CN212556235U

CN212556235U - Motor train unit vehicle bottom detection system

Info

Publication number: CN212556235U
Application number: CN202021424062.2U
Authority: CN
Inventors: 金强; 商月; 张天浩; 王东; 杨名; 高研; 付占营
Original assignee: TANGSHAN BAICHUAN INTELLIGENT MACHINE CO Ltd
Current assignee: TANGSHAN BAICHUAN INTELLIGENT MACHINE CO Ltd
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2021-02-19
Anticipated expiration: 2030-07-20

Abstract

The utility model discloses a motor train unit vehicle bottom detection system, including detection car and two swing arm telescopic running gear, be provided with the flexible drive arrangement that drives detection car motion on the track on the detection car, two swing arm telescopic running gear set sets up respectively at the both ends of detection car to under the flexible drive arrangement state of retracting, drive detection car break away from or move to on the track from the track; after the detection vehicle moves to the track, the telescopic driving device extends out to be in contact with the track. The detection system realizes common rail walking with the train set, does not need to lay a rail on site, can be directly deployed, can independently realize independent switching of different strand rails, and has very high practicability.

Description

Motor train unit vehicle bottom detection system

Technical Field

The utility model relates to a track traffic vehicle overhauls device field, in particular to EMUs vehicle bottom detecting system.

Background

At present, daily detection of the bottom of the train and the running part mainly depends on manual work, and due to the fact that parts of the bottom of the train and the running part are numerous, the labor intensity of maintenance personnel is high, and detection holes inevitably appear due to fatigue of the maintenance personnel working at high intensity for a long time. In addition, during manual maintenance operation, due to the fact that the shielding of some parts enables the visual field of maintenance personnel to be limited, part of parts cannot be detected, and potential safety hazards exist in train operation. The existing mechanical arm is matched with an industrial camera to detect the bottom and the running part of the train, the tracks need to be laid on site, the site construction difficulty is high, the cost is high, the operation can only be carried out from one track to the inside, multiple sets of detection equipment need to be configured during the detection of multiple tracks, and the investment cost is huge.

SUMMERY OF THE UTILITY MODEL

To the technical problem, the utility model provides a simple structure, convenient to use does not need additionally to lay the track, and single equipment can realize the EMUs vehicle bottom detecting system that the multitrack detected.

In order to solve the technical problem, the utility model discloses the technical scheme who takes is: the utility model provides a EMUs vehicle bottom detecting system, including detecting car and the flexible running gear of two swing arms, it drives to be provided with on the car to detect the flexible drive arrangement of car motion on the track, two the flexible running gear of swing arm is installed rotary type about respectively the both ends of detecting the car, and under the flexible drive arrangement withdrawal state, drive it breaks away from or moves to the track on the track to detect the car, detect the car and move back on the track, flexible drive arrangement stretches out and contacts with the track.

The utility model provides a two flexible running gear rotary types of swing arm of EMUs vehicle bottom detecting system install at the both ends of detecting the car, and two flexible running gear of swing arm upwards or the downswing can drive and detect the car and move on the track or break away from the track, and flexible drive arrangement and the flexible running gear of swing arm adopt all be the form of expansion pulley, can make the walking wheel of detecting the car bypass the wheel pair that stops on the track train and sand spreader. The detection system realizes common rail walking with the train set, does not need to lay a rail on site, can be directly deployed, can independently realize independent switching of different strand rails, and has very high practicability.

Drawings

The present invention will be further explained with reference to the accompanying drawings:

FIG. 1 is a schematic structural view of a motor train unit train bottom detection system provided by the utility model;

FIG. 2 is a schematic diagram of a telescopic driving device in a motor train unit vehicle bottom detection system;

FIG. 3 is a schematic view of a retractable wheel assembly in the motor train unit underbody detection system;

FIG. 4 is a field schematic diagram of a motor train unit vehicle bottom detection system in a working state;

FIG. 5 is a field schematic view of the motor train unit vehicle bottom detection system when being separated from the track.

Reference numerals:

100-vehicle body, 110-telescopic driving device, 111-mounting plate, 112-electric cylinder, 113-vehicle body carrier beam, 114-driving motor, 115-planetary reducer travelling wheel, 116-vehicle-mounted sliding rail, 117-vehicle-mounted sliding block, 118-hinged seat, 119-guide wheel, 120-mechanical arm, 130-detection device, 140-vehicle bottom scanning device, 150-main controller, 160-lifting device, 170-mounting seat, 210-swing arm, 220-electric telescopic cylinder, 230-telescopic wheel assembly, 231-speed reduction motor, 232-driven wheel assembly, 233-driving belt, 234-swing arm carrier beam, 235-driving motor, 236-fixing piece, 237-swing arm sliding block, 238-swing arm sliding rail, 240-connecting beam, 112-electric cylinder, 113-vehicle body carrier beam, 114-driving motor, 140-vehicle bottom scanning device, 150-main controller, 251-hollow traveling motor, 252-hollow speed reducer, 253-hollow traveling wheel.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

As shown in fig. 1 to 5, the utility model provides a EMUs vehicle bottom detecting system, including detecting the car and the flexible running gear of two swing arms, be provided with on the detection car and drive the flexible drive arrangement 110 that detects the car and move on the track, rotary type is installed at the both ends that detect the car about two swing arm flexible running gear difference to under flexible drive arrangement 110 withdrawal state, drive and detect the car and break away from or move to the track on the track, detect the car and move to the track on the back, flexible drive arrangement 110 stretches out and contacts with the track.

The two swing arm telescopic traveling devices of the motor train unit vehicle bottom detection system are rotatably mounted at two ends of the detection vehicle, the two swing arm telescopic traveling devices swing upwards or downwards and can drive the detection vehicle to move to a track or be separated from the track, and the telescopic driving device and the swing arm telescopic traveling devices adopt telescopic wheels, so that traveling wheels of the detection vehicle can bypass wheel sets and sand spreaders stopped on a train on the track. The detection system realizes common rail walking with the train set, does not need to lay a rail on site, can be directly deployed, can independently realize independent switching of different strand rails, and has very high practicability.

As an implementation manner, the detection vehicle further includes a vehicle body 100, at least two telescopic driving devices 110, a main controller 150 and a vehicle bottom scanning device 140, wherein the detection device 130 is mounted on the mechanical arm 120, and the main controller 150 and the vehicle bottom scanning device 140 are mounted on the vehicle body 100, the at least two telescopic driving devices 110 are fixedly mounted on the vehicle body 100, the extending direction of the at least two telescopic driving devices is perpendicular to the track, the mechanical arm 120 is slidably mounted on the vehicle body 100, and the mechanical arm 120, the detection device 130 and the vehicle bottom scanning device 140 are in communication.

The mechanical arms 120 correspond to the detection devices 130 one by one, one detection device 130 is mounted on each mechanical arm 120, the telescopic driving devices 110 can drive the vehicle body 100 to move along the rails, and in a normal working state, the two swing arm 210 telescopic traveling devices and the at least two telescopic driving devices 110 both travel on the rails and support the weight of the detection vehicle together. When the detection vehicle runs on the track and meets a locomotive wheel pair or a sand spreader, the swing arm telescopic running device at the forefront side controls the telescopic wheel to retract and separate from the track under the control of the main controller 150, the swing arm telescopic running device keeps the state and does not fall down, and after the detection vehicle passes through the locomotive wheel pair or the sand spreader, the swing arm telescopic running device at the forefront side extends out of the telescopic wheel to be in contact with the track under the control of the main controller 150 to bear the weight of the detection vehicle. The detection vehicle continues to advance, the main controller 150 controls the retractable wheels of the adjacent retractable driving devices 110 to retract, the retractable wheels extend out to be in contact with the track after passing through the locomotive wheel pairs or the sander area until the whole detection system passes through the locomotive wheel pairs or the sander area, and common rail walking of the detection system and the locomotive is achieved. The detection device 130 can perform all-directional detection on the bottom of the locomotive under the driving of the robot arm 120. Further, the robot arm 120 may be provided in plural, and may be symmetrically installed on the vehicle body 100 to collectively receive the control of the main controller 150. In order to perform an omnidirectional detection on the bottom of the locomotive, at least one vehicle bottom scanning device 140 may be further disposed on the locomotive body 100. In order to realize common rail walking better, the two swing arm telescopic walking devices and the at least two telescopic driving devices 110 are provided with in-place detection devices 130, detection signals can be sent to the main controller 150, the main controller 150 simultaneously controls the two swing arm telescopic walking devices and the two telescopic driving devices 110 to extend out or retract, and the main controller 150 judges and controls the corresponding telescopic wheels to retract according to the received detection signals so as to avoid locomotive wheel pairs or a sand sprayer. The telescopic driving device 110 in the technical scheme of the application is two and is respectively installed at the position close to the two ends of the detection vehicle.

As an implementation manner, the telescopic driving device 110 includes a mounting plate 111 and a first driving assembly and a second driving assembly having the same structure, the mounting plate 111 is fixed on the vehicle body 100, the first driving assembly and the second driving assembly are symmetrically installed at two ends of the mounting plate 111, each of the first driving assembly and the second driving assembly includes a planetary reducer traveling wheel 115, a driving motor 114, a vehicle body carrier beam 113, and an electric cylinder 112, the electric cylinder 112 is fixed on an articulated seat 118 in the middle of the mounting plate 111, the vehicle body carrier beam 113 is slidably installed on a vehicle-mounted sliding rail 116 on the mounting plate 111 through a vehicle-mounted slider 117, the vehicle-mounted sliding rail 116 is disposed along the length direction of the mounting plate 111, one end of the vehicle body carrier beam 113 is fixedly connected with the electric cylinder 112, and the planetary reducer traveling wheel 115 is fixed at the other end of the vehicle.

First drive assembly and second drive assembly adopt the form of symmetry to install on mounting panel 111, bear the weight of and detect the stability of car better, also be more convenient for simultaneously control planetary reducer road wheel 115 retract in order to avoid locomotive wheel pair or sander simultaneously. The electric cylinder 112 is slidably mounted in cooperation with the vehicle body bearing beam 113, so that the expansion and contraction control of the electric cylinder 112 is more accurate. The electric cylinder 112 extends or retracts under the control of the main controller 150, and the extension or retraction of the planetary reducer road wheels 115 is controlled.

Further, the electric cylinder 112 and the vehicle body bearing beam 113 are in a form of combining a vehicle-mounted sliding rail 116 and a vehicle-mounted sliding block 117, the vehicle-mounted sliding rail 116 is arranged along the length direction of the mounting plate 111, the vehicle-mounted sliding block 117 is fixedly mounted on the vehicle body bearing beam 113, and the vehicle-mounted sliding block 117 is connected with the vehicle-mounted sliding rail 116 in a sliding manner.

By adopting the mode of combining the sliding block and the sliding rail, the vehicle body bearing beam 113 can only move along the sliding rail under the action of the sliding block, and a good guiding effect is achieved for the movement of the vehicle body bearing beam 113 and the planetary reducer travelling wheel 115. Meanwhile, after the travelling wheels 115 of the planetary reducer extend out to contact with the track, the weight of the detection vehicle can be better borne.

As an implementation mode, the telescopic driving device 110 further comprises a catch wheel, wherein the catch wheel is fixedly installed on the vehicle body bearing beam 113 and is positioned at the inner side of the planetary reducer road wheel 115; the longitudinal section of the catch wheel is trapezoidal, and after the vehicle body bearing beam 113 extends out, the catch wheel is contacted with the inner side wall of the track.

The setting of fender wheel can be fixed a position for what automobile body carrier bar 113's of planetary reducer walking wheel 115 the volume of stretching out, and when planetary reducer walking wheel 115 stretched out the track top, fender wheel and orbital inside wall contact avoided planetary reducer walking wheel 115 to stretch out too much. When the detection vehicle moves along the track, the catch wheels are in real-time contact with the track. In order to better control the extension of the road wheels 115 of the planetary reducer and the bearing beams 113 of the vehicle body, an in-place detection device 130 can be arranged in a matched mode, and after the catch wheels are in contact with the track, the main controller 160 controls the electric cylinder 112 to stop working.

As an implementation manner, the swing arm telescopic walking device includes a swing arm 210, an electric telescopic cylinder 220, a connecting beam 240 and a telescopic wheel assembly 230, wherein one end of the swing arm 210 is rotatably mounted on the vehicle body 100, two ends of the electric telescopic cylinder 220 are rotatably mounted on the vehicle body 100 and the swing arm 210, the electric telescopic cylinder 220 and the vehicle body 100 form a triangle, the connecting beam 240 is fixed at the other end of the swing arm 210, and the telescopic wheel assembly 230 is mounted on the connecting beam 240.

Swing arm 210 and electronic telescoping cylinder 220 adopt the form of rotary type installation, have made things convenient for electronic telescoping cylinder 220 to drive the motion that swing arm 210 makes progress or downwards, and when swing arm 210 made progress or downwards motion, electronic telescoping cylinder 220 can carry out the regulation of angle along with swing arm 210's motion, and is more convenient nimble to swing arm 210's regulation. Furthermore, the swing arm 210, the electric telescopic cylinder 220 and the vehicle body 100 form a triangular structure, the extending length of the electric telescopic cylinder 220 is changed, the included angle between the swing arm 210 and the vehicle body 100 can be adjusted, and the up-and-down swinging of the swing arm 210 is further controlled. Meanwhile, the triangular structure is more stable.

As an implementation manner, the retractable wheel assembly 230 includes a first retractable transmission assembly, a second retractable transmission assembly and a driving device, the first retractable transmission assembly and the second retractable transmission assembly are slidably mounted at positions of the connecting beam 240 near two ends, the driving device is mounted on the connecting beam 240, and one end of each of the first retractable transmission assembly and the second retractable transmission assembly is fixedly connected to the driving device and is driven by the driving device to retract or extend out of the connecting beam 240.

The driving device drives the first telescopic transmission assembly and the second telescopic sliding assembly to slide along the connecting beam 240 and extend out of the connecting beam 240 or retract into the area of the connecting beam 240, so that the swing arm telescopic walking device can avoid the track in the process of swinging upwards or downwards. When the swing arm device swings to the position below the track, the two swing arm telescopic traveling devices lift the detection vehicle to be separated from the track, and when the planetary reducer traveling wheels 115 on the telescopic driving device 110 retract, the planetary reducer traveling wheels 115 cannot be in contact with the track, so that the friction force of the planetary reducer traveling wheels 115 when retracting is reduced. When both the swing arm telescopic traveling devices are on the track, the two swing arm telescopic traveling devices and the telescopic driving device 110 can bear the weight of the detection vehicle together.

As an implementation manner, the driving device includes a speed reducing motor 231, a driven wheel device 232 and a transmission belt 233, the speed reducing motor 231 and the driven wheel device 232 are respectively and fixedly installed at two ends of the connecting beam 240, the transmission belt 233 is rotatably installed at output ends of the driven wheel device 232 and the speed reducing motor 231, the speed reducing motor 231 drives the transmission belt 233 to rotate, and one end of the first telescopic transmission assembly and one end of the second telescopic transmission assembly are fixed on the transmission belt 233.

Adopt the form that gear motor 231 and drive belt 233 combined together, when carrying out withdrawal or extension control to first flexible transmission subassembly and second flexible transmission subassembly, control accuracy and convenience more can be simultaneously first flexible transmission subassembly and second flexible transmission subassembly to controlling.

As an implementation manner, the first telescopic transmission assembly and the second telescopic transmission assembly have the same structure, and both the first telescopic transmission assembly and the second telescopic transmission assembly include a swing arm carrier 234, a fixing member 236, a driving motor 235 and a planetary reducer traveling wheel 115, the swing arm carrier 234 is slidably mounted on a connecting beam 240, one end of the swing arm carrier 234 is fixedly connected with a transmission belt 233 through the fixing member 236, the planetary reducer traveling wheel 115 is fixed at the other end of the swing arm carrier 234 through the driving motor 235, and the swing arm carrier 234 extends or retracts along the connecting beam 240 under the driving of the transmission belt 233.

Swing arm carrier bar 234 and tie-beam 240 adopt the form installation that swing arm slider 237 and swing arm slide rail 238 combined together, and swing arm slider 237 slides along swing arm slide rail 238, and swing arm slider 237 can play fine guide effect to swing arm carrier bar 234, and simultaneously, swing arm slider 237 can also provide fine support for swing arm carrier bar 234, has made things convenient for the transportation to detecting the car. Further, both sides of the fixing member 236 on the connecting beam 240 are provided with limit switches, the fixing member 236 moves under the driving of the driving belt 233, and after the corresponding limit switches are touched, the speed reduction motor 231 stops working, so that the first telescopic transmission assembly and the second telescopic transmission assembly are prevented from extending out or retracting for too long distance.

The swing arm telescopic walking device also comprises a walking wheel component and a guide wheel component;

the two traveling wheel assemblies are symmetrically and fixedly arranged at two ends of the connecting beam 240 and comprise a hollow traveling motor 251, a hollow speed reducer 252 and a hollow traveling wheel 253, the hollow speed reducer 252 is arranged at two ends of the connecting beam 240, the hollow traveling motor 251 is in transmission connection with the hollow speed reducer 252, and the hollow traveling wheel 253 is arranged on the hollow speed reducer 252 and is driven by the hollow speed reducer 252 to rotate;

the two guide wheel assemblies are respectively arranged on the swing arm bearing beam 234 of the first telescopic transmission assembly and the second telescopic transmission assembly and are positioned at the inner side of the traveling wheel 115 of the planetary reducer; the guide wheel assembly comprises at least two guide wheels 119, the distances between the at least two guide wheels 119 and the corresponding planetary reducer travelling wheels 115 are different, and the guide wheels are arranged on the corresponding swing arm bearing beams 234 in a staggered mode.

The position of the hollow road wheel 253 is fixed relative to the connecting beam 240, and the diameter of the hollow road wheel 253 is larger than that of the road wheel 115 of the planetary speed reducer, so that the hollow road wheel 253 can drive the detection vehicle to move on the ground conveniently. At least two leading wheels 119 of crisscross setting can provide the guide effect for the flexible running gear of swing arm under the normal detection state and the flexible running gear of swing arm under the track state of will striding respectively.

As shown in fig. 5, the schematic view of the site when the bottom of a vehicle such as a motor car is detected is a state where the rail is in contact with the ground. Further, the detection system also has the function of track crossing. When the rails need to be crossed, the detection vehicle moves to the position where the rails in the overhaul warehouse are crossed with the ground, the two swing arm telescopic traveling devices swing downwards under the control of the main controller 150, and the detection vehicle moves upwards under the action of the swing arm telescopic traveling devices and is separated from the rails. The detection vehicle is along the position that track form contacted with ground to the track, and at this moment, the detection vehicle has risen and breaks away from with the track under the flexible running gear's of swing arm effect, detects the vehicle and goes up star speed reducer walking wheel 115's on the flexible running gear of swing arm and drive down to the ground direction motion, and the leading wheel subassembly of setting can provide the guide effect for the flexible running gear's of swing arm walking, avoids the accident to drop from the track. As can be seen from fig. 5, the first telescopic transmission assembly and the second telescopic transmission assembly penetrate out from the middle of the hollow speed reducer 252, and the diameter of the hollow road wheel 253 is larger than that of the road wheel 115 of the planetary speed reducer, when the detection vehicle moves towards the ground, the hollow road wheel 253 contacts with the ground first, the road wheel 115 of the planetary speed reducer is separated from the track under the driving of the hollow road wheel 253, and the hollow traveling motor 251 drives the hollow road wheel 253 to rotate and drives the detection vehicle to separate from the track to travel on the ground. When steering is needed, the two hollow road wheels 253 are driven by the hollow road wheel motors 251 at the two ends of the connecting beam 240 to rotate at a differential speed, so that steering is realized. After the detection vehicle moves to the corresponding position of the target track, the two hollow traveling wheels 253 advance to the middle of the track, the planetary reducer traveling wheels 115 on the swing arm telescopic traveling devices are in contact with the track until the planetary reducer traveling wheels 115 on the two swing arm telescopic traveling devices are in contact with the track, the height of the detection vehicle is reduced under the driving of the swing arm telescopic traveling devices, and the telescopic driving device 110 on the detection vehicle is in contact with the track.

The whole process is controlled by the main controller 150, and the operation is carried out according to actual conditions.

As an implementation manner, the detection system further includes a mounting base 170 and a lifting device 160, the lifting device 160 is mounted on the vehicle body 100, the mounting base 170 is mounted on the lifting device 160 and is driven by the lifting device 160 to ascend or descend, and the robot arm 120 is mounted on the mounting base 170.

The mechanical arm 120 is mounted on the lifting device 160 through the mounting seat 170, so that the detectable space of the mechanical arm 120 is larger, and the bottom of the train can be better and more comprehensively detected.

The above embodiments are intended to be illustrative of the manner in which the invention may be made and used by persons skilled in the art, and modifications to the above embodiments will be apparent to those skilled in the art, and it is therefore intended that the invention, including but not limited to the above embodiments, be limited to any methods, processes and products consistent with the principles and novel and inventive features disclosed herein, and which are to be interpreted as illustrative and not in a limiting sense.

Claims

1. The utility model provides a EMUs vehicle bottom detecting system which characterized in that: including detecting car and the flexible running gear of two swing arms, it drives to be provided with on the car to detect the flexible drive arrangement of car motion on the track, two rotary type is installed about the flexible running gear of swing arm is the both ends of detecting the car about respectively, and under the flexible drive arrangement withdrawal state, drive detect the car and break away from or remove to the track on the track, detect the car and remove on the track back, flexible drive arrangement stretches out and contacts with the track.

2. The motor train unit underbody detection system of claim 1, characterized in that: detect the car still includes automobile body, arm, installs detection device on the arm and install master controller and vehicle bottom scanning device on the automobile body, flexible drive arrangement is two at least, two at least flexible drive arrangement fixed mounting be in on the automobile body, its extending direction is perpendicular with the track, the arm slidingtype is installed last of automobile body, the arm detection device and vehicle bottom scanning device with master controller communication connection.

3. The motor train unit underbody detection system of claim 2, characterized in that: flexible drive arrangement includes the same first drive assembly and the second drive assembly of mounting panel and structure, the mounting panel is fixed on the automobile body, first drive assembly with the second drive assembly symmetry is installed the both ends of mounting panel, first drive assembly with the second drive assembly all includes planetary reducer walking wheel, driving motor, automobile body carrier bar, electronic jar is fixed on the articulated seat at mounting panel middle part, the automobile body carrier bar passes through on-vehicle slider slidingtype and installs on the on-vehicle slide rail on the mounting panel, on-vehicle slide rail is followed the length direction of mounting panel sets up, the one end of automobile body carrier bar with electronic jar fixed connection, planetary reducer walking wheel passes through driving motor fixes the other end of automobile body carrier bar.

4. The motor train unit underbody detection system of claim 3, characterized in that: the telescopic driving device also comprises a catch wheel which is fixedly arranged on the vehicle body bearing beam and is positioned at the inner side of the planetary reducer travelling wheel; the longitudinal section of the blocking wheel is trapezoidal, and after the vehicle body bearing beam extends out, the blocking wheel is contacted with the inner side wall of the track.

5. The motor train unit underbody detection system of claim 2, characterized in that: the telescopic walking device of the swing arm comprises the swing arm, an electric telescopic cylinder, a connecting beam and a telescopic wheel assembly, wherein one end of the swing arm is rotatably installed on the vehicle body, the two ends of the electric telescopic cylinder are rotatably installed on the vehicle body and the swing arm respectively, the swing arm, the electric telescopic cylinder and the vehicle body are enclosed into a triangle, the connecting beam is fixed at the other end of the swing arm, and the telescopic wheel assembly is installed on the connecting beam.

6. The motor train unit underbody detection system of claim 5, characterized in that: the telescopic wheel component comprises a first telescopic transmission component, a second telescopic transmission component and a driving device, the first telescopic transmission component and the second telescopic transmission component are slidably mounted at the positions, close to the two ends, of the connecting beam, the driving device is mounted on the connecting beam, the first telescopic transmission component and one end of the second telescopic transmission component are fixedly connected with the driving device, and the first telescopic transmission component and the second telescopic transmission component are driven by the driving device to retract or stretch out of the connecting beam.

7. The motor train unit underbody detection system of claim 6, characterized in that: drive arrangement includes gear motor, follows driving wheel device and drive belt, gear motor with follow driving wheel device fixed mounting respectively the both ends of tie-beam, the drive belt rotary type is installed follow driving wheel device with gear motor's output, gear motor drives the drive belt rotates, first flexible transmission subassembly and the one end of the flexible transmission subassembly of second is fixed on the drive belt.

8. The motor train unit underbody detection system of claim 7, characterized in that: first flexible drive assembly with the flexible drive assembly structure of second is the same, first flexible drive assembly with the flexible drive assembly of second all includes swing arm carrier bar, mounting, driving motor and planetary reducer walking wheel, swing arm carrier bar slidable type is installed on the tie-beam, the one end of swing arm carrier bar is passed through the mounting with drive belt fixed connection, planetary reducer walking wheel passes through driving motor fixes the other end of swing arm carrier bar, the swing arm carrier bar is in follow under the drive of drive belt the tie-beam is stretched out or is retracted.

9. The motor train unit underbody detection system of claim 8, characterized in that: the swing arm telescopic walking device also comprises a walking wheel assembly and a guide wheel assembly;

the two traveling wheel assemblies are symmetrically and fixedly arranged at two ends of the connecting beam and comprise hollow traveling motors, hollow speed reducers and hollow traveling wheels, the hollow speed reducers are arranged at two ends of the connecting beam, the hollow traveling motors are in transmission connection with the hollow speed reducers, and the hollow traveling wheels are arranged on the hollow speed reducers and driven by the hollow speed reducers to rotate;

the two guide wheel assemblies are respectively arranged on the swing arm carrier beams of the first telescopic transmission assembly and the second telescopic transmission assembly and are positioned at the inner side of the traveling wheel of the planetary reducer; the guide wheel assembly comprises at least two guide wheels, the distances between the at least two guide wheels and the traveling wheels of the planetary speed reducer are different, and the guide wheels are arranged on the bearing beam of the swing arm in a staggered mode.

10. The motor train unit underbody detection system of claim 2, characterized in that: the detection system further comprises a mounting seat and a lifting device, the lifting device is mounted on the vehicle body, the mounting seat is mounted on the lifting device and driven by the lifting device to ascend or descend, and the mechanical arm is mounted on the mounting seat.