CN213397141U - Rail vehicle bottom detection equipment - Google Patents
Rail vehicle bottom detection equipment Download PDFInfo
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- CN213397141U CN213397141U CN202020864951.4U CN202020864951U CN213397141U CN 213397141 U CN213397141 U CN 213397141U CN 202020864951 U CN202020864951 U CN 202020864951U CN 213397141 U CN213397141 U CN 213397141U
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Abstract
The utility model provides a rail vehicle bottom check out test set, it relates to a check out test set, concretely relates to rail vehicle bottom check out test set. The utility model discloses a solve traditional rail vehicle bottom check out test set's installation difficulty, the higher problem of installation cost. The utility model discloses a wheeled dolly of trackless, two at least side direction laser sensor, a top are to laser sensor, quick scanning subassembly, information acquisition subassembly, control system and power supply device, and control system installs in wheeled dolly of trackless, and power supply device installs in the lower part of wheeled dolly of trackless, and two side direction laser sensor install in one side of wheeled dolly upper surface of trackless, and the top is to laser sensor and install the upper surface line at wheeled dolly of trackless, the middle part at wheeled dolly upper surface is installed to the quick scanning subassembly, the one end at wheeled dolly upper surface of trackless is installed to the information acquisition subassembly. The utility model belongs to the track traffic equipment field.
Description
Technical Field
The utility model relates to a check out test set, concretely relates to rail vehicle bottom check out test set belongs to the rail transit equipment field.
Background
At present, in China, a camera is mostly used for scanning and shooting key parts at the bottom of a rail vehicle aiming at detection equipment for the bottom of the rail vehicle in a warehouse, the rail vehicle to be detected stops when the camera is used for shooting, and an image acquisition and identification module is installed on the detection equipment and used for scanning the bottom of the rail vehicle to be detected. Because the precision required for taking a picture is very high, the detection equipment for installing the image acquisition equipment needs to walk on a track specially installed for the detection equipment, so that the picture taking precision is improved, the installation track needs to carry out earthwork construction on an established inspection garage, one track can only be provided with one detection equipment, and for a warehouse with a plurality of inspection lines, each inspection line needs to be provided with one track and one detection trolley, so that the cost burden is high, and the operation and the maintenance are inconvenient to maintain in a tunnel.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve traditional rail vehicle bottom check out test set's installation difficulty, the higher problem of installation cost, and then provide a rail vehicle bottom check out test set.
The utility model discloses a solve the technical scheme that above-mentioned problem was taken and be: the utility model discloses a wheeled dolly of trackless, two at least laser sensor, a top are to laser sensor, quick scanning subassembly, information acquisition subassembly, control system and power supply device, and control system installs in wheeled dolly of trackless, and power supply device installs in the lower part of wheeled dolly of trackless, and two side direction laser sensor install in one side of wheeled dolly upper surface of trackless, and the top is to laser sensor and install the upper surface line at wheeled dolly of trackless, the middle part at wheeled dolly upper surface of trackless is installed to the quick scanning subassembly, the one end at wheeled dolly upper surface of trackless is installed to the information acquisition subassembly.
Furthermore, the quick scanning assembly comprises a quick scanning module and a camera stabilizing platform, the camera stabilizing platform is installed in the middle of the upper surface of the trackless wheel type trolley, and the quick scanning module is installed on the camera stabilizing platform.
Furthermore, the information acquisition assembly comprises a mechanical arm, an information acquisition module and a mechanical arm lifting device, the mechanical arm lifting device is installed at one end of the upper surface of the trackless wheel type trolley, the mechanical arm is installed on the mechanical arm lifting device, and the information acquisition module is installed on the mechanical arm.
Further, the utility model discloses still include two anticollision institution, two anticollision institutions install respectively at the both ends of wheeled dolly of trolley-bus.
Further, the mechanical arm is a six-degree-of-freedom series mechanical arm, and can also be a seven-degree-of-freedom series mechanical arm.
The utility model has the advantages that: the utility model discloses need not lay the track in overhauing the gallery to can guarantee the precision of shooing and detection efficiency, reduce the site operation degree of difficulty and installation cost, and possess the ability of changing the gallery and detecting
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1, and the rail vehicle bottom detection device in the embodiment includes a trackless wheeled trolley 1, at least two lateral laser sensors 3, a top laser sensor 4, a fast scanning component, an information acquisition component, a control system 10 and a power supply device 11, wherein the control system 10 is installed in the trackless wheeled trolley 1, the power supply device 11 is installed at the lower part of the trackless wheeled trolley 1, the two lateral laser sensors 3 are installed at one side of the upper surface of the trackless wheeled trolley 1, the top laser sensor 4 is installed on the upper surface of the trackless wheeled trolley 1, the fast scanning component is installed at the middle part of the upper surface of the trackless wheeled trolley 1, and the information acquisition component is installed at one end of the upper surface of the trackless wheeled trolley 1.
The two lateral laser sensors 3 are arranged at the top of the trackless wheel type trolley 1 in tandem, the same side track of the vehicle to be detected is scanned, the measuring results of the two lateral laser sensors 3 are transmitted to the control system 10, and whether the trackless wheel type trolley 1 runs in the middle of the vehicle to be detected and whether the travelling direction is parallel to the length direction of the vehicle to be detected are judged by comparing the measuring results.
The jacking laser sensor 4 scans the rail vehicle to be detected when the trackless wheel type trolley 1 runs and transmits signals to the control system 10, and the position of the trackless wheel type trolley relative to the rail vehicle to be detected in the length direction is judged according to distance information and time information obtained by scanning.
The lateral laser sensor 3 and the top laser sensor 4 can be replaced by laser range finders or intelligent cameras, and the position information of the rail-free wheeled trolley 1 relative to the rail vehicle to be detected is obtained through automatic analysis and calculation according to the measured distance or the shot image.
The trackless wheel type trolley 1 runs on the ground without a track, adopts wheel type movement, is driven by a servo motor, and can also be driven by a non-servo motor and additionally provided with an encoder.
The trackless wheel type trolley 1 carries out motion control according to the position information of the trackless wheel type trolley 1 relative to the rail vehicle to be detected, which is obtained by analysis and calculation; when the traveling direction of the trolley-wheel-type trolley 1 is not parallel to the length direction of the rail vehicle to be detected or the trolley-wheel-type trolley 1 is not positioned at the center of the width direction of the rail vehicle to be detected, the compensation can be realized through wheel steering; and controls the start and stop of the trackless wheeled trolley 1 according to the relative position information.
The power supply device 11 is composed of a lithium battery pack, an inverter, a switching power supply and a charging pile, and the charging mode can be manual charging or automatic charging.
The number of the lateral laser sensors 3 can be 2, 3 or 4, and whether the trackless wheeled trolley 1 is positioned at the center of the width direction of the railway vehicle to be detected can be judged by scanning the tracks on the two sides simultaneously; positioning mechanisms can be additionally arranged on two sides of the tunnel to be used as scanning targets of the laser sensors to determine the position of the trackless wheeled trolley 1 relative to the rail vehicle to be detected.
The lateral laser sensor 3 can use laser reflector navigation, laser SLAM navigation, magnetic stripe navigation or two-dimensional code navigation as the navigation mode of the trackless wheel type trolley 1 in the tunnel.
The second embodiment is as follows: the embodiment is described with reference to fig. 1, and the rapid scanning assembly of the rail vehicle bottom detection device in the embodiment includes a rapid scanning module 5 and a camera stabilizing platform 6, the camera stabilizing platform 6 is installed in the middle of the upper surface of the trackless wheeled trolley 1, and the rapid scanning module 5 is installed on the camera stabilizing platform 6.
In the embodiment, the camera stabilizing platform 6 is used for compensating the swinging and vibration of the trackless wheel type trolley 1 during walking; the rapid scanning module 5 continuously collects the image information of the vehicle to be detected when the trackless wheel type trolley 1 travels.
The fast scanning module 5 is a combination of one or more of a line camera, an area camera, a 3D camera and a light source.
Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 1, and the information acquisition assembly of the rail vehicle bottom detection device in the embodiment includes a mechanical arm 7, an information acquisition module 8 and a mechanical arm lifting device 9, the mechanical arm lifting device 9 is installed at one end of the upper surface of the trackless wheel type trolley 1, the mechanical arm 7 is installed on the mechanical arm lifting device 9, and the information acquisition module 8 is installed on the mechanical arm 7.
In the embodiment, the information acquisition module 8 acquires image information, temperature information, sound wave information and the like of a to-be-overhauled part of the railway vehicle through the operation of the mechanical arm 7; the mechanical arm lifting device 9 is used for lifting the mechanical arm 7 so as to realize the maintenance operation of parts to be maintained at different positions and different heights.
The mechanical arm lifting device 9 can perform translation motion in the height direction in the stopping motion or motion process of the mechanical arm; the mechanical arm lifting device 9 is used for driving a ball screw to move in a translation manner by a servo motor with a brake, and can also be used for driving a T-shaped screw rod to move in a translation manner by a servo motor without a brake; the auxiliary guide mechanism can adopt one or two of a guide rod and a guide rail slide block
Other components and connections are the same as those in the first embodiment.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1, and the rail vehicle bottom detection apparatus according to the embodiment further includes two collision avoidance mechanisms 2, where the two collision avoidance mechanisms 2 are respectively installed at two ends of the trackless wheeled trolley 1. Other components and connection relationships are the same as those in the second embodiment.
The fifth concrete implementation mode: the present embodiment will be described with reference to fig. 1, and the robot arm 7 of the rail vehicle bottom detection apparatus according to the present embodiment may be a six-degree-of-freedom tandem robot arm or a seven-degree-of-freedom tandem robot arm.
The weight of the body of the mechanical arm 7 is less than 70kg, the arm length of the mechanical arm 7 is 450-1500 mm, and the end load of the mechanical arm 7 is 3-15 kg.
Other components and connection relationships are the same as those in the third embodiment.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed with the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make modifications or changes equivalent to the equivalent embodiment without departing from the technical scope of the present invention, but all the modifications, equivalent substitutions, and improvements made to the above embodiments within the spirit and principle of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (4)
1. A rail vehicle bottom detection device comprises a trackless wheel type trolley (1), at least two lateral laser sensors (3), a jacking laser sensor (4), a rapid scanning component, an information acquisition component, a control system (10) and a power supply device (11), wherein the control system (10) is installed in the trackless wheel type trolley (1), the power supply device (11) is installed at the lower part of the trackless wheel type trolley (1), the two lateral laser sensors (3) are installed at one side of the upper surface of the trackless wheel type trolley (1), the jacking laser sensor (4) is installed on the upper surface of the trackless wheel type trolley (1), the rapid scanning component is installed at the middle part of the upper surface of the trackless wheel type trolley (1), and the information acquisition component is installed at one end of the upper surface of the trackless wheel type trolley (1); the method is characterized in that: the rail vehicle bottom detection equipment further comprises two anti-collision mechanisms (2), wherein the two anti-collision mechanisms (2) are respectively installed at two ends of the trackless wheel type trolley (1).
2. The rail vehicle underbody detection apparatus of claim 1, wherein: the rapid scanning assembly comprises a rapid scanning module (5) and a camera stabilizing platform (6), the camera stabilizing platform (6) is installed in the middle of the upper surface of the trackless wheel type trolley (1), and the rapid scanning module (5) is installed on the camera stabilizing platform (6).
3. The rail vehicle underbody detection apparatus of claim 1, wherein: the information acquisition assembly comprises a mechanical arm (7), an information acquisition module (8) and a mechanical arm lifting device (9), the mechanical arm lifting device (9) is installed at one end of the upper surface of the trackless wheel type trolley (1), the mechanical arm (7) is installed on the mechanical arm lifting device (9), and the information acquisition module (8) is installed on the mechanical arm (7).
4. The rail vehicle underbody detection apparatus of claim 3, wherein: the mechanical arm (7) is a six-degree-of-freedom series mechanical arm or a seven-degree-of-freedom series mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020864951.4U CN213397141U (en) | 2020-05-21 | 2020-05-21 | Rail vehicle bottom detection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020864951.4U CN213397141U (en) | 2020-05-21 | 2020-05-21 | Rail vehicle bottom detection equipment |
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| CN213397141U true CN213397141U (en) | 2021-06-08 |
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| CN202020864951.4U Active CN213397141U (en) | 2020-05-21 | 2020-05-21 | Rail vehicle bottom detection equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111537016A (en) * | 2020-05-21 | 2020-08-14 | 哈尔滨市科佳通用机电股份有限公司 | Rail vehicle bottom detection equipment |
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2020
- 2020-05-21 CN CN202020864951.4U patent/CN213397141U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111537016A (en) * | 2020-05-21 | 2020-08-14 | 哈尔滨市科佳通用机电股份有限公司 | Rail vehicle bottom detection equipment |
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