CN217237882U - Steel rail damage identification device based on micro-motion characteristics - Google Patents

Abstract

The utility model relates to a rail damage recognition device based on fine motion characteristic, the device includes: a walking module: the walking device is used for being erected on the steel rail and walking on the steel rail; a stepping module: the walking module is arranged at the side edge of the walking module along the walking direction of the walking module; a hammering module: the device is used for hammering the steel rail, the hammering module is arranged on the stepping module, and the stepping module drives the hammering module to move in a stepping mode along the direction of the steel rail; a test module: positioning the current position of a hammering module and collecting a hammering force signal and a generated vibration signal; a control module: the walking module, the stepping module, the hammering module and the testing module are respectively connected. Compared with the prior art, the utility model discloses a hammering is damaged the discernment, and the recognition accuracy is high.

Description

Steel rail damage identification device based on micro-motion characteristics

Technical Field

The utility model belongs to the technical field of rail damage identification technique and specifically relates to a rail damage identification device based on fine motion characteristic is related to.

Background

The steel rail is a bearing guide part of rail traffic and is required to have absolute reliability. With the development of high speed, heavy load and high density of rail traffic in China, the rail damage form presents a complicated and diversified trend. The small radius curve steel rail is complex in stress environment, the steel rail is stressed by vertical and transverse dynamic bending tensile stress and local deformation tensile stress, fatigue cracks are easy to generate, the damage rate is high, the form is various, early rail jaw cracks and rail bottom cracks are high in concealment, the early rail jaw cracks and rail bottom cracks are not easy to detect, the expansion speed is high, the driving safety is seriously endangered, and the large hidden danger of rail breaking accidents is caused. The effective identification of rail damage is the focus of current national and industry concerns.

There are many common active steel rail flaw detection methods and rail breakage monitoring methods. In the utility model with publication number CN113447572A, a rail flaw detection method of ultrasonic flaw detection is proposed, the ultrasonic flaw detection depends on subjective factors, and is easily affected by the flatness of the rail surface, and the false judgment event of missed detection occurs frequently; in the utility model patent with publication number CN214011477U, a broken rail monitoring system based on the circuit principle is proposed, and does not have the accident pre-judging capability; in the utility model patent with publication number CN214576884U, an optical fiber real-time detection method is proposed, which is applied to the steel rail damage identification neighborhood, and the difficulty of the multiple connection technology is large; in addition, a stress rail breakage detection method is adopted, and the sensitivity needs to be improved. In addition, according to relevant regulations, cracks are detected on the surface of the steel rail and are uniformly judged as heavy damage, because the existing flaw detection method for the service steel rail only can ensure a high detection rate of through cracks or millimeter-scale heavy damage cracks, but does not have effective identification capability on early cracks and potential damage hidden dangers, and the jaw cracks and the rail bottom cracks of the steel rail head have extremely high concealment performance and are in a blind area of the traditional flaw detection method, so that the controllability of rail breakage accidents is reduced to a certain extent. The objective requirement is that new technical method research needs to be carried out in the field of steel rail damage identification.

The method for identifying the damage by adopting the hammering method is a common mode in the field of rail flaw detection, but a related automatic operation device is lacked at present.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a rail impairment recognition device based on fine motion characteristic that full automatic operation, ability accurate acquisition multiple spot hammering signal just exist in order to overcome the defect that above-mentioned prior art exists.

The purpose of the utility model can be realized through the following technical scheme:

a rail flaw identification device based on micro-motion characteristics comprises:

a walking module: the device is used for being erected on the steel rail and walking on the steel rail;

a stepping module: the walking module is arranged at the side edge of the walking module along the walking direction of the walking module;

a hammering module: the device is used for hammering the steel rail, the hammering module is arranged on the stepping module, and the stepping module drives the hammering module to move in a stepping mode along the direction of the steel rail;

a test module: positioning the current position of a hammering module and collecting a hammering force signal and a generated vibration signal;

a control module: the walking module, the stepping module, the hammering module and the testing module are respectively connected;

the walking module walks on the steel rail, the stepping module controls the position of a hammering point of the hammering module, the hammering module hammers the steel rail, hammering force signals and generated vibration signals are collected, the control module analyzes collected data to obtain continuous modal information of a test section and converts the continuous modal information into modal curvature, the modal curvature of an active steel rail and the modal curvature of the steel rail before being in service for n days are differentiated to obtain a modal curvature difference curve, and the damage position and the damage level are judged according to the peak position and the size in the modal curvature difference curve.

Preferably, the walking module comprises a square chassis, walking wheels and walking stepping motors, the walking wheels are arranged at four corners of the square chassis, the walking wheels are used for walking on the steel rails, and the walking stepping motors control the walking wheels to walk through transmission shafts.

Preferably, the step module include lead screw step motor, lead screw module, guide rail slider module, lead screw module and guide rail slider module arrange in walking module side department along walking module walking direction, the slider fixed connection and the synchronous motion of lead screw module and guide rail slider module, the hammering module install on lead screw module and guide rail slider module synchronous motion's slider, lead screw step motor connect the lead screw module.

Preferably, the hammering module comprises a coupling seat, a hammer head assembly and a hammering driving assembly for driving the hammer head assembly to perform hammering action, the coupling seat is fixedly connected with the stepping module, the hammer head assembly can be movably mounted on the coupling seat up and down, and the hammering actuating assembly is mounted on the coupling seat.

Preferably, the hammer head assembly comprises a sleeve, a hammer head and a rebound part, the sleeve is fixed on the connecting seat, a hole matched with the sleeve is formed in the connecting seat, the hammer head penetrates through the sleeve and the connecting seat to be movably installed, the sleeve restrains the hammer head to do vertical linear motion, and the top of the hammer head is connected with the rebound part.

Preferably, the tup including the hammering board, quality piece, force transducer and the end that from top to bottom arrange in proper order, when carrying out the hammering action, hammering drive assembly act on the hammering board, the end act on the rail.

Preferably, hammering drive assembly include hammering step motor, hammering pivot and swing arm, the hammering pivot connect hammering step motor output, the swing arm install in the hammering pivot, the swing arm be used for applying hammering drive power to the tup subassembly.

Preferably, the test module comprises a positioning module, a vibration acquisition module and a data acquisition instrument, and the positioning module and the vibration acquisition module are both connected to the data acquisition instrument.

Preferably, the positioning module comprises a laser range finder and a first rotating arm, and the laser range finder is arranged on the side surface of the hammering module through the first rotating arm.

Preferably, the vibration acquisition module include acceleration sensor, fixed arm, second rocking arm, the fixed arm install at walking module side, the second rocking arm with the fixed arm link to each other and under the initial condition with the fixed arm merge, acceleration sensor install at the rocking arm end, acceleration sensor be used for gathering the vibration signal that the hammering rail produced.

Compared with the prior art, the utility model has the advantages of as follows:

(1) the utility model discloses show complicated diversified trend to present small radius curve rail damage, established rail damage recognition device based on fine motion characteristic, the full automatic operation of the device is through the hammering rail to gather hammering power signal and vibration signal, thereby the information of accurate collection measurement station, and then can utilize the modal information of vibration signal reaction rail, thereby realize the damage discernment.

(2) This device adopts three step motor, and accurate control walking location, accurate strike point position, accurate dynamics of strikeing respectively can realize that the full automatization rail injury strikes the discernment.

Drawings

FIG. 1 is a schematic view of the overall structure of the device of the present invention;

fig. 2 is a schematic diagram of the walking module and the control module of the present invention;

fig. 3 is a schematic view of the step module of the present invention;

fig. 4 is a schematic view of a hammering module of the present invention;

FIG. 5 is a detail view of the front end of the hammering module;

FIG. 6 is a schematic view of the hammer drive assembly of the hammer module;

fig. 7 is a schematic diagram of a testing module according to the present invention;

FIG. 8 is a schematic view of a positioning module;

FIG. 9 is a schematic view of an acquisition module;

FIG. 10 is a schematic view of a rail clip;

FIG. 11 is a graph of modal curvature difference for a cell.

1 is a walking module, 1-1 is a walking wheel, 1-2 is a walking driver, 1-3 is a first driving power supply, 1-4 is a walking stepping motor, 1-5 is a chassis, 2 is a stepping module, 2-1 is a stepping driver, 2-2 is a second driving power supply, 2-3 is a screw rod stepping motor, 2-4 is a screw rod module, 2-5 is a guide rail slider module, 3 is a hammering module, 3-1 is a hammering driver, 3-2 is a hammering stepping motor, 3-3 is a coupling seat, 3-4 is a bearing seat, 3-5 is a swing arm, 3-6 is a hammering rotating shaft, 3-7 is a sleeve, 3-8 is a bolt, 3-9 is a top plate, 3-10 is a spring, 3-11 is a hammer head, 3-11-1 is a hammering plate, 3-11-2 is a mass block, 3-11-3 is a force sensor, 3-11-4 is an end, 4 is a testing module, 4-1 is a positioning module, 4-2 is a data acquisition instrument, 4-3 is a vibration acquisition module, 4-1-1 is a laser distance measuring instrument, 4-1-2 is a first rotating arm, 4-3-1 is an acceleration sensor, 4-3-2 is a fixed arm, 4-3-3 is a second rotating arm, 5 is a control module, 5-1 is a controller, and 5-2 is a computer.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Note that the following description of the embodiments is merely an example in nature, and the present invention is not intended to limit the application or use thereof, and the present invention is not limited to the following embodiments.

Examples

As shown in fig. 1 to 10, the present embodiment provides a rail flaw recognition device based on micro-motion characteristics, including:

the walking module 1: the device is used for being erected on the steel rail and walking on the steel rail;

step module 2: arranged at the side edge of the walking module 1 along the walking direction;

hammering module 3: the device is used for hammering the steel rail, the hammering module 3 is installed on the stepping module 2, and the stepping module 2 drives the hammering module 3 to move in a stepping mode along the direction of the steel rail;

the test module 4: positioning the current position of the hammering module 3 and collecting hammering force signals and generated vibration signals;

the control module 5: the walking module 1, the stepping module 2, the hammering module 3 and the testing module 4 are respectively connected;

the walking module 1 walks on the steel rail, the stepping module 2 controls the position of a hammering point of the hammering module 3, the hammering module 3 hammers the steel rail, hammering force signals and generated vibration signals are collected, the control module 5 analyzes the collected data to obtain continuous modal information of a test section and converts the continuous modal information into modal curvature, the modal curvature of an existing steel rail and the steel rail before being in service for n days is differentiated to obtain a modal curvature difference curve, and the damage position and the damage level are judged according to the position and the size of a peak value in the modal curvature difference curve.

The walking module 1 comprises a square chassis 1-5, walking wheels 1-1, a walking driver 1-2 and a walking stepping motor 1-4, wherein the walking wheels 1-1 are arranged at four corners of the square chassis 1-5, the walking wheels 1-1 are used for walking on a steel rail, the walking stepping motor 1-4 controls the walking wheels 1-1 to walk through a transmission shaft, the walking driver 1-2 drives the walking stepping motor 1-4, and the walking driver 1-2 is powered through a first driving power supply 1-3.

In this embodiment, the walking stepping motors 1 to 4 of the walking module 1 select a 110mm two-phase hybrid stepping motor, and the holding torque is 30 n.m. The diameter of the outer contour of the traveling wheel 1-1 which is in contact with the steel rail is 100mm, and the traveling wheel is made of polyamide fiber. Connection mode of the drive circuit: the first driving power supply 1-3 → the walking driver 1-2 → the walking stepping motor 1-4; connection mode of the control circuit: traveling drive power → controller 5-1 → traveling driver 1-2 → traveling stepping motor 1-4. The walking wheel 1-1 is connected with a walking stepping motor 1-4 through a transmission shaft. The first driving power supply 1-3, the walking driver 1-2 and the walking stepping motor 1-4 are arranged on the chassis 1-5.

The stepping module 2 comprises screw rod stepping motors 2-3, screw rod modules 2-4 and guide rail slider modules 2-5, the screw rod modules 2-4 and the guide rail slider modules 2-5 are arranged at the side edge of the walking module 1 along the walking direction of the walking module 1, sliders of the screw rod modules 2-4 and the guide rail slider modules 2-5 are fixedly connected and move synchronously, the hammering module 3 is installed on the slider of the screw rod modules 2-4 and the guide rail slider modules 2-5 which move synchronously, the screw rod stepping motors 2-3 are connected with the screw rod modules 2-4, the screw rod stepping motors 2-3 are driven by stepping drivers 2-1, and the stepping drivers 2-1 are powered by second driving power supplies 2-2.

In this embodiment, the connection mode of the driving circuit and the control circuit of the stepping module 2 is the same as that of the walking module 1. The two-phase mixed stepping motor with the length of 57mm is selected for the screw rod stepping motors 2-3, and the torque is kept to be 1.2 N.m. The shaft of the lead screw stepping motor 2-3 is connected with a lead screw of a lead screw module 2-4 through a coupler, the effective stroke of the lead screw module 2-4 is 770mm, the lead screw module 2-4 and the guide rail sliding block module 2-5 are fixedly arranged on the chassis 1-5, the sliding blocks of the lead screw module 2-4 and the guide rail sliding block module are fixedly connected through a connecting seat 3-3 and move synchronously, and the effective stroke of the guide rail sliding block module 2-5 is 930 mm.

The hammering module 3 comprises a connecting seat 3-3, a hammer head 3-11 assembly and a hammering driving assembly for driving the hammer head 3-11 assembly to perform hammering action, the connecting seat 3-3 is fixedly connected with the stepping module 2, the hammer head 3-11 assembly can be movably arranged on the connecting seat 3-3 up and down, and the hammering action assembly is arranged on the connecting seat 3-3.

The hammer 3-11 assembly comprises a sleeve 3-7, a hammer 3-11 and a rebound part, the sleeve 3-7 is fixed on a connecting seat 3-3, a hole matched with the sleeve 3-7 is formed in the connecting seat 3-3, the hammer 3-11 penetrates through the sleeve 3-7 and the connecting seat 3-3 to be movably installed, the sleeve 3-7 restrains the hammer 3-11 to do up-and-down linear motion, the rebound part is connected to the top of the hammer 3-11, the hammer 3-11 comprises a hammering plate 3-11-1, a mass block 3-11-2, a force sensor 3-11-3 and an end head 3-11-4 which are sequentially arranged from top to bottom, when hammering is carried out, a hammering driving assembly acts on the hammering plate 3-11-1, and the end head 3-11-4 acts on a steel rail, the hammering driving assembly comprises a hammering driver 3-1, a hammering stepping motor 3-2, a hammering rotating shaft 3-6 and a swing arm 3-5, the hammering rotating shaft 3-6 is connected with the output end of the hammering stepping motor 3-2, the swing arm 3-5 is installed on the hammering rotating shaft 3-6, the hammering driver 3-1 drives the hammering stepping motor 3-2, the swing arm 3-5 is used for applying hammering driving force to the hammering head 3-11 assembly, in the embodiment, the hammering plate 3-11-1 is an E-shaped plate, and the sleeve 3-7 is a graphite sleeve 3-7.

In the present embodiment, the driving circuit and the control circuit of the hammering module 3 are connected in the same manner as the walking module 1. The hammering stepping motor 3-2 controls the fixed shaft of the swing arm 3-5 to rotate together through the hammering rotating shaft 3-6 and the bearing seat 3-4, the effective radius of the swing arm 3-5 is 28mm, and one rotation period is divided into three steps: the initial state is a horizontal position, and the swing arms 3-5 are in contact with the E-shaped plate; when hammering, the swing arm 3-5 rotates downwards rapidly at the rotating speed of 300rpm for 3/4 circles, and the swing arm 3-5 points vertically upwards; pausing for 3s, and waiting for finishing signal acquisition; and when the timing swing arm 3-5 rotates slowly at the rotating speed of 15rpm for 1/4 circles, the swing arm 3-5 is contacted with the E-shaped plate again. The E-shaped plate of the hammer head 3-11 is connected with the mass block 3-11-2 through welding; the mass block 3-11-2, the force sensor 3-11-3 and the end head 3-11-4 are connected through bolts, the force sensor 3-11-3 can be a quartz force sensor 3-11-3 of 208C05 model manufactured by American PCB company, and the sensitivity is 0.2248 mV/N; the mass block 3-11-2 is made of 304 stainless steel, the diameter of the mass block 3-11-2 and the inner diameter of the sleeve 3-7 are both 25mm, and the mass block and the sleeve are in clearance fit; the length of the graphite sleeve 3-7 is 20mm, and the graphite sleeve is fixed on the connecting seat 3-3 through a bolt; the size of the top plate 3-9 is 100 multiplied by 40 multiplied by 3mm, the top plate is fixed on a bolt 3-8 through an upper M5 nut and a lower M5 nut, and the bolt size is M5 multiplied by 100; the top plate 3-93-9 is connected with an E-shaped plate of the hammer head 3-11 through a spring 3-10, and the total rigidity k of the spring 3-10 is 4N/m; the swing arm 3-5 quickly pushes the E-shaped plate downwards to realize the free knocking motion of the hammer heads 3-11.

The test module 4 comprises a positioning module 4-1, a vibration acquisition module 4-3 and a data acquisition instrument 4-2, wherein the positioning module 4-1 and the vibration acquisition module 4-3 are connected to the data acquisition instrument 4-2. The positioning module 4-1 comprises a laser range finder 4-1-1 and a first rotating arm 4-1-2, and the laser range finder 4-1-1 is arranged on the side face of the hammering module 3 through the first rotating arm 4-1-2. The vibration acquisition module 4-3 comprises an acceleration sensor 4-3-1, a fixed arm 4-3-2 and a second rotating arm 4-3-3, the fixed arm 4-3-2 is arranged on the side edge of the walking module 1, the second rotating arm 4-3-3 is connected with the fixed arm 4-3-2 and combined with the fixed arm 4-3-2 in an initial state, the acceleration sensor 4-3-1 is arranged at the tail end of the rotating arm, and the acceleration sensor 4-3-1 is used for acquiring vibration signals generated by hammering a steel rail.

In the embodiment, the laser range finder 4-1-1 can be an SGI500/505 point laser range finder 4-1-1 produced by Shenzhen deep vision smart technology Limited, the range is 125-875 mm, the reproducibility (precision) is 5um, the laser range finder 4-1-1 is mounted on the coupling seat 3-3 through the first rotating arm 4-1-2, and the effective rotating radius of the first rotating arm 4-1-2 is 100 mm; in the walking and positioning process of the device, the first rotating arm 4-1-2 is vertically downward, the laser range finder 4-1-1 is accurately positioned by measuring the distance between the laser range finder and the iron base plate of the fastener along the axial direction in real time, the device automatically stops walking after the real-time measured distance meets the positioning requirement, and the first rotating arm 4-1-2 is converted into a horizontal state through fixed-axis rotation.

The data acquisition instrument 4-2 is arranged on the chassis 1-5, and can be selected from an INV3062SV type acquisition instrument produced by Beijing eastern vibration and noise technical research institute, the sampling frequency is 6.25-51.2 KHz, the frequency error is less than 0.005%, and the amplitude error is less than 0.5%.

An acceleration sensor 4-3-1 in a vibration acquisition module 4-3 adopts a magnetic type acceleration sensor 4-3-1, a fixed arm 4-3-2 is arranged at the bottom of a guide rail sliding block module 2-5, and the effective length is 138 mm; the second rotating arm 4-3-3 is connected with the fixed arm 4-3-2, and the initial state is combined with the fixed arm 4-3-2, and the effective rotating radius is 80 mm; the magnetic type acceleration sensor 4-3-1 is clamped at the front end of the second rotating arm 4-3-3, a CF0113 piezoelectric type acceleration sensor 4-3-1 produced by Jiangsu Chengfu electronic technology, Inc. can be selected, the sensitivity is 97.9mV/g, the measuring range is +/-200 g, and the resolution (precision) is 0.2 mg;

after the device finishes walking and positioning, the magnetic type acceleration sensor 4-3-1 is adsorbed on the top surface of the rail bottom of the steel rail through the rotation of the second rotating arm 4-3-3, the adsorption position is next to the m/2 measuring point (the number m of the measuring points is an even number) close to the left, and data acquisition in the unit is started; after the data acquisition of the unit is finished, the magnetic type acceleration sensor 4-3-1 is separated from the steel rail through the second rotating arm 4-3-3 and returns to the initial state.

The control module 5 includes a controller 5-1 and a computer 5-2. The controller 5-1 is used for controlling the rotation and pause of the walking stepping motor 1-4, the screw rod stepping motor 2-3 and the hammering stepping motor 3-2; the computer 5-2 is internally provided with corresponding software for parameter setting of the data acquisition instrument 4-2 and real-time processing of test data.

The specific operation steps of adopting the rail damage identification device based on the micro-motion characteristic to identify the damage are as follows:

the method comprises the following steps that firstly, a first driving power supply 1-3, a second driving power supply 2-2, a data acquisition instrument 4-2, a controller 5-1, a computer 5-2 and a laser range finder 4-1-1 are started; and setting basic parameters, channel parameters and hammering triggering conditions of the data acquisition instrument 4-2 through a corresponding software operation interface of the computer 5-2. Wherein, the basic parameters include: the test name, the storage path, the test number are automatically increased, and the sampling frequency is 30 k; the channel parameters include: the number of channels is 2, wherein 1 channel is a force signal, the calibration value (sensitivity) is 0.2248mV/N, 2 channels are acceleration signals, and the calibration value (sensitivity) is 97.9 mV/g; the hammer trigger conditions include: the trigger channel is 1 channel, the trigger is carried out for 3 times, the sampling point number of each time is 32768, the delay point number is 128, the trigger proportion is 0.5 percent, and the sampling is started when the hammering force is larger than 222.4N.

Secondly, the controller 5-1 controls the walking stepping motor 1-4 to rotate to drive the walking wheel 1-1 to walk, and the controller 5-1 controls the laser range finder 4-1-1 to measure the distance between the walking stepping motor and the fastener iron base plate along the axial direction in real time to carry out accurate walking positioning; and after the real-time measured distance meets the positioning requirement, the device stops walking, and the magnetic type acceleration sensor 4-3-1 is adsorbed on the top surface of the rail bottom of the steel rail through the second rotating arm 4-3-3. In the embodiment, the distance x (m) between the fastener iron base plate and the axial direction of the fastener iron base plate is measured in real time, and the relation between the controlled walking speed V (m/s) and the distance x is that V is 19.55x ² And 5.08x +0.33, namely stopping walking after the real-time measurement distance meets the positioning requirement of 0.13 m.

And thirdly, starting sampling, hammering the top surface of the rail bottom by the hammer head 3-11, picking up a force signal by the force sensor 3-11-3, picking up a vibration signal by the magnetic type acceleration sensor 4-3-1 adsorbed on the top surface of the rail bottom, and transmitting data to the computer 5-2 by the data acquisition instrument 4-2 in real time.

Fourthly, after the data acquisition of one measuring point is finished, storing the coordinate information of the measuring point, driving the hammering module 3 to move forwards at a fixed distance through the stepping module 2, changing the position of the hammering point, repeating the third step and the fourth step for multiple times, finishing the data acquisition of p measuring points in one unit, taking the fastener pitch as 0.625m as an example, the fixed moving distance is 0.625/p (m), then controlling the stepping module 2 to return to the initial position through a driver, and taking the magnetic type acceleration sensor 4-3-1 down from the top surface of the rail bottom through the second rotating arm 4-3-3.

Fifthly, after data acquisition in one unit is finished, the computer 5-2 is internally provided with software for performing Fast Fourier Transform (FFT) and transfer function calculation on the force signal and the vibration signal to obtain discrete modal information of p measuring points, and the discrete modal information is converted into modal curvature.

The modal curvature calculation method is based on a curvature equation of a beam neutral surface in material mechanics:

K(x，t)＝M(x，t)/EI(x)

in the formula, M (x, t) is a bending moment of any section of the steel rail at any moment;

EI (x) is the bending rigidity of any section of the steel rail;

and K (x, t) is the modal curvature of any point on the beam.

When the device is adopted to calculate the modal curvature, the steps are as follows:

firstly, sampling and measuring displacement modes of various hammering points on the top surface of the rail bottom of the steel rail through a force sensor 3-11-3, a magnetic type acceleration sensor 4-3-1 and a data acquisition instrument 4-2

And r is 1, 2, … … p, and constitutes the integral displacement mode shape (discrete mode information) of the rail bottom top surface in the test unit:

then, a central difference method is adopted to obtain the corresponding modal curvature of each measuring point:

obtaining the integral modal curvature distribution of the bottom and top surfaces of the rail in one unit through the curvature modes rho (r) of the measuring points:

P＝[ρ(1) ρ(2) ρ(3) … ρ(r) … ρ(p-1) ρ(p)]

in the formula: the subscript r denotes the r-th station (hammer point) and d denotes the distance between adjacent stations.

And sixthly, while calculating and analyzing the data in one unit, the device walks and positions to the next unit to be tested through the walking module 1 and the positioning module 4-1 to carry out hammering test, obtains modal curvature distribution of corresponding test points of the test unit by adopting the method of the fifth step, and sequentially carries out hammering test on each unit until the steel rail test of the whole section is finished.

Seventhly, repeating the second step, the third step, the fourth step, the fifth step and the sixth step on the same section of steel rail by taking n days as a detection period; obtaining modal curvature difference distribution by making a difference between the modal curvatures of an active steel rail in each unit and a steel rail n days before service (each measuring point makes a difference in a one-to-one correspondence manner, so that modal curvature difference distribution is obtained); the method comprises the steps of judging damage positions and damage levels through modal curvature differences and peak values of certain coordinate information, using relevant parameters (such as coordinates, depths, lengths and the like) of the potential hazards, early cracks and serious cracks of the damage which can be judged as a group of damage data, learning the quantitative relation between the damage data and the modal curvature differences through a built-in neural network model of a computer 5-2, gradually establishing a refined classification and grading evaluation method for the rail damage, and finally achieving the purpose of accurately identifying the rail damage.

It should be noted that: in order to ensure the accuracy of the identification result, each test partition needs to select as many hammering points as possible during measurement. Of course, in other embodiments, a continuous modal curvature difference distribution curve may be obtained by fitting. For example, as shown in FIG. 11, the peak value of the modal curvature difference of a crack having a depth of 10mm is shown. The method comprises the steps of taking related parameters (such as coordinates, depth, length and the like) of the judged damage hidden danger, early cracks and heavy damage cracks as a group of damage data, learning the quantitative relation between the group of damage data and the corresponding modal curvature difference peak value through a neural network model built in a computer 5-2, gradually establishing a refined rail damage classification and grading evaluation method, and finally achieving the purpose of accurately identifying the rail damage.

The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.

Claims (10)

1. A rail flaw identification device based on micro-motion characteristics is characterized by comprising:

a walking module (1): the device is used for being erected on the steel rail and walking on the steel rail;

stepping module (2): arranged at the side edge of the walking module (1) along the walking direction;

hammering module (3): the steel rail hammering device is used for hammering a steel rail, the hammering module (3) is installed on the stepping module (2), and the stepping module (2) drives the hammering module (3) to move in a stepping mode along the direction of the steel rail;

test module (4): positioning the current position of the hammering module (3) and collecting hammering force signals and generated vibration signals;

control module (5): respectively connected with the walking module (1), the stepping module (2), the hammering module (3) and the testing module (4).

2. The rail damage recognition device based on the micro-motion characteristic as claimed in claim 1, wherein the walking module (1) comprises a square chassis (1-5), walking wheels (1-1) and walking stepping motors (1-4), the walking wheels (1-1) are arranged at four corners of the square chassis (1-5), the walking wheels (1-1) are used for walking on a rail, and the walking stepping motors (1-4) control the walking wheels (1-1) to walk through a transmission shaft.

3. A rail flaw identification device based on micro-motion characteristics according to claim 1, the stepping module (2) comprises a screw rod stepping motor (2-3), a screw rod module (2-4) and a guide rail sliding block module (2-5), the screw rod modules (2-4) and the guide rail sliding block modules (2-5) are arranged at the side edge of the walking module (1) along the walking direction of the walking module (1), the screw rod modules (2-4) and the guide rail slide block modules (2-5) are fixedly connected and move synchronously, the hammering module (3) is arranged on a slide block which synchronously moves with the screw rod module (2-4) and the guide rail slide block module (2-5), and the screw rod stepping motor (2-3) is connected with the screw rod module (2-4).

4. A rail damage identifying device based on micro-motion characteristics as claimed in claim 1, wherein the hammering module (3) comprises a coupling seat (3-3), a hammer head (3-11) assembly and a hammering driving assembly for driving the hammer head (3-11) assembly to perform hammering action, the coupling seat (3-3) is fixedly connected with the stepping module (2), the hammer head (3-11) assembly can be movably mounted on the coupling seat (3-3) up and down, and the hammering action assembly is mounted on the coupling seat (3-3).

5. A rail damage recognition device based on micro-motion characteristics according to claim 4, characterized in that the hammer head (3-11) assembly comprises a sleeve (3-7), a hammer head (3-11) and a resilient member, the sleeve (3-7) is fixed on the coupling seat (3-3), a hole matched with the sleeve (3-7) is formed in the coupling seat (3-3), the hammer head (3-11) passes through the sleeve (3-7) and the coupling seat (3-3) to be movably installed, the sleeve (3-7) restrains the hammer head (3-11) from moving up and down linearly, and the top of the hammer head (3-11) is connected with the resilient member.

6. A rail damage identification device based on micro-motion characteristics according to claim 5, characterized in that the hammer head (3-11) comprises a hammer plate (3-11-1), a mass block (3-11-2), a force sensor (3-11-3) and a head (3-11-4) which are arranged from top to bottom in sequence, when a hammer action is performed, the hammer driving component acts on the hammer plate (3-11-1), and the head (3-11-4) acts on the rail.

7. A rail damage identification device based on micro-motion characteristics according to claim 5, characterized in that the hammering driving component comprises a hammering stepping motor (3-2), a hammering rotating shaft (3-6) and a swing arm (3-5), the hammering rotating shaft (3-6) is connected with the output end of the hammering stepping motor (3-2), the swing arm (3-5) is installed on the hammering rotating shaft (3-6), and the swing arm (3-5) is used for applying hammering driving force to the hammer head (3-11) component.

8. The device for identifying the steel rail damage based on the micro-motion characteristic as claimed in claim 1, wherein the testing module (4) comprises a positioning module (4-1), a vibration acquisition module (4-3) and a data acquisition instrument (4-2), and the positioning module (4-1) and the vibration acquisition module (4-3) are connected to the data acquisition instrument (4-2).

9. A rail damage identifying device based on micro-motion characteristics as claimed in claim 8, characterized in that the positioning module (4-1) comprises a laser distance measuring instrument (4-1-1) and a first rotating arm (4-1-2), and the laser distance measuring instrument (4-1-1) is arranged at the side of the hammering module (3) through the first rotating arm (4-1-2).

10. A rail flaw identification device based on micro-motion characteristics according to claim 8, characterized in that the vibration acquisition module (4-3) comprises an acceleration sensor (4-3-1), a fixed arm (4-3-2) and a second rotating arm (4-3-3), the fixed arm (4-3-2) is arranged at the side edge of the walking module (1), the second rotating arm (4-3-3) is connected with the fixed arm (4-3-2) and is combined with the fixed arm (4-3-2) in an initial state, the acceleration sensor (4-3-1) is arranged at the tail end of the rotating arm, and the acceleration sensor (4-3-1) is used for collecting vibration signals generated by hammering the steel rail.

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