CN220809425U - Automatic track defect detection robot - Google Patents
Automatic track defect detection robot Download PDFInfo
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- CN220809425U CN220809425U CN202322304872.4U CN202322304872U CN220809425U CN 220809425 U CN220809425 U CN 220809425U CN 202322304872 U CN202322304872 U CN 202322304872U CN 220809425 U CN220809425 U CN 220809425U
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- 238000007689 inspection Methods 0.000 abstract description 5
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Abstract
The utility model relates to an automatic track defect detection robot, which comprises: the device comprises a supporting assembly, a driving assembly and a detecting assembly, wherein the supporting assembly comprises a supporting shaft, connecting frames are respectively arranged at two ends of the supporting shaft, and a supporting plate is arranged at the top of each connecting frame; the driving assembly comprises two rotating shafts which are arranged in parallel, the two rotating shafts are arranged at two sides of the two supporting shafts, two ends of the two rotating shafts are connected with the connecting frame, and two ends of the rotating shafts are sleeved with idler wheels; the detection assembly comprises a first intelligent camera and two second intelligent cameras, the first intelligent camera is arranged at the top of the supporting plate, and the first intelligent camera lens is radially arranged along the rotating shaft; the second intelligent camera is arranged between the two supporting shafts, and the position of the second intelligent camera corresponds to the position of the roller. According to the utility model, the intelligent camera is used for automatically carrying out visual identification detection on the track, so that the track inspection device has higher detection precision and stability compared with a manual inspection mode, and can greatly reduce the labor cost and improve the working efficiency.
Description
Technical Field
The utility model relates to the technical field of rail defect detection, in particular to an automatic rail defect detection robot.
Background
In a rail transit system, due to the severe external weather and the impact force of a train continuously acting on a rail in operation, defects (such as stripping cracks and shallow stripping blocks, wave abrasion, local indentation and the like caused by rail head crushing) are generated on the surface of the rail, and finally, safety accidents can possibly occur. Therefore, detection of the track safety state is indispensable for ensuring the operation safety and efficiency of the track traffic.
In the prior art, rail transit inspection and rail surface defects still need manual visual detection by workers, and a device detection method which needs manual holding is high in cost and long in time, and whether detection results are accurate or not has a huge relationship with the working experience of the workers, the working state of the workers and the physical condition of the workers, so that the detection accuracy is influenced.
Disclosure of utility model
Therefore, the technical problem to be solved by the utility model is to overcome the defects of low detection efficiency and low detection precision caused by the fact that the rail detection needs to be detected by a manual handheld device in the prior art.
In order to solve the technical problems, the utility model provides an automatic track defect detection robot, which comprises:
The support assembly comprises support shafts which are arranged side by side, connecting frames are respectively arranged at two ends of the two support shafts, and support plates are arranged at the tops of the two connecting frames;
The driving assembly comprises two rotating shafts which are arranged in parallel, the two rotating shafts are arranged on two sides of the two supporting shafts, the rotating shafts are arranged in parallel to the supporting shafts, two ends of the two rotating shafts are connected with the connecting frame, and two ends of the rotating shafts are sleeved with idler wheels;
The detection assembly comprises a first intelligent camera and two second intelligent cameras, the first intelligent camera is arranged at the top of the supporting plate, and the first intelligent camera lens is radially arranged along the rotating shaft; the second intelligent camera is arranged between the two supporting shafts, and the position of the second intelligent camera corresponds to the position of the roller.
In one embodiment of the utility model, the driving assembly further comprises a driving source, the driving source is arranged at the tops of the two supporting shafts, a gear shaft is arranged at the output end of the driving source, a driving gear is sleeved on one rotating shaft, and the gear shaft is meshed with the driving gear.
In one embodiment of the utility model, the gear shaft and the outer side of the driving gear are covered with a gear box, and a bracket is arranged between the gear box and the supporting shaft.
In one embodiment of the utility model, a first elastic element is arranged between the two connecting frames and the supporting plate.
In one embodiment of the utility model, a second elastic element is further arranged between the connecting frame and the supporting plate.
In one embodiment of the utility model, a hub frame is arranged between the rotating shaft and the connecting frame, the hub frame is sleeved on the rotating shaft, and the hub frame is detachably connected with the connecting frame.
In one embodiment of the utility model, an annular light source is arranged outside the lens of the second intelligent camera.
In one embodiment of the utility model, a power supply and a control module are further arranged on the top of the supporting plate, the power supply is respectively and electrically connected with the driving assembly, the detecting assembly and the control module, and the control module is electrically connected with the detecting assembly.
In one embodiment of the utility model, the surface of the roller is provided with an annular groove.
In one embodiment of the utility model, the intelligent camera further comprises a shell, wherein the shell covers the top of the supporting plate, and a notch matched with the first intelligent camera is formed in the surface of the shell.
Compared with the prior art, the technical scheme of the utility model has the following advantages:
According to the utility model
Drawings
In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
FIG. 1 is a schematic view of the overall structure of the present utility model;
FIG. 2 is a schematic view of the internal structure of the present utility model;
FIG. 3 is a schematic view of the support assembly and drive assembly of FIG. 1;
FIG. 4 is a schematic diagram of a second smart camera in FIG. 3;
FIG. 5 is a schematic view of the internal structure of the gearbox of FIG. 3;
FIG. 6 is an enlarged view of a partial structure at A in FIG. 2;
Description of the specification reference numerals: 1. a support assembly; 2. a drive assembly; 3. a detection assembly; 4. a housing; 5. a power supply; 6. a control module; 11. a support shaft; 12. a connecting frame; 13. a support plate; 14. a first elastic element; 15. a second elastic element; 21. a rotating shaft; 22. a roller; 23. a hub frame; 24. a driving source; 25. a gear box; 26. a bracket; 27. a gear shaft; 28. a drive gear; 31. a first smart camera; 32. a second smart camera; 33. an annular light source; 121. a U-shaped groove; 231. positioning a shaft; 232. a column; 233. and (5) a buckle.
Detailed Description
The present utility model will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the utility model and practice it.
Referring to fig. 1 to 6, the present utility model discloses an automatic track defect detection robot, comprising:
the support assembly 1, the support assembly 1 comprises support shafts 11 arranged side by side, two ends of the two support shafts 11 are respectively provided with a connecting frame 12, and the tops of the two connecting frames 12 are provided with a support plate 13;
The driving assembly 2 comprises two rotating shafts 21 which are arranged in parallel, the two rotating shafts 21 are arranged on two sides of the two supporting shafts 11, the rotating shafts 21 are arranged in parallel to the supporting shafts 11, two ends of the two rotating shafts 21 are connected with the connecting frame 12, and rollers 22 are sleeved at two ends of the rotating shafts 21;
The detection assembly 3, the detection assembly 3 comprises a first intelligent camera 31 and two second intelligent cameras 32, the first intelligent camera 31 is arranged at the top of the supporting plate 13, and the lenses of the first intelligent camera 31 are radially arranged along the rotating shaft 21; the second smart camera 32 is disposed between the two support shafts 11, and the position of the second smart camera 32 corresponds to the position of the wheel 22.
It is conceivable that two support shafts 11 are arranged between two connecting frames 12 to form the whole frame structure, two rotating shafts 21 are arranged between the two connecting frames 12, and the movement on the track is realized through rollers 22 sleeved on the rotating shafts 21; the whole robot performs visual identification detection on the track in the running process through the first intelligent camera 31 and the second intelligent camera 32, specifically, the first intelligent camera 31 is arranged at the top, the direction of a lens of the first intelligent camera 31 is consistent with the running direction of the robot, and information of a track running interval is collected in the running process; the second intelligent camera 32 is arranged between the two support shafts 11, the lens of the second intelligent camera 32 faces downwards vertically, the position of the second intelligent camera 32 corresponds to the position of the roller 22, and the second intelligent camera 32 is ensured to be opposite to the surface of the bottom rail, and visual identification information acquisition is carried out on the surface of the rail.
According to the utility model, the first intelligent camera 31 is used for carrying out visual identification detection on the track traveling section, and the second intelligent camera 32 is used for carrying out visual identification detection on the track surface, so that the detection precision and stability are higher than those of a manual inspection mode, the labor cost can be greatly reduced, and the working efficiency can be improved.
Further, the driving assembly 2 further comprises a driving source 24, the driving source 24 is arranged at the top of the two supporting shafts 11, a gear shaft 27 is arranged at the output end of the driving source 24, a driving gear 28 is sleeved on one rotating shaft 21, and the gear shaft 27 is meshed with the driving gear 28.
Specifically, the output shaft of the driving source 24 is a gear shaft 27, the gear shaft 27 is meshed with a driving gear 28 sleeved on the rotating shaft 21, the driving gear 28 is connected with the rotating shaft 21 in a key way, and the driving source 24 rotates to drive the rotating shaft 21, so that the roller 22 is driven to rotate, and the roller 22 runs on a track. As a preferred embodiment of the present utility model, the driving source 24 is driven by a motor.
Further, the gear shaft 27 and the driving gear 28 are covered with a gear case 25, and a bracket 26 is provided between the gear case 25 and the support shaft 11.
Specifically, the bracket 26 is placed between the two support shafts 11 for mounting and fixing the gear box 25, and the gear box 25 is covered on the outer sides of the gear shaft 27 and the driving gear 28 for protecting the gear shaft 27 and the driving gear 28, so as to prevent impurities from entering between the gear shaft 27 and the driving gear 28 during running and affecting the transmission of the gear shaft 27 and the driving gear 28.
Further, a first elastic element 14 is provided between both the connection frames 12 and the support plate 13.
Specifically, as a preferred scheme of the utility model, the first elastic element 14 selects air springs, and the two air springs are symmetrically arranged at two sides of the supporting plate 13, so that the whole structure can be protected, the bumpy running condition can be adapted, the running stability of the whole device is improved, and the accuracy of visual recognition and detection is improved.
Further, a second elastic element 15 is provided between the connecting frame 12 and the support plate 13. Specifically, the second elastic member 15 is a telescopic spring, further improving the stability of the support plate 13.
Further, a hub frame 23 is arranged between the rotating shaft 21 and the connecting frame 12, the hub frame 23 is sleeved on the rotating shaft 21, and the hub frame 23 is detachably connected with the connecting frame 12.
Specifically, the hub frame 23 is sleeved at two ends of the rotating shaft 21, one side of the hub frame 23 is provided with a positioning shaft 231, the connecting frame 12 is provided with a U-shaped groove 121 matched with the positioning shaft 231, and the U-shaped groove 121 is clamped at the outer side of the positioning shaft 231; the other side of the hub frame 23 is provided with a column 232, the top of the column 232 is provided with a buckle 233, and the buckle 233 is clamped on the connecting frame 12. The rotating shaft 21 is connected with the connecting frame 12 through the hub frame 23, and the whole connecting mode is connected through the buckle 233, so that the whole device is convenient to detach and install.
Further, an annular light source 33 is provided outside the lens of the second smart camera 32.
Specifically, since the second intelligent camera 32 is arranged at the bottom of the whole device and is opposite to the track surface, light is blocked to influence the identification accuracy of the second intelligent camera 32, as a preferable scheme of the utility model, the annular light source 33 is added at the outer side of the lens of the second intelligent camera 32, the defect of dark light at the bottom of the whole device is changed, and the identification accuracy of the second intelligent camera 32 on the track surface defect is improved. As a preferred embodiment of the present utility model, the ring light source 33 is an LED light source, and has the characteristics of small volume, long service life and high efficiency.
Further, a power supply 5 and a control module 6 are further arranged on the top of the supporting plate 13, the power supply 5 is electrically connected with the driving assembly 2, the detecting assembly 3 and the control module 6 respectively, and the control module 6 is electrically connected with the detecting assembly 3.
Specifically, the power supply 5 is used for supplying power to electric equipment in the whole device, such as driving of a motor, photographing of the first smart camera 31 and the second smart camera 32. And the control module 6 is provided with Jetson nano intelligent control chips, and has the characteristics of small volume and high running speed. Then YOLOv is adopted as a core algorithm, and the adopted YOLOv network structure consists of four parts: input, backbone, neck and head. Besides, the system also comprises CBL, resunit, CSRX, SPP, focus basic modules. In addition, the control module 6 can complete the full-automatic detection task based on the ROS control system, and the defect detection efficiency and accuracy are improved.
Further, the surface of the roller 22 is provided with an annular groove.
Specifically, the rollers 22 at the bottom are matched with the rails by adopting asymmetric concave wheels, so that the rail surface automatic detection robot can be better adapted to the shape of the rails, and the concave wheels are designed so that the robot is not easy to deviate from the travelling route on the rails. The asymmetric concave wheel design may enable the concave wheel itself to interact with the sides of the track, providing steering forces for the robot.
Further, the intelligent camera further comprises a shell 4, the shell 4 is covered on the top of the supporting plate 13, and a notch matched with the first intelligent camera 31 is formed in the surface of the shell 4.
Specifically, the whole housing 4 is covered on top of the supporting plate 13, and forms protection for the internal power supply 5 and the control module 6 for coping with different detection environments. Since the first smart camera 31 is also disposed at the top of the support plate 13, a notch needs to be formed on the housing 4, so as to avoid affecting the normal use of the first smart camera 31.
In summary, the present utility model provides an automatic track defect detection robot, comprising: the device comprises a supporting component 1, a driving component 2 and a detecting component 3, wherein the supporting component 1 comprises supporting shafts 11 which are arranged side by side, two ends of each supporting shaft 11 are respectively provided with a connecting frame 12, and the tops of the two connecting frames 12 are provided with supporting plates 13; the driving assembly 2 comprises two rotating shafts 21 which are arranged in parallel, the two rotating shafts 21 are arranged on two sides of the two supporting shafts 11, the rotating shafts 21 are arranged in parallel to the supporting shafts 11, two ends of the two rotating shafts 21 are connected with the connecting frame 12, and rollers 22 are sleeved at two ends of the rotating shafts 21; the detection assembly 3 comprises a first intelligent camera 31 and two second intelligent cameras 32, the first intelligent camera 31 is arranged at the top of the supporting plate 13, and lenses of the first intelligent camera 31 are radially arranged along the rotating shaft 21; the second smart camera 32 is disposed between the two support shafts 11, and the position of the second smart camera 32 corresponds to the position of the wheel 22. According to the utility model, the first intelligent camera 31 is used for carrying out visual identification detection on the track traveling section, and the second intelligent camera 32 is used for carrying out visual identification detection on the track surface, so that the detection precision and stability are higher than those of a manual inspection mode, the labor cost can be greatly reduced, and the working efficiency can be improved.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present utility model will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.
Claims (10)
1. An automatic track defect detection robot, comprising:
The support assembly comprises support shafts which are arranged side by side, connecting frames are respectively arranged at two ends of the two support shafts, and support plates are arranged at the tops of the two connecting frames;
The driving assembly comprises two rotating shafts which are arranged in parallel, the two rotating shafts are arranged on two sides of the two supporting shafts, the rotating shafts are arranged in parallel to the supporting shafts, two ends of the two rotating shafts are connected with the connecting frame, and two ends of the rotating shafts are sleeved with idler wheels;
The detection assembly comprises a first intelligent camera and two second intelligent cameras, the first intelligent camera is arranged at the top of the supporting plate, and the first intelligent camera lens is radially arranged along the rotating shaft; the second intelligent camera is arranged between the two supporting shafts, and the position of the second intelligent camera corresponds to the position of the roller.
2. The track defect automatic detection robot of claim 1, wherein: the driving assembly further comprises a driving source, the driving source is arranged at the tops of the two supporting shafts, a gear shaft is arranged at the output end of the driving source, one driving gear is sleeved on one rotating shaft, and the gear shaft is meshed with the driving gear.
3. The track defect automatic detection robot of claim 2, wherein: the gear shaft and the outer side cover of the driving gear are provided with a gear box, and a bracket is arranged between the gear box and the supporting shaft.
4. The track defect automatic detection robot of claim 1, wherein: and first elastic elements are arranged between the two connecting frames and the supporting plate.
5. The track defect automatic detection robot of claim 1, wherein: and a second elastic element is arranged between the connecting frame and the supporting plate.
6. The track defect automatic detection robot of claim 1, wherein: the rotary shaft is provided with a hub frame between the rotary shaft and the connecting frame, the hub frame is sleeved on the rotary shaft, and the hub frame is detachably connected with the connecting frame.
7. The track defect automatic detection robot of claim 1, wherein: and an annular light source is arranged outside the lens of the second intelligent camera.
8. The track defect automatic detection robot of claim 1, wherein: the top of backup pad still is provided with power and control module, the power respectively with drive assembly, detection subassembly and control module electricity are connected, control module with detection subassembly electricity is connected.
9. The track defect automatic detection robot of claim 1, wherein: the surface of the roller is provided with an annular groove.
10. The track defect automatic detection robot of claim 1, wherein: still include the shell, the shell cover is established the top of backup pad, just shell surface seted up with first intelligent camera complex breach.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322304872.4U CN220809425U (en) | 2023-08-25 | 2023-08-25 | Automatic track defect detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322304872.4U CN220809425U (en) | 2023-08-25 | 2023-08-25 | Automatic track defect detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220809425U true CN220809425U (en) | 2024-04-19 |
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ID=90701530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322304872.4U Active CN220809425U (en) | 2023-08-25 | 2023-08-25 | Automatic track defect detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220809425U (en) |
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2023
- 2023-08-25 CN CN202322304872.4U patent/CN220809425U/en active Active
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