CN216577832U

CN216577832U - Aerial track case roof beam inspection robot

Info

Publication number: CN216577832U
Application number: CN202122949595.3U
Authority: CN
Inventors: 郭晓; 崔洪岩; 曹晗; 刘瑜; 丁仕洪; 褚部; 卢长龙; 黄绍泉; 葛会彬; 李宝蕴; 蒿利; 刘佩; 刘少波
Original assignee: XI'AN MODERN CONTROL CO Ltd; China Tiesiju Civil Engineering Group Co Ltd CTCE Group; Steel Structure Construction Co Ltd of CTCE Group
Current assignee: XI'AN MODERN CONTROL CO Ltd; China Tiesiju Civil Engineering Group Co Ltd CTCE Group; Steel Structure Construction Co Ltd of CTCE Group
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-05-24
Anticipated expiration: 2031-11-29

Abstract

The utility model belongs to the technical field of rail box girder detection, and discloses an aerial rail box girder detection robot, which aims to solve the problem that the linearity of a rail box girder in the manufacturing and mounting processes cannot be accurately reflected by adopting a manual sampling inspection mode due to large size and heavy weight of a rail box girder steel structure. The utility model comprises a frame, wherein the bottom of the frame is provided with a travelling wheel, and two sides of the frame are respectively provided with a group of tightening wheels and a group of elastic tightening wheels; a sensor bracket is arranged at the upper part of the rack; a first displacement sensor is arranged at the bottom of the rack; two sides of the sensor bracket are respectively installed, and a plurality of second displacement sensors are arranged below the rack; and at least 2 third displacement sensors are arranged on the top of the rack. The utility model can detect the manufacturing size of the track box girder, can perform linear detection in the installation process of the track box girder, and can perform comprehensive detection on the track box girder.

Description

Aerial track case roof beam inspection robot

Technical Field

The utility model belongs to the technical field of rail box girder detection, and particularly relates to an aerial rail box girder detection robot which is used for detecting the manufacturing size of a rail box girder and performing linear detection in the installation process of the rail box girder.

Background

The steel structure of the aerial track box girder has large size and large weight, the track box girder in the prior art is detected and measured by manually utilizing a conventional measuring tool, a small number of detection points can be selected in the mode, the measured size cannot completely and accurately reflect the quality of a component, and the manufacturing quality of the track box girder cannot be estimated accurately.

In addition, after the overhead track box girder is erected, due to factors such as deviation between the track box girder and an upright post member, deviation between a concrete foundation and installation error, deviation between an actual line shape and a designed line shape of the track box girder can be caused, and the comprehensive error makes the detection through a conventional detection mode more difficult.

SUMMERY OF THE UTILITY MODEL

The utility model provides an aerial track box girder detection robot, which aims to solve the problem that the linearity of a track box girder in the manufacturing and mounting processes cannot be accurately reflected by adopting a manual sampling inspection mode due to large size and heavy weight of a track box girder steel structure.

In order to solve the technical problem, the technical scheme adopted by the utility model is as follows:

the aerial track box girder detection robot comprises a frame body type rack and is characterized in that two groups of travelling wheels are mounted at the bottom of the rack, a group of tightening wheels and a group of elastic tightening wheels are respectively mounted on two sides of the rack along the width direction of the rack, and the tightening wheels and the elastic tightening wheels are respectively clung to webs on two sides of a track box girder; a sensor bracket is arranged at the upper part of the frame; the bottom of the rack is provided with a first displacement sensor vertical to the inner bottom surface of the track box girder; a plurality of second displacement sensors are respectively installed on two sides of the sensor support, a plurality of second displacement sensors are also arranged below the rack, and the second displacement sensors are arranged along the direction vertical to the web plate of the track box girder; in some embodiments, at least 2 third displacement sensors are mounted on the top of the frame, the third displacement sensors being mounted vertically on both sides of the top of the frame.

In some embodiments, the number of first displacement sensors is 8, and the first sensors are 350mm displacement sensors.

In some embodiments, a total of 6 second displacement sensors are mounted on both sides of the sensor support, and 6 second displacement sensors are mounted below the frame. Preferably, the second displacement sensor is a 550mm displacement sensor.

Preferably, the third displacement sensors are distributed on the left and right sides of the frame in the width direction, so that the distance between the third displacement sensors is maximized.

In some embodiments, the lower part of the rack is provided with 2 horizontally arranged fourth displacement sensors, and the 2 fourth displacement sensors are respectively perpendicular to the webs on two sides of the track box girder so as to detect the notches on the webs.

In some embodiments, the top surface of the frame is provided with a tilt sensor for detecting the tilt angle of the detection robot.

In some embodiments, a prism for detecting the plane and elevation coordinates of the track box girder is installed at the center of the bottom surface of the machine frame. Wherein, the prism needs to cooperate with the total station to detect in the use.

In some embodiments, the upper part of the machine frame is provided with a protective cover and a control box, the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor and the inclination angle sensor are all electrically connected with the control box,

in some embodiments, the control box is wirelessly connected with the total station and the computer, so that data detected by the sensor is transmitted to the computer and the total station, and the data is processed to obtain relevant values of the track box girder, so as to detect the manufacturing quality and the linear dimension of the track box girder in the installation process.

Compared with the prior art, the utility model has the following beneficial effects:

the aerial track box girder detection robot of the utility model utilizes the first displacement sensor to calculate and obtain the planeness of the track running surface of the track box girder, the height difference of the track running surface and the verticality between the web and the track running surface, utilizes the second displacement sensor to obtain the width and the planeness of the web at the left side and the right side of the track box girder, and utilizes the third displacement sensor to obtain the height at the left side and the right side of the inner cavity of the track box girder, thereby realizing the linear detection of the track box girder, solving the problems of low detection efficiency and incomplete detection caused by manual sampling detection in the prior art due to large size and heavy weight of the track box girder, simultaneously, the utility model can also carry out the linear detection in the installation process of the track box girder, and solves the problem that the detection can not be carried out after the installation of the track box girder, thereby leading the utility model to carry out the detection on the manufacturing size of the track box girder and the linear detection in the installation process of the track box girder, and the track box girder can be comprehensively detected, so that the quality of the track box girder after manufacture and installation is truly reflected.

In the using process, the control box is wirelessly connected with the computer and the total station, so that when the control box controls the detection robot to walk in the track box beam, the data are transmitted to the total station and the computer, the detection data are obtained, and the real-time data of the track box beam can be obtained by reading and analyzing the data. Meanwhile, the computer can be used for directly storing the detection data so as to facilitate later-stage reference.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic side view of the present invention;

FIG. 5 is a front view structural schematic diagram of the present invention;

the labels in the figure are: 1. the device comprises a rack, 2, traveling wheels, 3, a jacking wheel, 4-1 swing axles, 4-2, a drive axle, 5, elastic jacking wheels, 6, a control box, 7, a protective housing, 8-1, a fourth displacement sensor, 8-2, a first displacement sensor, 8-3, a second displacement sensor, 8-4, a third displacement sensor, 8-5, an inclination angle sensor, 9, a prism, 10, a sensor support, 11, a speed reducer, 12, a servo motor, 13 and an operation panel.

Detailed Description

The present invention will be further described with reference to the following examples, which are intended to illustrate only some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, other embodiments used by those skilled in the art without any creative effort belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., 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, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in conjunction with specific situations.

The aerial track box girder detection robot comprises a frame body type rack 1, wherein two groups of walking wheels 2 are mounted at the bottom of the rack 1 and are used for driving the detection robot to move in a track box girder through the walking wheels 2, preferably, a swing bridge 4-1 and a drive bridge 4-2 are mounted at the bottom of the rack 1, a group of walking wheels 2 are mounted on the swing bridge 4-1, a group of walking wheels 2 are mounted on the drive bridge 4-2, the swing bridge 4-1 is driven to rotate by a group of speed reducers 11 and servo motors 12, the drive bridge 4-2 is driven to rotate by a group of speed reducers 11 and servo motors 12, and therefore the walking wheels 2 are driven to rotate by the servo motors and the speed reducers to complete walking operation. A group of tightening wheels 3 and a group of elastic tightening wheels 5 are respectively arranged on the two sides of the rack 1 along the width direction of the rack, the tightening wheels 3 and the elastic tightening wheels 5 are respectively attached to webs on the two sides of the track box girder, namely, the group of tightening wheels 3 are arranged on one side of the rack 1 in the width direction, and the group of elastic tightening wheels 5 are arranged on the other side of the rack in the width direction, so that the tightening wheels and the elastic tightening wheels are utilized to enable the detection robot to be attached to the webs on the two sides of the track box girder, and the stability of the detection robot in the walking process is guaranteed; a sensor support 10 is installed on the upper portion of the machine frame 1, and preferably, the sensor support 10 is detachably connected to the machine frame 1 in a bolt connection mode; the bottom of the rack 1 is provided with a first displacement sensor 8-2 vertical to the inner bottom surface of the track box girder; the first displacement sensor 8-2 is arranged in a mode of being perpendicular to the inner bottom surface of the track box girder, so that the irradiated light of the first displacement sensor 8-2 can vertically irradiate the track surface of the track box girder, and the vertical distance of different positions on the track surface of the track box girder can be measured, and the flatness, the height difference of the track surface and the verticality between a web and the track surface of the track box girder can be indirectly calculated.

In some embodiments, the number of first displacement sensors 8-2 is 8, and the first displacement sensors are 350mm displacement sensors. Therefore, the vertical distances of different positions on the rail running surface of the rail box girder are measured by using the 8 first displacement sensors 8-2, so that the planeness of the rail running surface of the rail box girder, the height difference of the rail running surface and the verticality between the web and the rail running surface can be indirectly calculated

A plurality of second displacement sensors 8-3 are respectively installed on two sides of the sensor support 10, a plurality of second displacement sensors 8-3 are also arranged below the rack 1, and the second displacement sensors 8-3 are arranged along a direction perpendicular to a web plate of the rail box girder; the installation height of the second displacement sensor 8-3 on the sensor support 10 is higher than that of the second displacement sensor 8-3 on the rack 1, the installation height of each second displacement sensor 8-3 on the sensor support 10 is the same, and the installation height of each second displacement sensor 8-3 on the rack 1 is the same, so that the upper parts and the lower parts of the webs on the two sides of the track box girder are irradiated and detected by using the sensor support 10 and the plurality of second displacement sensors 8-3 on the rack 1, the horizontal distances from the vertical reference surface of the detection robot to the lower parts and the upper parts of the webs on the two sides are measured, and the width and the flatness of the webs on the left side and the right side of the track box girder are indirectly calculated.

In some embodiments, a total of 6 second displacement sensors 8-3 are mounted on both sides of the

sensor support

10, and 6 second displacement sensors 8-3 are mounted below the housing 1. Preferably, the second displacement sensor is a 550mm displacement sensor.

In some embodiments, at least 2 third displacement sensors 8-4 are mounted on the top of the gantry 1, and the third displacement sensors 8-4 are vertically mounted on both sides of the top of the gantry 1. The third displacement sensor 8-4 is used for irradiating the inner top surface of the track box girder and measuring the vertical distance from the upper part of the detection robot to the inner top surface of the track box girder, so that the heights of the left side and the right side of the inner cavity of the track box girder are obtained through calculation.

Preferably, the third displacement sensors 8-4 are distributed on the left and right sides in the width direction of the rack, so that the interval between the third displacement sensors is maximized.

Preferably, the third displacement sensor 8-4 is a 1000mm displacement sensor.

In some embodiments, the lower portion of the rack 1 is provided with 2 horizontally arranged fourth displacement sensors 8-1, and the 2 fourth displacement sensors 8-1 are respectively perpendicular to the webs on two sides of the track box girder so as to detect the notches on the webs. The irradiation light emitted by the 2 fourth displacement sensors 8-1 horizontally irradiates the inner measurement of the notches on the left side and the right side respectively, and is used for measuring the width from the vertical reference surface of the detection robot to the left notch and the right notch and indirectly calculating the width of the notches. Preferably, the fourth displacement sensor 8-1 is a 1000mm displacement sensor.

In some embodiments, the top surface of the frame 1 is provided with an inclination sensor 8-5 for detecting the inclination angle of the inspection robot, and the inclination angle sensor 8-5 is used for detecting the inclination angle of the inspection robot in the left-right and front-back directions. Preferably, the tilt sensor 8-5 is mounted at the very center of the top surface of the housing 1.

In some embodiments, the center of the bottom surface of the frame 1 is mounted with a prism 9 for detecting the plane and elevation coordinates of the rail box beam. The prism needs to be matched with a total station to detect in the use process, wherein the use of the prism belongs to the prior art, and can be understood and understood by those skilled in the art, and is not described herein again.

In some embodiments, the protective housing 7 and the control box 6 are installed on the upper portion of the rack 1, and the first displacement sensor 8-2, the second displacement sensor 8-3, the third displacement sensor 8-4, the fourth displacement sensor 8-1 and the tilt sensor 8-5 are electrically connected with the control box 6. The control box 6 is in wireless connection with a total station and a computer, so that data detected by the sensor are transmitted to the computer and the total station, the data are processed to obtain relevant numerical values of the track box girder, and the manufacturing quality and the linear size of the track box girder in the installation process are detected.

In some embodiments, in order to facilitate the control of the inspection robot, the rack 1 is further provided with an operation panel 13, and an operation instruction is input to the control box 6 through the operation panel 13, so as to facilitate the automatic control of the inspection robot through the control box 6.

In some embodiments, the servo motor 12 is provided with an encoder, and controls such as constant speed, acceleration and deceleration, mileage positioning and the like are realized through a closed-loop PI D algorithm, so that the detection robot can walk accurately and stop stably.

In some embodiments, parameters such as driving speed, acceleration and deceleration curves, starting mileage, automatic stepping distance, maximum driving distance, etc. may be set through the operation panel 13, and the detection robot may automatically walk according to the control logic, automatically acquire data, automatically store and transmit, and implement human-computer interaction through the operation panel 13.

The detection accuracy of the first displacement sensor, the second displacement sensor, the third displacement sensor and the fourth displacement sensor is between 1 mu m and 50 mu m (related to the selected measuring range), so that the requirement of rail box girder detection is met.

In some embodiments, the control box 6 of the present invention is further electrically connected with an alarm, when the detection robot is jammed, overloaded, low-voltage, largely inclined, meets an edge, and the like, the alarm sends an audible and visual alarm signal, and meanwhile, the control box 6 wirelessly transmits the alarm information to a computer to enable the computer to generate the alarm information, and when the alarm gives an alarm, the control box 6 controls the detection robot to stop in situ.

While the utility model has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the utility model. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.

Claims

1. The aerial track box girder detection robot comprises a frame body type rack and is characterized in that two groups of travelling wheels are mounted at the bottom of the rack, a group of tightening wheels and a group of elastic tightening wheels are respectively mounted on two sides of the rack along the width direction of the rack, and the tightening wheels and the elastic tightening wheels are respectively clung to webs on two sides of a track box girder; a sensor bracket is arranged at the upper part of the frame; the bottom of the rack is provided with a first displacement sensor vertical to the inner bottom surface of the track box girder; a plurality of second displacement sensors are respectively installed on two sides of the sensor support, a plurality of second displacement sensors are also arranged below the rack, and the second displacement sensors are arranged along the direction vertical to the web plate of the track box girder; at least 2 third displacement sensors are installed on the top of the rack, and the third displacement sensors are vertically installed on the top of the rack.

2. The aerial rail box girder inspection robot of claim 1, wherein the number of the first displacement sensors is 8, and the first displacement sensors are 350mm displacement sensors.

3. The aerial rail box girder inspection robot of claim 1, wherein a total of 6 second displacement sensors are mounted on both sides of the sensor support, and 6 second displacement sensors are mounted below the machine frame.

4. The aerial rail box girder inspection robot of claim 1, wherein the third displacement sensors are distributed on left and right sides in a width direction of the frame.

5. The aerial rail box girder inspection robot according to any one of claims 1 to 4, wherein 2 horizontally arranged fourth displacement sensors are installed at the lower part of the rack, and the 2 fourth displacement sensors are respectively perpendicular to the webs at two sides of the rail box girder so as to detect notches on the webs.

6. The aerial rail box girder inspection robot as claimed in claim 5, wherein a tilt sensor for detecting a tilt angle of the inspection robot is installed on a top surface of the frame.

7. The aerial rail box girder inspection robot of claim 1, wherein a prism for inspecting plane and elevation coordinates of the rail box girder is installed at the center of the bottom surface of the frame.

8. The aerial track box girder inspection robot of claim 5, wherein a protective housing and a control box are mounted on the upper portion of the machine frame, the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor and the tilt sensor are electrically connected with the control box, and the control box is in wireless communication connection with an external total station and a computer.