures, thus cause the accident hooking claw disengaging vehicle rail to occur, therefore its job stability is poor, and has certain potential safety hazard.
Utility model content
An object of the present utility model solves at least the problems referred to above or defect, and provide the advantage will illustrated at least below.
The utility model also has an object to be to provide a kind ofly on a direct of travel, to realize on bogie each wheel do not fall to taking turns detecting flaw of wheel machine to mobile robot's through type of detecting a flaw, it can carry probe assembly by movable machine people and from device bottom space, move to wheel to opposite side, the both sides that flaw detection wheel is right on a direct of travel, do not need turning to or rotating of sports equipment, simple to operate, improve the flaw detection efficiency of defectoscope.
The utility model also has an object to be coordinate with hook pawl framework by arranging the swing arm of fork-shaped runner, avoid brace summer to hook pawl to bear separately jack-up and take turns right power and be easily out of shape and even fracture, effectively improve equipment Rigidity and strength, avoid local interference problem simultaneously.
In order to realize, according to these objects of the present utility model and other advantage, providing a kind of mobile robot's through type and do not fall to taking turns detecting flaw of wheel machine, comprising:
Chassis running gear;
Robot translation system, it is arranged in described chassis running gear along described chassis running gear length direction;
Robot system, it is connected to described robot translation system movably;
Elevating mechanism, it is arranged in described chassis running gear;
Translational drive mechanism, it drives described robot system to move along described robot translation system;
Fork-shaped lifting device, it is supported the top being arranged at described chassis running gear by hydraulic system;
Extending apparatus, it can be arranged on the top of described chassis running gear with stretching out along described chassis running gear both sides;
Wherein, described elevating mechanism rises, described extending apparatus stretches out along the Width of described chassis running gear, described fork-shaped lifting device lifting wheel is right, form the walking space of described robot system, described translational drive mechanism drives described robot system to move to the right opposite side of wheel from the below of described fork-shaped lifting device, and the both sides that robot system is realized when described chassis running gear does not move wheel is right switch flaw detection.
Preferably, wherein, also comprise: guide post mechanism, hook pawl framework and the swing arm of fork-shaped runner, described guide post mechanism supports the outside that described elevating mechanism is arranged on described robot translation system, track is pushed down to be rotated down in the top that described hook pawl framework can be rotatably set in described fork-shaped lifting device, the swing arm of described fork-shaped runner can be rotatably set on described fork-shaped lifting device along rotating shaft, and the wheel that the swing arm of described fork-shaped runner assists described fork-shaped lifting device to bear lifting is right.
Preferably, wherein, also comprise: probe assembly, its direction of extension along described robot system is spaced apart and arranged in one end of described robot system.
Preferably, wherein, also comprise: electrical control cabinet, ultrasonic switch board and coupled system, described electrical control cabinet, ultrasonic switch board and coupled system are all arranged on the side of described chassis running gear, and described coupled system provides coupling liquid for detecting flaw of wheel face.
Preferably, wherein, described guide post mechanism is two pairs of guide pillars, described guide pillar is separately positioned on the both sides of described robot translation system near the inside edge of robot translation system perpendicular to described chassis running gear, described guide pillar is 1 ~ 20cm apart from the distance of described robot translation system inside edge.
Preferably, wherein, described fork-shaped lifting device is provided with interior probe assembly near the side of flaw detection wheel.
Preferably, wherein, described chassis running gear comprises hoofing part unit and road wheel, and described road wheel is arranged at the below of described chassis running gear, and road wheel described in described hoofing part unit drives drives the walking of chassis running gear.
Preferably, wherein, the maximum height of described elevating mechanism lifting is greater than the height of described robot system.
The utility model at least comprises following beneficial effect:
1, due to by probe assembly being arranged on movable machine robot system, make robot system can move to wheel in the space, bottom of equipment to opposite side, realize on a direct of travel, when running into wheel to when having a side to have an obstacle, robot system can be detected a flaw to the four direction of both sides to wheel each on bogie, do not need probe assembly topworks must carry out complicated sports equipment turn to or rotate, improve flaw detection efficiency;
2, coordinates with hook pawl framework owing to arranging the swing arm of fork-shaped runner, avoid brace summer to hook pawl and bear separately jack-up and take turns right power and be easily out of shape and even fracture, effectively improve equipment Rigidity and strength, avoid locally interference problem simultaneously;
3, the movement being set to robot system due to the equipment of the utility model defectoscope provides enough mobile spaces, and make robot moving system move to the right opposite side of wheel in the space, bottom of equipment, structure is simple, easy to operate.
Part is embodied by explanation below by other advantage of the present utility model, target and feature, part also will by research and practice of the present utility model by those skilled in the art is understood.
Accompanying drawing explanation
Fig. 1 is the structural representation that in an embodiment of the present utility model, mobile robot's through type does not fall to taking turns detecting flaw of wheel machine.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail, can implements according to this with reference to instructions word to make those skilled in the art.
Should be appreciated that used hereinly such as " to have ", other element one or more do not allotted in " comprising " and " comprising " term or the existence of its combination or interpolation.
Fig. 1 shows according to a kind of way of realization of the present utility model, comprising:
Chassis running gear 1;
Robot translation system, its length direction along described chassis running gear 1 is arranged in described chassis running gear 1;
Robot system 8, it is connected to described robot translation system movably;
Elevating mechanism 15, it is arranged in described chassis running gear 1;
Translational drive mechanism 3, it drives described robot system 8 to move along described robot translation system;
Fork-shaped lifting device 11, it is supported the top being arranged at described chassis running gear 1 by hydraulic system;
Extending apparatus 14, it can be arranged on the top of described chassis running gear 1 with stretching out along described chassis running gear 1 both sides;
Wherein, described elevating mechanism 15 rises, described extending apparatus 14 stretches out along the Width of described chassis running gear 1, described fork-shaped lifting device 11 lifting wheel is right, form the walking space of described robot system 8, described translational drive mechanism 3 drives described robot system 8 to move to the right opposite side of wheel from the below of described fork-shaped lifting device 11, and the both sides that robot system 8 is realized when described chassis running gear 1 does not move wheel is right switch flaw detection.
In another kind of example, also comprise: guide post mechanism 7, hook pawl framework 10 and fork-shaped runner swing arm 16, described guide post mechanism 7 supports the outside that described elevating mechanism 15 is arranged on described robot translation system, track is pushed down to be rotated down in the top that described hook pawl framework 10 can be rotatably set in described fork-shaped lifting device 11, described fork-shaped runner swing arm 16 can be rotatably set on described fork-shaped lifting device 11 along rotating shaft 12, and the wheel that described fork-shaped runner swing arm 16 assists described fork-shaped lifting device 11 to bear lifting is right.
In another kind of example, also comprise: probe assembly 9, its direction of extension along described robot system 8 is spaced apart and arranged in one end of described robot system 8, by robot system carrying and conveying mechanism as probe assembly 9, realize on a direct of travel, robot system respectively can be taken turns detecting a flaw on bogie.
In another kind of example, also comprise: electrical control cabinet, ultrasonic switch board and coupled system, described electrical control cabinet, ultrasonic switch board and coupled system are all arranged on the side of described chassis running gear, and described coupled system provides coupling liquid for detecting flaw of wheel face.
In another kind of example, described guide post mechanism 7 is two pairs of guide pillars, described guide pillar is separately positioned on the both sides of described robot translation system near the inside edge of robot translation system 8 perpendicular to described chassis running gear 1, described guide pillar is 1 ~ 20cm apart from the distance of described robot translation system inside edge.Further, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.When implementing the utility model, different enforcement aspects can be selected according to the function of guide post mechanism or setting position difference.
In another kind of example, described fork-shaped lifting device is provided with interior probe assembly 13 near the side of flaw detection wheel.
In another kind of example, described chassis running gear 1 comprises hoofing part unit 4 and road wheel 2, and described road wheel 2 is arranged at the below of described chassis running gear 1, and described hoofing part unit 4 drives described road wheel 2 to drive chassis running gear 1 to walk.Further, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.When implementing the utility model, different enforcement aspects can be selected according to the structure of chassis running gear and function.
In another kind of example, the maximum height that described elevating mechanism 15 is elevated is greater than the height of described robot system 8, when making described elevating mechanism be elevated to maximum height, described robot system can move to opposite side from the space, bottom of equipment, and robot system moves normally carries out.Further, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.When implementing the utility model, different enforcement aspects can be selected according to the setting of robot system and shape.
A kind of way of realization of the present utility model is:
Defectoscope equipment is arranged in chassis running gear 1, and chassis running gear is by hoofing part unit 4 ground-engaging wheel 2, and the Auxiliary Track under track bridge moves.Equipment stops coarse positioning close to wheel, elevating mechanism 15 rises along guide rail mechanism, extending apparatus 14 stretches out, forked type lifting device 11 lifting wheel is right, hook pawl framework 10 simultaneously and push down track downwards, interior probe assembly 13 stretches out inside the rim for automobile wheel that reclines, fork-shaped runner swing arm 16 lifting wheel to and runner, all the time ensure that guide rail mechanism 7 center is consistent to wheel rim medial center with wheel, translational drive mechanism drives lead screw pair 5 and planker 6, robot system 8 is carried probe assembly 9 and is moved to wheel to side, robot system 8 carries probe assembly 9, cling on wheel tread according to setting program, coupling liquid starts, roller rotates, flaw detection.Robot system 8 carries probe assembly 9, according to setting program robot system by taking turns right left and right A and B both sides switch operating in the middle of device bottom, can once realize taking turns 18 detecting a flaw to the right front B1 of the left front A1 in A side and left back A2, B side and B2 region, right back.
This defectoscope everything adopts hydraulic pressure, motor to drive and robot system combines, and simplified apparatus structure, improves outward appearance, is convenient to safeguard.Equipment primarily of chassis running gear, elevating mechanism, extending apparatus, the fork-shaped runner swing arm of forked type lifting device, robot translation system, electrical control cabinet, ultrasonic switch board, robot system, coupled system, hydraulic system and probe assembly
During for solving existing equipment flaw detection, probe assembly topworks is fixed on side, can only realize detecting a flaw to wheel side at wheel.Motor-car and engine truck wheel have cowcatcher and spread tube to outside, and wheel is to reasons such as motor limited inside space, want wheel to not having obstacle side to detect a flaw, probe assembly topworks must carry out complicated sports equipment and turns to or rotate, for raising the efficiency and meeting on-the-spot flaw detection requirement, through the ingenious layout of refinement, the robot station conveying mechanism of design specialized, realize on a direct of travel, robot system can not fall to taking turns detecting flaw of wheel machine to bogie is respectively taken turns to what detect a flaw.
Also have for defectoscope both sides brace summer hook and top wheel carrier separate, and be positioned at the both sides of longitudinal rail, when top wheel carrier is by wheel jack-up, when brace summer hook bears the power of jack-up wheel, bottom is fixed on pedestal, the intensity of the brace summer hook that separate and center of gravity is higher is more weak, and easy distortion even fractures, thus causes the accident hooking claw disengaging vehicle rail to occur.Lifting and the hook pawl of the new equipment for this reason designed and developed adopt two guide pillar, and fork-shaped swing arm rotaring wheel structure, effectively raises equipment Rigidity and strength, avoids local interference problem simultaneously.
Here the number of devices illustrated and treatment scale are used to simplify explanation of the present utility model.Mobile robot's through type of the present utility model is not fallen to taking turns the application of detecting flaw of wheel machine, modifications and variations will be readily apparent to persons skilled in the art.
As mentioned above, according to the utility model, due to by probe assembly being arranged on movable machine robot system, make robot system can move to wheel in the space, bottom of equipment to opposite side, realize on a direct of travel, when running into wheel to when having a side to have an obstacle, robot system can be detected a flaw to the four direction of both sides to wheel each on bogie, do not need probe assembly topworks must carry out complicated sports equipment turn to or rotate, improve flaw detection efficiency; Coordinates with hook pawl framework owing to arranging the swing arm of fork-shaped runner, avoid brace summer to hook pawl and bear separately jack-up and take turns right power and be easily out of shape and even fracture, effectively improve equipment Rigidity and strength, avoid locally interference problem simultaneously; The movement that equipment due to the utility model defectoscope is set to robot system provides enough mobile spaces, and make robot moving system move to the right opposite side of wheel in the space, bottom of equipment, structure is simple, easy to operate.
Although embodiment of the present utility model is open as above, it is not restricted to listed in instructions and embodiment utilization.It can be applied to various applicable field of the present utility model completely.For those skilled in the art, can easily realize other amendment.Therefore do not deviating under the universal that claim and equivalency range limit, the utility model is not limited to specific details and illustrates here and the legend described.
Claims (8)
1. mobile robot's through type does not fall to taking turns a detecting flaw of wheel machine, it is characterized in that, comprising:
Chassis running gear;
Robot translation system, it is arranged in described chassis running gear along described chassis running gear length direction;
Robot system, it is connected to described robot translation system movably;
Elevating mechanism, it is arranged in described chassis running gear;
Translational drive mechanism, it drives described robot system to move along described robot translation system;
Fork-shaped lifting device, it is supported the top being arranged at described chassis running gear by hydraulic system;
Extending apparatus, it can be arranged on the top of described chassis running gear with stretching out along described chassis running gear both sides;
Wherein, described elevating mechanism rises, described extending apparatus stretches out along the Width of described chassis running gear, described fork-shaped lifting device lifting wheel is right, form the walking space of described robot system, described translational drive mechanism drives described robot system to move to the right opposite side of wheel from the below of described fork-shaped lifting device, and the both sides that robot system is realized when described chassis running gear does not move wheel is right switch flaw detection.
2. mobile robot's through type as claimed in claim 1 does not fall to taking turns detecting flaw of wheel machine, it is characterized in that, also comprise: guide post mechanism, hook pawl framework and the swing arm of fork-shaped runner, described guide post mechanism supports the outside that described elevating mechanism is arranged on described robot translation system, track is pushed down to be rotated down in the top that described hook pawl framework can be rotatably set in described fork-shaped lifting device, the swing arm of described fork-shaped runner can be rotatably set on described fork-shaped lifting device along rotating shaft, and the wheel that the swing arm of described fork-shaped runner assists described fork-shaped lifting device to bear lifting is right.
3. mobile robot's through type as claimed in claim 1 does not fall to taking turns detecting flaw of wheel machine, and it is characterized in that, also comprise: probe assembly, its direction of extension along described robot system is spaced apart and arranged in one end of described robot system.
4. mobile robot's through type as claimed in claim 1 does not fall to taking turns detecting flaw of wheel machine, it is characterized in that, also comprise: electrical control cabinet, ultrasonic switch board and coupled system, described electrical control cabinet, ultrasonic switch board and coupled system are all arranged on the side of described chassis running gear, and described coupled system provides coupling liquid for detecting flaw of wheel face.
5. mobile robot's through type as claimed in claim 2 does not fall to taking turns detecting flaw of wheel machine, it is characterized in that, described guide post mechanism is two pairs of guide pillars, described guide pillar is separately positioned on the both sides of described robot translation system near the inside edge of robot translation system perpendicular to described chassis running gear, described guide pillar is 1 ~ 20cm apart from the distance of described robot translation system inside edge.
6. mobile robot's through type as claimed in claim 1 does not fall to taking turns detecting flaw of wheel machine, it is characterized in that, described fork-shaped lifting device is provided with interior probe assembly near the side of flaw detection wheel.
7. mobile robot's through type as claimed in claim 1 does not fall to taking turns detecting flaw of wheel machine, it is characterized in that, described chassis running gear comprises hoofing part unit and road wheel, described road wheel is arranged at the below of described chassis running gear, and road wheel described in described hoofing part unit drives drives the walking of chassis running gear.
8. mobile robot's through type as claimed in claim 1 does not fall to taking turns detecting flaw of wheel machine, it is characterized in that, the maximum height of described elevating mechanism lifting is greater than the height of described robot system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520465862.1U CN204758541U (en) | 2015-07-01 | 2015-07-01 | Mobile robot through type round wheel defectoscope that does not fall |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520465862.1U CN204758541U (en) | 2015-07-01 | 2015-07-01 | Mobile robot through type round wheel defectoscope that does not fall |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080663A (en) * | 2016-08-24 | 2016-11-09 | 北京主导时代科技有限公司 | Non-pulling wheel Xuan is repaiied and method of detection and lathe and failure detector assembly by railway train wheel |
| WO2018036509A1 (en) * | 2016-08-24 | 2018-03-01 | 北京主导时代科技有限公司 | Double-robot system for detecting flaw of rim or spoke |
| CN109239192A (en) * | 2018-10-19 | 2019-01-18 | 郑州铁路职业技术学院 | A kind of high speed train wheel carrying out flaw detection device |
-
2015
- 2015-07-01 CN CN201520465862.1U patent/CN204758541U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080663A (en) * | 2016-08-24 | 2016-11-09 | 北京主导时代科技有限公司 | Non-pulling wheel Xuan is repaiied and method of detection and lathe and failure detector assembly by railway train wheel |
| WO2018036509A1 (en) * | 2016-08-24 | 2018-03-01 | 北京主导时代科技有限公司 | Double-robot system for detecting flaw of rim or spoke |
| KR20180079432A (en) * | 2016-08-24 | 2018-07-10 | 베이징 리드 타임 사이언스 앤드 테크놀러지 코 엘티디. | A wheel rim and spoke fault detection system comprising two manipulators |
| KR102105518B1 (en) | 2016-08-24 | 2020-04-29 | 베이징 리드 타임 사이언스 앤드 테크놀러지 코 엘티디. | Wheel rim and spoke defect detection system with two manipulators |
| US10732148B2 (en) | 2016-08-24 | 2020-08-04 | Beijing Lead Time Science & Technology Co., Ltd. | Double-robot system for detecting flaw of rim or spoke |
| CN109239192A (en) * | 2018-10-19 | 2019-01-18 | 郑州铁路职业技术学院 | A kind of high speed train wheel carrying out flaw detection device |
| CN109239192B (en) * | 2018-10-19 | 2020-10-30 | 郑州铁路职业技术学院 | High-speed train wheel detection device that detects a flaw |
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