CN210942024U - Triangular wheel inspection robot applied to subway train inspection warehouse - Google Patents

Abstract

The utility model discloses a triangle wheel inspection robot applied to a subway vehicle train inspection warehouse, which comprises a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a supporting mechanism, two sets of driving mechanisms and four sets of walking mechanisms, wherein one end of the six-degree-of-freedom mechanical arm is installed on the main control box, and the other end of the six-degree-of-freedom mechanical arm is installed on the image acquisition module; for each set of driving mechanism, the driving mechanism respectively comprises a driving motor, a driving shaft, a first bevel gear mechanism and two second bevel gear mechanisms which are jointly installed on the main control box, and each second bevel gear mechanism is respectively connected with one traveling mechanism; for each running mechanism, each running mechanism comprises a support frame, and an intermediate rotating shaft, a wheel shaft, a support frame, a sun gear, a planetary gear and wheels which are jointly arranged on the support frame; the supporting mechanism comprises an electric push rod which is vertically arranged. The utility model discloses the size is less, remove in a flexible way and trench carries out automated inspection from top to bottom.

Description

Triangular wheel inspection robot applied to subway train inspection warehouse

Technical Field

The utility model belongs to the robot field, more specifically relates to a patrol and examine robot.

Background

At present, daily overhaul contents of urban rail metro vehicles in China are complicated and repetitive operation is multiple, a method that workers are mainly regarded as main tools and auxiliary tools is adopted, the problems of night work overhaul, easy fatigue of operators, easy false inspection and easy omission of inspection exist, overhaul efficiency is low, experience dependence is strong, multiple repetitive overhaul items exist, labor intensity of the operators is high, and the demands of the operators are large. Therefore, the robot replaces manpower to carry out daily inspection and maintenance operation on the urban rail metro vehicle, has practical requirements, and is very necessary for reducing the influence of human factors on quality control, improving the operation efficiency and reducing the personnel cost.

At present, similar products applied to urban rail transit subway vehicle bases are not found, and the similar products cannot adapt to the requirements of narrow and small urban rail transit subway vehicle base parking train inspection base ditches, complex environments with steps and flexible and convenient transportation between overhauling ditches.

SUMMERY OF THE UTILITY MODEL

To the above defect of prior art or improve the demand, the utility model provides a be applied to triangle wheel inspection robot in subway vehicle train inspection storehouse, its size is less, remove in a flexible way and can go up and down the trench and carry out automated inspection.

In order to achieve the above object, according to one aspect of the present invention, there is provided a triangle wheel inspection robot applied in a subway train inspection room, which is characterized by comprising a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a support mechanism, two sets of driving mechanisms and four sets of traveling mechanisms, wherein,

one end of the six-degree-of-freedom mechanical arm is mounted on the main control box, and the other end of the six-degree-of-freedom mechanical arm is mounted with the image acquisition module;

for each set of driving mechanism, each driving mechanism comprises a driving motor, a driving shaft, a first bevel gear mechanism and two second bevel gear mechanisms which are jointly installed on the main control box, the driving motor is connected with the driving shaft through the first bevel gear mechanism, the driving shaft is horizontally arranged, the axis of the driving shaft extends along the front-back direction, and the front end and the rear end of the driving shaft are respectively provided with one second bevel gear mechanism;

each second bevel gear mechanism is connected with one walking mechanism;

for each running mechanism, each running mechanism comprises a support frame, and an intermediate rotating shaft, a wheel shaft, a support frame, a sun gear, planetary gears and wheels which are jointly installed on the support frame, wherein the intermediate rotating shaft is horizontally arranged and is vertical to a driving shaft, the intermediate rotating shaft is installed on a main control box through a bearing, one end of the intermediate rotating shaft is connected with the second bevel gear mechanism, the other end of the intermediate rotating shaft is installed on the support frame through a bearing, the sun gears are fixedly penetrated on the intermediate rotating shaft, the planetary gears are three in number and are arranged in a triangle, each planetary gear is respectively meshed with the sun gear and is respectively and fixedly installed with one wheel shaft, each wheel shaft is respectively installed on the support frame through a bearing, and each wheel shaft is respectively and fixedly installed with one wheel;

the supporting mechanism comprises an electric push rod which is vertically arranged.

Preferably, the main control box comprises a box shell, and a robot main board, acquisition system hardware, a motor driver and a main controller which are arranged in the box shell, wherein the main controller is respectively connected with the robot main board, the acquisition system hardware and the motor driver.

Preferably, the image acquisition module comprises an image acquirer, and the image acquirer comprises a two-dimensional image acquirer and/or a three-dimensional image acquirer.

Preferably, the image acquisition module further comprises a searchlight.

Preferably, three planetary gears of each set of the running mechanism are arranged in a regular triangle.

Preferably, the supporting mechanism further comprises a pin shaft, a fixed buckle, a connecting frame and a supporting wheel, the electric push rod is installed on the main control box through the fixed buckle, the connecting frame is connected to the electric push rod through the pin shaft, and the supporting wheel is connected to the connecting frame.

Preferably, the panoramic scanning device further comprises a panoramic scanning camera, wherein the panoramic scanning camera is installed on the main control box.

Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:

1) the inspection robot is connected with the maintenance task of the comprehensive detection service platform, can automatically walk, accurately position and automatically detect in the subway vehicle maintenance trench under the condition of no human intervention, can cross the maintenance trench, realize independent transportation among different trenches, detect the faults of deformation, looseness, foreign matters, deletion and the like of target components at the bottom and the side of a vehicle, and send images and fault data to the maintenance task of the comprehensive detection service platform for analysis processing.

2) The robot can flexibly transfer the upper and lower trench steps and the trench. The robot runs in a trench pair, the target components at the bottom and the side of the vehicle are detected by the six-degree-of-freedom mechanical arm and the image acquisition module by taking the carriage as a unit, and the detection data are wirelessly transmitted to the comprehensive data detection service platform for analysis and processing.

3) This inspection robot compares traditional manual work, has reduced the omission factor, has improved the efficiency and the quality of detection and has practiced thrift the human cost.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a front view of the traveling mechanism of the present invention;

FIG. 3 is an exploded view of a part of the structure of the traveling mechanism of the present invention;

fig. 4 is a schematic structural diagram of the supporting mechanism of the present invention;

fig. 5 is an exploded view of the support mechanism of the present invention;

fig. 6 is a schematic view of the arrangement of the driving mechanism and the running mechanism on the main control box.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 to 6, a triangle wheel inspection robot applied in a subway train inspection warehouse comprises a main control box 1, a six-degree-of-freedom mechanical arm 3, an image acquisition module 5, a supporting mechanism 4, two sets of driving mechanisms and four sets of traveling mechanisms 2, wherein,

one end of the six-degree-of-freedom mechanical arm 3 (namely, a base of the six-degree-of-freedom mechanical arm 3) is mounted on the main control box 1, the other end of the six-degree-of-freedom mechanical arm 3 (namely, the tail end of the six-degree-of-freedom mechanical arm 3) is mounted with the image acquisition module 5, and the six-degree-of-freedom mechanical arm 3 can adjust the posture of the image acquisition module 5 through the swinging and rotation of each joint so as to ensure that the inspection robot can carry out omnibearing inspection on target components at the bottom;

for each set of the driving mechanisms, each set of the driving mechanisms comprises a driving motor 20, a driving shaft 19, a first bevel gear mechanism 18 and two second bevel gear mechanisms 21 which are commonly installed on the main control box 1, the driving motor 20 is preferably the driving motor 20 and is connected with the driving shaft 19 through the first bevel gear mechanism 18, the driving shaft 19 is horizontally arranged and the axis of the driving shaft extends along the front-back direction, and the front end and the back end of the driving shaft 19 are respectively provided with one second bevel gear mechanism 21;

each second bevel gear mechanism 21 is connected with one walking mechanism 2;

each running gear 2 comprises a support frame 8, an intermediate rotating shaft 12, a wheel shaft 11, a support frame 8, a sun gear, planet gears 10 and wheels 9 which are jointly installed on the support frame 8, the intermediate rotating shaft 12 is horizontally arranged and is vertical to a driving shaft 19, the intermediate rotating shaft 12 is installed on the main control box 1 through a bearing 7, one end of the intermediate rotating shaft 12 is connected with the second bevel gear mechanism 21, the other end of the intermediate rotating shaft is installed on the support frame 8 through the bearing 7, the sun gear is fixedly penetrated on the intermediate rotating shaft 12, the planet gears 10 are three in number and are arranged in a triangle, preferably, three planet gears 10 of each set of running gear 2 are arranged in a regular triangle, each planet gear 10 is respectively meshed with the sun gear and is respectively fixedly installed with one wheel shaft 11, each wheel shaft 11 is respectively installed on the support frame 8 through a bearing 7, and each wheel shaft 11 is respectively fixedly installed with one wheel 9; the sun gear is driven by the driving force from the middle rotating shaft 12 and drives the planetary gears 10 meshed with the sun gear, so that each wheel 9 can rotate independently, when the walking mechanism 2 touches a step, the whole walking mechanism can rotate around the axis of the middle rotating shaft 12 to go up and down the step, and the flexible transfer of the inspection robot between ditches is realized.

Driving motor 20 mutually supports with first bevel gear mechanism 18 and second bevel gear mechanism 21, can realize the output of 19 different speeds of drive shaft and moment of torsion, when going on the land, can drive the robot and advance, retreat, pivot turn to and go up the bench, and the drive ratio of first bevel gear mechanism 18 and second bevel gear mechanism 21 can be selected according to actual need.

The supporting mechanism 4 comprises an electric push rod 13 which is vertically arranged and is used for jacking the two sets of running mechanisms 2 at the front end of the main control box 1 or the two sets of running mechanisms 2 at the rear end of the main control box 1.

Further, the main control box 1 comprises a box body shell, and a robot main board, an acquisition system hardware, a motor driver and a main controller which are arranged in the box body shell, wherein the main controller is respectively connected with the robot main board, the acquisition system hardware and the motor driver and is used for coordinating the operation among the walking mechanisms 2, the six-degree-of-freedom mechanical arm 3 and the image acquisition module 5, and the inspection robot has the capability of accurately positioning the parking position of the detected subway vehicle, the main controller is connected with a comprehensive data detection service platform to transmit image data to the comprehensive data detection service platform for analysis and processing, the comprehensive data detection service platform analyzes and judges the image data transmitted by the main controller, and the abnormal states of target components at the bottom and the side of the vehicle are identified through pattern recognition, feature matching and deep learning, and finally, writing the overhaul report into a subway vehicle file management system of the comprehensive data detection service platform for recording.

Further, the image capturing module 5 includes an image capturing device and a searchlight, and the image capturing device includes a two-dimensional image capturing device and/or a three-dimensional image capturing device. The image acquisition module 5 is preferably mounted on the six-degree-of-freedom mechanical arm 3 through an image acquisition module 5 mounting seat. The two-dimensional image collector and the three-dimensional image collector can respectively obtain two-dimensional images and three-dimensional images of a set target component, and can perform work such as state recognition, parameter measurement and the like on the target component based on the two-dimensional images and the three-dimensional images and recognize faults such as deformation, looseness, foreign matters, loss and the like of a specified component at the bottom of the vehicle. The detection of visible key components such as a traction device, a wheel set, a motor end cover, a vehicle body chassis, a vehicle end connecting part, a bogie, a brake and a gear box of the subway vehicle is realized, the amount of manual labor is reduced to a great extent, and the detection efficiency is improved.

Further, the supporting mechanism 4 further comprises a pin shaft 14, a fixing buckle 15, a connecting frame 16 and a supporting wheel 17, the electric push rod 13 is installed on the main control box 1 through the fixing buckle 15, the connecting frame 16 is connected on the electric push rod 13 through the pin shaft 14, and the supporting wheel 17 is connected on the connecting frame 16. The supporting wheels 17 can move up and down under the driving of the electric push rod 13, when the supporting wheels 17 move down to support one end of the robot, two sets of walking mechanisms 2 are suspended, the driving motors 20 on the left side and the right side provide rotating speeds in different directions, the wheels 9 of the walking mechanisms 2 on the left side and the right side can obtain driving forces in opposite directions, and the polling robot can realize in-situ steering by matching with the supporting wheels 17.

Further, the utility model discloses still include panoramic scanning camera 6, panoramic scanning camera 6 is installed on main control box 1, in order to be used for with main control box 1 cooperation comes the position of location train and control to walk the removal of running gear 2 and keeps away the barrier and through walking the ditch about running gear 2 comes. After receiving the polling task, the polling robot leaves the parking space, and positions the subway vehicle and moves to avoid the obstacle through the cooperation of the panoramic scanning camera 6 and the main controller; the trench is walked down through the walking mechanism 2; the six-degree-of-freedom mechanical arm 3 acts, and the image data of target parts at the bottom and the side of the subway vehicle are acquired by the image acquisition module 5 to detect the faults at the bottom and the side of the subway vehicle.

Further, the inspection robot receives the maintenance task of the comprehensive data detection service platform to the next train after completing the image acquisition of one train, the main control box 1 generates the nearest route for transferring the trench, the current nearest maintenance stand column is determined and arrives at the maintenance stand column through the panoramic scanning camera, the inspection robot turns around in situ, the walking mechanism 2 climbs the step beside the maintenance stand column, the walking mechanism passes through the passageway between the two maintenance routes, and the maintenance task of the trench is executed after the step of the other maintenance route descends into the other trench.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. For example, "front", "rear", "left" and "right" of the present invention are shown in the directions of the inspection robot moving forward and backward in fig. 1.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. A triangle wheel inspection robot applied to a subway train inspection warehouse is characterized by comprising a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a supporting mechanism, two sets of driving mechanisms and four sets of traveling mechanisms, wherein,

one end of the six-degree-of-freedom mechanical arm is mounted on the main control box, and the other end of the six-degree-of-freedom mechanical arm is mounted with the image acquisition module;

for each set of driving mechanism, each driving mechanism comprises a driving motor, a driving shaft, a first bevel gear mechanism and two second bevel gear mechanisms which are jointly installed on the main control box, the driving motor is connected with the driving shaft through the first bevel gear mechanism, the driving shaft is horizontally arranged, the axis of the driving shaft extends along the front-back direction, and the front end and the rear end of the driving shaft are respectively provided with one second bevel gear mechanism;

each second bevel gear mechanism is connected with one walking mechanism;

for each running mechanism, each running mechanism comprises a support frame, and an intermediate rotating shaft, a wheel shaft, a support frame, a sun gear, planetary gears and wheels which are jointly installed on the support frame, wherein the intermediate rotating shaft is horizontally arranged and is vertical to a driving shaft, the intermediate rotating shaft is installed on a main control box through a bearing, one end of the intermediate rotating shaft is connected with the second bevel gear mechanism, the other end of the intermediate rotating shaft is installed on the support frame through a bearing, the sun gears are fixedly penetrated on the intermediate rotating shaft, the planetary gears are three in number and are arranged in a triangle, each planetary gear is respectively meshed with the sun gear and is respectively and fixedly installed with one wheel shaft, each wheel shaft is respectively installed on the support frame through a bearing, and each wheel shaft is respectively and fixedly installed with one wheel;

the supporting mechanism comprises an electric push rod which is vertically arranged.

2. The triangular wheel inspection robot applied to the metro vehicle train inspection library according to claim 1, wherein the main control box comprises a box body shell, and a robot main board, acquisition system hardware, a motor driver and a main controller which are installed in the box body shell, and the main controller is respectively connected with the robot main board, the acquisition system hardware and the motor driver.

3. The triangular wheel inspection robot applied to the train inspection warehouse of the subway vehicles as claimed in claim 1, wherein said image acquisition module comprises an image collector, and said image collector comprises a two-dimensional image collector and/or a three-dimensional image collector.

4. The triangular wheel inspection robot applied to the train inspection warehouse of the subway vehicles as claimed in claim 3, wherein the image acquisition module further comprises a searchlight.

5. The triangular wheel inspection robot applied to the metro vehicle train inspection warehouse as claimed in claim 1, wherein three planetary gears of each set of the traveling mechanism are arranged in a regular triangle.

6. The triangular wheel inspection robot applied to the metro vehicle train inspection warehouse according to claim 1, wherein the supporting mechanism further comprises a pin shaft, a fixing buckle, a connecting frame and a supporting wheel, the electric push rod is installed on the main control box through the fixing buckle, the connecting frame is connected to the electric push rod through the pin shaft, and the supporting wheel is connected to the connecting frame.

7. The triangular wheel inspection robot applied to the train inspection warehouse of the subway vehicles as claimed in claim 1, further comprising a panoramic scanning camera, wherein the panoramic scanning camera is installed on the main control box.

Images