CN218907230U

CN218907230U - APM track line type detection trolley

Info

Publication number: CN218907230U
Application number: CN202223379151.1U
Authority: CN
Inventors: 田益锋; 顾培忠; 汤培峰; 蒋章琪; 曹锦磊; 徐攀; 张奕; 许峰
Original assignee: Shanghai Shenkai Public Transport Operation Management Co ltd
Current assignee: Shanghai Shenkai Public Transport Operation Management Co ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-04-25
Anticipated expiration: 2032-12-16

Abstract

The utility model belongs to the technical field of APM track detection, and discloses an APM track line type detection trolley, which comprises the following components: the system comprises a data acquisition control module, an inertial navigation unit, a guiding device, a power module, a left vertical plate, a right vertical plate, a left height measurement assembly, a right height measurement assembly, a left rail direction measurement assembly, a right rail direction measurement assembly, a left travelling wheel, a right travelling wheel, a cross beam, a reinforcing beam and RFID; the guide device is connected with the lower surface of the cross beam; the left travelling wheel is positioned on the left travelling surface, and the right travelling wheel is positioned on the right travelling surface; the guide device is erected above the left guide rail web plate and the right guide rail web plate. According to the utility model, the relative motion track of the trolley is obtained through the inertial navigation unit, and the height of the running surface relative to the trolley body and the transverse distance between the trolley body and the guide rail are obtained by combining the height measuring assembly and the rail direction measuring assembly, so that the measurement of the height of the running surface and the rail direction of the guide rail is realized. The positioning accuracy during the measurement of the height and the rail direction is improved, and the measurement efficiency is improved.

Description

APM track line type detection trolley

Technical Field

The utility model relates to the technical field of APM track detection, in particular to an APM track line type detection trolley.

Background

APM is a self-guiding transportation mode of full-automatic operation, and the vehicle runs on the guide rail and has independent road rights. The rubber tires are utilized to walk, independent road weights are provided, a special guiding mechanism is arranged, and an unmanned conveying system is adopted. The track line equipment is an infrastructure of the railway transportation industry, is subjected to the effects of wind, rain, freezing and thawing and train load throughout the year, and the steel rail, the connecting parts and the sleeper are continuously worn, so that the geometric shape and the size of the track are continuously changed, the roadbed and the track bed are also continuously deformed, and the technical state of the line equipment is continuously changed. The track running surface and the linear state of the guide rail can influence the safe running and riding comfort of the train.

Aiming at the problems of the height of a running surface, the track direction of a guide rail, and the like, the manual measurement mode is mainly adopted at present, and the defects of high manual labor intensity, low operation efficiency, incapability of guaranteeing measurement precision and the like obviously exist, so that automatic detection equipment is needed.

Disclosure of Invention

The utility model aims to provide an APM track line type detection trolley, wherein a driving motor is connected to a guide wheel at one position of a guide device, and the trolley can be controlled to travel along a track line through an external mobile remote control terminal. The guiding device can adapt to the guiding rail, when the width of the guiding rail changes or the guiding rail is bent, the guiding wheel can roll or bend smoothly along the guiding rail, and the line trafficability of the trolley is guaranteed.

In order to achieve the above purpose, the utility model adopts the following technical scheme: an APM track line-type inspection trolley, comprising: the system comprises a data acquisition control module 1, an inertial navigation unit 2, a guiding device 3, a power module 4, a left vertical plate 501, a right vertical plate 502, a left height measurement assembly 701, a right height measurement assembly 702, a left rail direction measurement assembly 801, a right rail direction measurement assembly 802, a left travelling wheel 1001, a right travelling wheel 1002, a cross beam 11, a reinforcing beam 12 and an RFID13; the guide device 3 is connected with the lower surface of the cross beam 11; the left traveling wheel 1001 is located on the left traveling surface 601, and the right traveling wheel 1002 is located on the right traveling surface 602; the guide 3 is mounted above the left and

right guide webs

901, 902.

Further, the inertial navigation unit 2 is mounted on the upper surface of the center of the cross beam 11, the data acquisition control module 1 is mounted on the upper surface of the left end of the cross beam 11, and the power module 4 is mounted on the upper surface of the right end of the cross beam 11.

Further, the left riser 501 is connected to the left end of the cross beam 11, and the right riser 502 is connected to the right end of the cross beam 11; the left height measurement assembly 701 is mounted in the middle of the left riser 501 and the right height measurement assembly 702 is mounted in the middle of the right riser 502.

Further, the left riser 501 and the right running wheel 1002 are arched; a left running wheel 1001 is mounted on each of the two legs of the left riser 501, and a right running wheel 1002 is mounted on each of the two legs of the right riser 502.

Further, the left rail direction measuring assembly 801 is mounted on the left side lower surface of the cross beam 11, and the right rail direction measuring assembly 802 is mounted on the right lower surface of the cross beam 11; the RFID13 is mounted on the lower surface of the cross beam 11.

Further, the reinforcing beam 12 is connected to the L-shaped corner where the cross beam 11 is connected to the left vertical plate 501 and the right vertical plate 502.

Further, the guide 3 includes: base plate 301, rotary motor 302, rotary encoder 303, guide wheel mount 304, guide wheel 305, outer rod 306, first pin 307, second pin 308, third pin 309, inner rod 3010, slide rail 3011, slide block 3012, transition plate 3013, nut 3014, threaded rod 3015, telescoping rod 3016, support plate 3017; the direction of the threaded rod 3015 is perpendicular to the guide rail.

Further, the guide wheel 305 is mounted at the lower end of the guide wheel seat 304; the upper end of the guide wheel seat 304 is arranged at one end of the outer rod 306; the guide wheel seats 304 are four, the upper end of one guide wheel seat is provided with a rotary motor 302, and the upper end of the other guide wheel seat is provided with a rotary encoder 303; the middle part of the outer rod 306 is provided with a hole, and the outer rod is connected to the corner of the base plate 301 through a first pin 307; the other end of the outer rod 306 is connected to one end of the inner rod 3010 by a second pin 308; the other end of the inner rod 3010 is connected to the transition plate 3013 by a third pin 309; one end of the telescopic rod 3016 is fixed at the middle of the outer rod 306, and the other end is fixed at the middle of the base plate 301.

Further, the base 301 is mounted on the lower surface of the center of the beam 11; the lower surface of the base plate 301 is provided with a sliding rail 3011, the sliding rail 3011 is provided with two sliding blocks 3012, and the sliding blocks 3012 are provided with transition plates 3013.

Further, the threaded rod 3015 passes through rings of two third pins 309, and both ends of the threaded rod 3015 are connected to the base plate 301 by support plates 3017; a nut 3014 is mounted on a threaded rod 3015 intermediate the support plate 3017 and the third pin 309.

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

(1) According to the linear detection system, the relative motion track of the trolley is obtained through the inertial navigation unit, and the height of the obtained running surface relative to the trolley body and the transverse distance between the trolley body and the guide rail are combined with the height measurement assembly and the rail direction measurement assembly, so that the measurement of the height of the running surface and the rail direction of the guide rail can be realized;

(2) The mileage counting of the rotary encoder and the mileage information of the radio frequency tag on the track facility read by the RFID are combined, so that the improvement of the positioning accuracy during the measurement of the height and the track direction can be realized by the inertial navigation unit;

(3) The problems of high labor intensity, low efficiency and low measurement precision of the traditional APM track height and track direction equilinear manual measurement are solved.

Drawings

FIG. 1 is an isometric view of an embodiment of an APM orbital line type inspection cart according to the present disclosure;

FIG. 2 is a front view of an embodiment of an APM track line inspection trolley according to the present disclosure;

FIG. 3 is a schematic view of the elevation of the running surface of an APM track line type inspection trolley and the track direction of a guide web plate;

FIG. 4 is a top view of the guide shaft of an APM orbital line type inspection cart according to the present disclosure;

fig. 5 is a lower view of a guide shaft of an APM rail line type inspection car according to the present disclosure.

Reference numerals: 1. the device comprises a data acquisition control module 2, an inertial navigation unit 3, a guiding device 301, a base plate 302, a rotating motor 303, a rotary encoder 304, a guiding wheel seat 305, a guiding wheel 306, an outer rod 307, a first pin 308, a second pin 309, a third pin 3010, an inner rod 3011, a sliding rail 3012, a sliding block 3013, a transition plate 3014, a nut 3015, a threaded rod 3016, a telescopic rod 3017, a supporting plate 4, a power module 501, a left vertical plate 502, a right vertical plate 601, a left running surface 602, a right running surface 701, a left height measuring component 702, a right height measuring component 801, a left rail measuring component 802, a right rail measuring component 901, a left guiding rail web 902, a right guiding rail web 1001, a left running wheel 1002, a right running wheel 11, a cross beam 12, a reinforcing beam 13, an RFID (radio frequency identification device) and a radio frequency tag.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art without the inventive effort, are intended to be within the scope of the present utility model.

Referring to fig. 1-5, the utility model discloses an APM track line type detection trolley, which is characterized by comprising: the system comprises a data acquisition control module 1, an inertial navigation unit 2, a guiding device 3, a power module 4, a left vertical plate 501, a right vertical plate 502, a left height measurement assembly 701, a right height measurement assembly 702, a left rail direction measurement assembly 801, a right rail direction measurement assembly 802, a left travelling wheel 1001, a right travelling wheel 1002, a cross beam 11, a reinforcing beam 12 and an RFID13; the guide device 3 is connected with the lower surface of the cross beam 11; the left traveling wheel 1001 is located on the left traveling surface 601, and the right traveling wheel 1002 is located on the right traveling surface 602; the guide 3 is mounted above the left and

right guide webs

901, 902.

Further, the left rail direction measuring assembly 801 is mounted on the lower surface of the left part of the cross beam 11, and the right rail direction measuring assembly 802 is mounted on the lower surface of the right part of the cross beam 11; the RFID13 is mounted on the lower surface of the cross beam 11.

When the APM train actually runs, the guide wheels of the train roll in contact with the

guide rail webs

901 and 902 of the middle guide rail and guide along the guide rail, and the train running rubber wheels roll along the left running surface 601 and the right running surface 602. Therefore, the height of the running surface and the rail direction state of the guide rail web can affect the safe operation of the train and the comfort of passengers, and the height of the running surface and the rail direction line type of the guide rail are required to be detected regularly so as to guide the later line maintenance.

The data acquisition control module 1 is mainly used for realizing the operation control of the trolley, the acquisition, real-time processing, storage, display and the like of detection data, and the power supply module 4 is used for supplying power to the whole trolley; the radio frequency tag 14 contains mileage information of a track route and is installed on the inner side of a track-side traveling beam as part of a track facility. The rotary encoder 303 can realize mileage counting, and is used for correcting the mileage of the inertial navigation unit 2 when being used for APM track line type detection together with the RFID13, so that the positioning accuracy during detection is improved.

As an embodiment of the APM track linear detection trolley, when the track line is used for detecting the height of a running surface and the track direction of a guide rail, the specific use process is as follows:

(1) Firstly, the data acquisition control module 1, the power supply module 4 and the rest parts of the track line type detection trolley are respectively conveyed to detection points.

(2) The nuts 3014 screwed on the two sides of the threaded rod 3015 are rotated by a wrench to move towards the middle of the threaded rod 3015, when the nuts 3014 are abutted against the outer side face of the third pin 309, the third pin 309 drives the sliding block 3012 to move towards the middle of the sliding rail 3011 under the driving of the screwing force, meanwhile, the inner rod 3010 drives the outer rod 306 to rotate around the first pin 307, and the telescopic piece is passively shortened along the axial direction after receiving the compression force from the outer rod 306, so that the guide wheels are opened towards the two sides.

(3) When the inner side distance between the left guide wheel 305 and the right guide wheel is larger than the width dimension of the guide rail, the carrying trolley can be placed on the APM track line, so that the carrying trolley is guided into the guide rail; then, referring to the operation in (2), nuts 3014 on both sides of the threaded rod 3015 are reversely rotated away from the middle position of the threaded rod 3015, and the guide wheels hug the guide rail under the active extension action of the telescopic rod 3016 in the axial direction thereof.

(4) The data acquisition control module 1 and the power module 4 are placed in the carrying trolley, the power of the trolley is turned on, and the lower computer in the data acquisition control module 1 is controlled by the upper computer software of the external mobile remote control terminal, so that the travelling, data acquisition and the like of the carrying trolley can be realized.

(5) When the linear detection trolley advances, the data acquisition control module 1 gives a running instruction to the guide motor 302 mounted on the middle guide device of the carrying trolley, the guide wheel 305 connected with the output shaft of the guide motor 302 rolls along the guide rail under the drive of the guide motor 302, and as the telescopic rod 3016 arranged by the guide device has active extension and passive compression after being subjected to external load, the guide wheel 305 is always attached to the guide rail and provides adhesive force for the advancing of the carrying trolley, and when the width of the guide rail changes or the guide rail passes through a curved track, the guide wheel 305 can be ensured to roll or pass through the guide rail smoothly, so that the carrying trolley advances and retreats.

(6) When the linear detection trolley detects the height and the track direction, the relative motion track of the trolley is acquired through the inertial navigation unit 2, the heights of the left running surface 6011 and the right running surface 602 relative to the trolley body, which are respectively acquired by the left height measurement assembly 701 and the right height measurement assembly 702, are combined, and the transverse distances between the trolley body and the left guide rail web 901 and the right guide rail web 902, which are respectively acquired by the right track measurement assembly 802, are combined, so that the measurement of the height of the running surface and the track direction of the guide rail can be realized. The mileage counting of the rotary encoder and the mileage information of the radio frequency tag on the track facility read by the RFID are combined, so that the inertial navigation unit 2 can be assisted to improve the positioning accuracy during the measurement of the height and the track direction.

(7) After the track line type detection task is completed, the trolley can be quickly moved to a specified evacuation position point, the step (2) is repeated, the guide wheels 305 are unfolded, the data acquisition control module 1 and the power supply module 4 are removed, and the carrying trolley is carried to a specified storage position.

Claims

1. An APM track line-type inspection trolley, comprising: the system comprises a data acquisition control module (1), an inertial navigation unit (2), a guiding device (3), a power module (4), a left vertical plate (501), a right vertical plate (502), a left height measurement assembly (701), a right height measurement assembly (702), a left rail measurement assembly (801), a right rail measurement assembly (802), a left travelling wheel (1001), a right travelling wheel (1002), a cross beam (11), a reinforcing beam (12) and an RFID (13); the guide device (3) is connected with the lower surface of the cross beam (11); the left traveling wheel (1001) is positioned on the left traveling surface (601), and the right traveling wheel (1002) is positioned on the right traveling surface (602); the guide device (3) is erected above the left guide rail web plate (901) and the right guide rail web plate (902).

2. The APM track line type detection trolley according to claim 1, wherein the inertial navigation unit (2) is mounted on the central upper surface of the cross beam (11), the data acquisition control module (1) is mounted on the upper surface of the left end of the cross beam (11), and the power supply module (4) is mounted on the upper surface of the right end of the cross beam (11).

3. The APM track line type inspection trolley according to claim 1, wherein the left riser (501) is connected to the left end of the cross beam (11), and the right riser (502) is connected to the right end of the cross beam (11); the left height measurement assembly (701) is mounted in the middle of the left riser (501), and the right height measurement assembly (702) is mounted in the middle of the right riser (502).

4. An APM track line type inspection trolley according to claim 1, wherein the left riser (501) and right running wheel (1002) are arched; a left running wheel (1001) is respectively arranged on two supporting legs of the left vertical plate (501), and a right running wheel (1002) is respectively arranged on two supporting legs of the right vertical plate (502).

5. The APM rail line type inspection trolley according to claim 1, wherein the left rail direction measuring assembly (801) is installed on a lower surface of a left portion side of the cross beam (11), and the right rail direction measuring assembly (802) is installed on a lower surface of a right portion of the cross beam (11); the RFID (13) is arranged on the lower surface of the cross beam (11).

6. An APM track line type inspection trolley according to claim 1, wherein the L-shaped corners of the cross beam (11) connected with the left vertical plate (501) and the right vertical plate (502) are connected with reinforcing beams (12).

7. An APM track line type inspection trolley according to claim 1, wherein the guiding means (3) comprises: base plate (301), rotating motor (302), rotary encoder (303), guide wheel seat (304), guide wheel (305), outer pole (306), first pin (307), second pin (308), third pin (309), inner pole (3010), slide rail (3011), slide block (3012), transition plate (3013), nut (3014), threaded rod (3015), telescopic rod (3016), support plate (3017); the direction of the threaded rod (3015) is perpendicular to the guide rail.

8. An APM rail line type inspection trolley according to claim 7, wherein the guide wheel (305) is mounted at the lower end of the guide wheel seat (304); the upper end of the guide wheel seat (304) is arranged at one end of the outer rod (306); four guide wheel seats (304) are arranged, a rotating motor (302) is arranged at the upper end of one guide wheel seat, and a rotary encoder (303) is arranged at the upper end of one guide wheel seat; the middle part of the outer rod (306) is provided with a hole, and the outer rod is connected to the corner of the base plate (301) through a first pin (307); the other end of the outer rod (306) is connected with one end of the inner rod (3010) through a second pin (308); the other end of the inner rod (3010) is connected to the transition plate (3013) by a third pin (309); one end of the telescopic rod (3016) is fixed at the middle part of the outer rod (306), and the other end of the telescopic rod is fixed at the middle part of the base plate (301).

9. An APM rail line type inspection trolley according to claim 7, wherein the base plate (301) is mounted on the lower surface of the center of the cross beam (11); the sliding rail (3011) is mounted on the lower surface of the base plate (301), two sliding blocks (3012) are mounted on the sliding rail (3011), and a transition plate (3013) is mounted on the sliding blocks (3012).

10. An APM orbital linear detection trolley according to claim 7, wherein the threaded rod (3015) passes through the rings of two third pins (309), the threaded rod (3015) being connected at both ends to the base plate (301) by support plates (3017); a nut (3014) is mounted on a threaded rod (3015) intermediate the support plate (3017) and the third pin (309).