CN218018536U

CN218018536U - Track detection robot

Info

Publication number: CN218018536U
Application number: CN202221946462.9U
Authority: CN
Inventors: 李杨添; 冯秋宝; 雷明良
Original assignee: GUANGZHOU JIAQI INTELLIGENT TECHNOLOGY CO LTD
Current assignee: GUANGZHOU JIAQI INTELLIGENT TECHNOLOGY CO LTD
Priority date: 2022-07-25
Filing date: 2022-07-25
Publication date: 2022-12-13
Anticipated expiration: 2032-07-25

Abstract

The utility model relates to a track inspection robot, including drive module and detection module, detection module includes that the boundary limit of mount pad and locating the mount pad detects sensor, railway roadbed foreign matter and detects the sensor, keeps away barrier sensor and a plurality of 3D measuring camera, and the mount pad can be dismantled with the chassis and be connected, keeps away the front side and/or the rear side that the mount pad was located to the barrier sensor. The utility model discloses a set up drive assembly at the chassis lower extreme, provide power for track inspection robot's removal detection, whether can detect in the track limit scope, in the middle of the ballast bed and the operation around there is the foreign matter respectively moreover, avoid the train to hit the foreign matter and the accident appears, utilize 3D measuring camera to detect rail crack, rail wearing and tearing, rail gauge error, bullet strip inefficacy etc. simultaneously, be convenient for maintain for a long time, avoid the emergence of accident. The utility model discloses a track inspection robot has realized automatic detection, the cost of using manpower sparingly, has improved detection efficiency, avoids appearing reinspecting, missing the condition of examining or the false retrieval.

Description

Track detection robot

Technical Field

The utility model relates to a track check out test set field, in particular to track inspection robot.

Background

With the continuous development of railway engineering, the railway mileage is continuously increased. According to the requirement of railway detection and maintenance, the railway line needs to be detected regularly or irregularly. At present, the railway line in the prior art mostly adopts manual detection, the detection efficiency is extremely low, long time is needed, and the conditions of re-detection, missing detection or false detection are easy to occur.

Therefore, the prior art has yet to be developed.

SUMMERY OF THE UTILITY MODEL

In view of the foregoing prior art's weak point, the utility model aims to provide a track inspection robot aims at realizing the track automated inspection, and the cost of using manpower sparingly improves detection efficiency, avoids appearing reinspecting, missing the condition of examining or the false retrieval.

In order to achieve the above object, the present invention provides the following technical solutions:

the utility model provides a track inspection robot, including drive module and detection module, drive module include the chassis and set up in the drive assembly of chassis lower extreme, detection module include the mount pad and set up in the boundary limit of mount pad detects sensor, railway roadbed foreign matter detection sensor, keeps away barrier sensor and a plurality of 3D and measures the camera, the mount pad with the connection can be dismantled on the chassis, keep away the barrier sensor set up in the front side and/or the rear side of mount pad.

Furthermore, the driving assembly comprises a plurality of driving wheels, driven wheels and motors, the driving wheels and the driven wheels are respectively fixed at the bottom of the chassis, the motors are connected with the driving wheels, and the driving wheels are connected through transmission parts to run synchronously.

Furthermore, the device also comprises a plurality of guide wheels, and the guide wheels are respectively arranged on the outer side of the chassis.

Furthermore, the lifting device controls the universal wheels to ascend or descend relative to the chassis.

Further, the device also comprises a side pressure tensioning mechanism, wherein the side pressure tensioning mechanism comprises a roller and an elastic telescopic device, and the elastic telescopic device enables the roller to keep lateral tension.

Furthermore, 4 3D measuring cameras are arranged and are respectively arranged along the length direction of the mounting seat at intervals;

the mounting seat is provided with a support, and the two adjacent 3D measuring cameras are fixed on the support.

Further, the detection module still includes the main control system, the main control system respectively with boundary limit detection sensor, railway roadbed foreign matter detection sensor, keep away barrier sensor and 3D and measure the camera and be connected.

Further, the mounting seat and the chassis are detachably connected through a plurality of buckles.

Further, handles are arranged on two sides of the mounting seat.

Further, the limit detection sensor and the track bed foreign matter detection sensor adopt laser light radar ranging or camera depth identification.

The utility model discloses technical scheme has beneficial effect:

the utility model provides a driving component at the lower end of the chassis to provide power for the movement detection of the track detection robot, and can respectively detect whether foreign matters exist in the limit range of the track, in the middle of the track bed and before and after the track detection robot runs by arranging the limit detection sensor, the track bed foreign matter detection sensor and the obstacle avoidance sensor on the mounting seat, thereby avoiding accidents caused by the train hitting the foreign matters, utilize 3D measuring camera to detect rail crackle, rail wearing and tearing, rail gauge error, bullet strip inefficacy etc. simultaneously, the long-term maintenance of being convenient for avoids the emergence of accident, the utility model discloses a track inspection robot has realized automated inspection, the cost of using manpower sparingly, has improved detection efficiency, avoids appearing reinspecting, missing the condition of examining or the false retrieval.

Drawings

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

FIG. 2 is a partially exploded view of the detection module of the present invention;

fig. 3 is a partially exploded view of the drive module of the present invention.

Description of the reference numerals:

100-track detection robot, 10-chassis, 11-hasp, 20-driving component, 21-driving wheel, 22-driven wheel, 23-motor, 24-driving piece, 30-mounting seat, 31-bracket, 32-handle, 40-limit detection sensor, 50-track bed foreign matter detection sensor, 60-obstacle avoidance sensor, 70-3D measurement camera, 80-control host, 90-placing rack, 101-guide wheel, 102-universal wheel, 103-lifting device, 104-lateral pressure tensioning mechanism and 105-roller.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the specific embodiments described herein are only used for explaining the present invention, and are not used for limiting the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "connected" may be a fixed connection or a removable connection, or may be integral therewith; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 and 2, the present invention provides a track inspection robot 100, including a driving module and a detection module, the driving module includes a chassis 10 and a driving assembly 20 disposed at a lower end of the chassis 10, the driving assembly 20 provides power for the movement detection of the track inspection robot 100, and the track inspection robot can automatically walk.

The detection module comprises a mounting seat 30, a limit detection sensor 40, a ballast foreign matter detection sensor 50, an obstacle avoidance sensor 60 and a plurality of 3D measuring cameras 70, wherein the limit detection sensor 40, the ballast foreign matter detection sensor 50, the obstacle avoidance sensor 60 and the plurality of 3D measuring cameras 70 are arranged on the mounting seat 30, and the mounting seat 30 is detachably connected with the chassis 10. Preferably, the mounting seat 30 and the chassis 10 are detachably connected through a plurality of buckles 11, so that the mounting and the dismounting are convenient.

The limit detection sensor 40 and the track bed foreign matter detection sensor 50 adopt laser radar ranging or camera depth identification, and are respectively used for detecting whether foreign matters exist in the limit range of the track and in the middle of the track bed, so that accidents caused by the fact that a train collides with the foreign matters are avoided. The obstacle avoidance sensor 60 is disposed at the front side and/or the rear side of the mounting base 30, and is used to determine whether an obstacle exists when the track detection robot 100 moves forward or backward, so as to prevent the obstacle from colliding and falling. The 3D measuring camera 70 is used for detecting rail cracks, rail abrasion, rail gauge errors, elastic strip failure and the like, is convenient for long-term maintenance, and avoids accidents.

The utility model discloses a track inspection robot 100 has realized automatic detection, the cost of using manpower sparingly, has improved detection efficiency, avoids appearing reinspection, missing the condition of examining or the false retrieval.

Referring to fig. 3, the driving assembly 20 includes a plurality of driving wheels 21, driven wheels 22 and motors 23, the driving wheels 21 and the driven wheels 22 are respectively fixed at the bottom of the chassis 10, the motors 23 are connected with the driving wheels 21, and the driving wheels 21 are connected through transmission members 24 to run synchronously. The motor 23 drives the driving wheel 21 to rotate, so as to provide walking power for the track detection robot 100; the driving wheel 21 is used for providing traction friction and load bearing for the track detection robot 100; the driven pulley 22 is used for load bearing.

Preferably, the track inspection robot further comprises a plurality of guide wheels 101, the guide wheels 101 are respectively arranged on the outer side of the chassis 10, the sliding direction of the guide wheels 101 is horizontal, and when the track inspection robot 100 passes through a turnout, the guide wheels 101 drive the track inspection robot 100 to turn around, so as to walk along the track all the time.

In this embodiment, the track inspection robot 100 further includes a universal wheel 102 and a lifting device 103, the universal wheel 102 is disposed on the lower disc of the chassis 10, and the lifting device 103 controls the universal wheel 102 to lift or fall relative to the chassis 10.

When the track detection robot 100 operates, the lifting device 103 can lift the universal wheels 102, so that the height of the universal wheels 102 is higher than the height of the driving wheels 21 and the height of the driven wheels 22, and the operation of the track detection robot 100 is not affected.

When the track inspection robot 100 finishes working, the lifting device 103 enables the universal wheels 102 to descend, so that the height of the universal wheels 102 is lower than that of the driving wheel 21 and that of the driven wheel 22, at the moment, the whole track inspection robot 100 can move through the universal wheels 102, friction is small, the movement is smooth, counter electromotive force generated by the motor 23 when the track inspection robot 100 is moved can be eliminated, damage cannot be caused, and the track inspection robot is convenient to use.

In this embodiment, the lifting device 103 can be matched with a sliding sleeve and a sliding block, and can be locked by a fixing member after being lifted in place. Of course, the lifting device 103 may also adopt other common structures.

Further, the lateral pressure tensioning mechanism 104 is further included, the lateral pressure tensioning mechanism 104 includes a roller 105 and an elastic telescopic device, the elastic telescopic device enables the roller 105 to keep lateral tension, so that the roller 105 compresses the rail, the rail detection robot 100 cannot shake left and right when walking, and the stability is good.

In this embodiment, there are 4 3D measurement cameras 70, each of which is provided at intervals along the longitudinal direction of the mount 30, and the 3D measurement cameras 70 are combined to detect rail cracks, rail wear, rail gauge errors, spring bar failures, and the like.

Specifically, a bracket 31 is arranged on the mounting base 30, and two adjacent 3D measuring cameras 70 are fixed on the bracket 31, so that the mounting is convenient.

Further, the detection module further comprises a control host 80, the control host 80 is respectively connected with the limit detection sensor 40, the track bed foreign matter detection sensor 50, the obstacle avoidance sensor 60 and the 3D measurement camera 70, the control host 80 can preliminarily judge whether the data collected on site are within a threshold value meeting the standard, the mobile terminal is connected to display the result in real time, and meanwhile, the collected data can also be uploaded to a system platform under the permission of communication conditions so as to perform algorithm analysis to obtain a more comprehensive result.

In this embodiment, the detection module further includes a placing frame 90, the placing frame 90 is fixed on the mounting base 30, and the placing frame 90 can be used for placing a mobile terminal, such as a notebook computer, and is convenient to debug or maintain.

Preferably, handles 32 are disposed on two sides of the mounting base 30, so that the detection module can be conveniently carried.

The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes or variations led out by the technical scheme of the utility model are still in the protection scope of the utility model.

Claims

1. The utility model provides a track inspection robot, its characterized in that, includes drive module and detection module, drive module include the chassis and set up in the drive assembly of chassis lower extreme, detection module include the mount pad and set up in boundary limit detection sensor, railway roadbed foreign matter detection sensor, the obstacle avoidance sensor and a plurality of 3D measurement camera of mount pad, the mount pad with the connection can be dismantled to the chassis, the obstacle avoidance sensor set up in the front side and/or the rear side of mount pad.

2. The track detection robot as claimed in claim 1, wherein the driving assembly comprises a plurality of driving wheels, driven wheels and motors, the driving wheels and the driven wheels are respectively fixed at the bottom of the chassis, the motors are connected with the driving wheels, and the driving wheels are connected through transmission parts to run synchronously.

3. The track inspection robot of claim 1, further comprising a plurality of guide wheels, the guide wheels being respectively disposed outside the chassis.

4. The track inspection robot of claim 1, further comprising a universal wheel disposed on a lower plate of the chassis, and a lifting device for controlling the universal wheel to rise or fall relative to the chassis.

5. The track inspection robot of claim 1, further comprising a lateral pressure tensioning mechanism including a roller and an elastic retractor that maintains the roller in lateral tension.

6. The track inspection robot according to claim 1, wherein the 3D measurement cameras are provided in 4 numbers, respectively spaced along a length direction of the mounting base;

7. The track inspection robot of claim 1, wherein the inspection module further comprises a control host, and the control host is connected to the limit inspection sensor, the track bed foreign object inspection sensor, the obstacle avoidance sensor, and the 3D measurement camera, respectively.

8. The track inspection robot of claim 1, wherein the mounting base and the chassis are removably coupled via a plurality of snaps.

9. The track inspection robot of claim 1, wherein handles are provided on both sides of the mounting base.

10. The track inspection robot of claim 1, wherein the boundary detection sensor and the track bed foreign object detection sensor employ lidar ranging or camera depth recognition.