WO2018036509A1 - 一种双机器人轮辋轮辐探伤系统 - Google Patents

一种双机器人轮辋轮辐探伤系统 Download PDF

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Publication number
WO2018036509A1
WO2018036509A1 PCT/CN2017/098619 CN2017098619W WO2018036509A1 WO 2018036509 A1 WO2018036509 A1 WO 2018036509A1 CN 2017098619 W CN2017098619 W CN 2017098619W WO 2018036509 A1 WO2018036509 A1 WO 2018036509A1
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WO
WIPO (PCT)
Prior art keywords
wheel
robot
detection system
lifting platform
top wheel
Prior art date
Application number
PCT/CN2017/098619
Other languages
English (en)
French (fr)
Inventor
张渝
王黎
高晓蓉
赵全轲
王泽勇
彭建平
杨凯
彭朝勇
章祥
温健钟
谭优
张兴宇
罗勇军
张天斗
廖小笼
Original Assignee
北京主导时代科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 北京主导时代科技有限公司 filed Critical 北京主导时代科技有限公司
Priority to US15/776,691 priority Critical patent/US10732148B2/en
Priority to KR1020187015892A priority patent/KR102105518B1/ko
Publication of WO2018036509A1 publication Critical patent/WO2018036509A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/12—Measuring or surveying wheel-rims
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/08—Railway vehicles
    • G01M17/10—Suspensions, axles or wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/041—Analysing solids on the surface of the material, e.g. using Lamb, Rayleigh or shear waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/043—Analysing solids in the interior, e.g. by shear waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/27—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the material relative to a stationary sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/269—Various geometry objects
    • G01N2291/2696—Wheels, Gears, Bearings

Definitions

  • the invention relates to the technical field of train wheel flaw detection equipment, in particular to a double robot wheel rim spoke detection system.
  • the train wheels are important moving parts of the train. Ultrasonic flaw detection and maintenance are required to be carried out regularly under the condition of no falling wheels to ensure the normal running of the train. For flaw detection, it is necessary to use an automatic positioning mechanism to carry the flaw detection carrier to the surface of the wheel, and rotate the wheel through the top rotation mechanism to realize a one-week scan of the wheel after the positioning probe.
  • the flaw detection system uses the probe scan result to analyze whether the wheel appears. Damage, thus enabling flaw detection of the wheel. It can be seen that whether the flaw detection system can accurately and efficiently locate the flaw detection carrier to the designated surface of the wheel in the vehicle bottom space under the condition of no falling wheel is related to the reliability and flaw detection efficiency of the full train inspection.
  • the rim spoke detection system based on the double-probe carrier of the guide rail type, the two probe carriers of the system are arranged on one side of the top rotation device, and one wheel pair can be completed when the wheel rotates one turn (2 wheels) ) Detection. However, it can only be detected from one side of the wheel. If the path on one side interferes or interferes with the positioning, the probe carrier needs to be reversed to the other side of the wheel, and the working efficiency is low. A closed protective cover results in a high failure rate.
  • the rim spoke detection system based on the double probe carrier of the robot.
  • the two probe carriers of the system are arranged on both sides of the top rotation mechanism, and one train (two wheels) of the train can be completed at one time, but the robot Mounted to the detection vehicle chassis, the height is fixed, can not follow the track height change Automatic adjustment, therefore, can not ensure a certain positional relationship with the wheel track, resulting in the inability to adapt to the complex and varied field application environment; at the same time, its top rotation mechanism is directly installed in the chassis of the car, and below the chassis of the car is a small track for auxiliary movement When jacking up the wheel, part of the pressure of the wheel pair and the top turning mechanism will directly act on the chassis of the car, and then act on the small track that assists the movement, thereby causing the ground to sink, which is not only inconvenient to locate, but also reduces the positioning accuracy, and It can also cause security risks.
  • the present invention provides the following technical solutions:
  • a dual robot rim spoke detecting system includes a moving trolley, a lifting platform, a top turning mechanism and a robot, wherein the lifting platform is movably coupled to the moving trolley in a vertical direction, and the top rotating mechanism is disposed on the On the lifting platform, the top and bottom sides of the top rotation mechanism are provided with a top wheel arm, and the top wheel arm is used for lapping on the track where the detected wheel is located, and the front and rear sides of the top rotation mechanism are fixedly connected There is one of the robots, each of which is provided with a tread carrier, and the top turning mechanism is further provided with two inner carriers.
  • the top rotation mechanism includes a top rotation base and a robot mount, and the front and rear sides of the top rotation base are fixedly connected with one of the robot mounts, each of which is One of the robots is provided on the robot mount.
  • two top wheel force receiving shafts are fixedly disposed on the left and right sides of the top rotating base, and each of the top wheel receiving shafts is rotatably sleeved on the outer circumference
  • There is a top wheel swing arm and the upper end of each of the top wheel swing arms is provided with a top wheel for contacting the wheel, and the lower ends of the two top wheel swing arms of the same side wheel are connected by a top wheel telescopic rod.
  • the top wheel telescopic rod is a top wheel cylinder.
  • two of the top wheel arms are disposed on the left and right sides of the top-rotating mechanism, and the top-wheel arm is disposed in a direction perpendicular to the track of the wheel through the telescopic mechanism. Slidably fixed to the top turn base.
  • the telescopic mechanism is a telescopic cylinder.
  • the lifting platform is connected to the moving trolley by a lifting cylinder.
  • the moving carriage is provided with guide rails arranged in a vertical direction, and the lifting platform is provided with a slider that is slidably engaged with the guide rail.
  • the double robot wheel rim spoke detecting system comprises a moving trolley, a lifting platform, a top turning mechanism and a robot.
  • the lifting platform is movably connected to the moving trolley in a vertical direction
  • the top turning mechanism is arranged on the lifting platform, and the top turn
  • a top wheel arm is arranged on the left and right sides of the mechanism, and the top wheel arm is used to lap on the track where the detected wheel is located
  • a robot is fixedly connected to the front and rear sides of the top rotation mechanism, and each robot is provided with a tread carrier
  • the top turning mechanism is also provided with two inner carriers.
  • the flaw detection system is provided with two tread carriers and an inner carrier, so that the two wheels of the wheel pair can be detected simultaneously.
  • the robot Since the robot is fixed on the front and rear sides of the top rotation mechanism and can be raised together with the top rotation mechanism in this solution, the position of the robot and the top rotation mechanism can be kept unchanged, which is advantageous for improving the positioning accuracy and solving the problem of the track sinking.
  • the robot is inconvenient to locate the problem.
  • the top wheel arm rests on the track, and the force exerted by the wheel on the top turning mechanism is completely transmitted to the track through the top wheel arm, thereby avoiding the force of the moving car and preventing the infrastructure from sinking.
  • FIG. 1 is a schematic view showing the overall structure of a flaw detection system in a specific embodiment of the present invention
  • FIG. 2 is a schematic structural view of a flaw detection system according to a specific embodiment of the present invention.
  • FIG. 3 is a schematic structural view of a detection system in which a robot is removed according to a specific embodiment of the present invention
  • FIG. 4 is a schematic diagram showing a connection relationship between a top rotation mechanism and a lifting platform in a specific embodiment of the present invention
  • FIG. 5 is a schematic diagram of a connection between a lifting platform and a mobile trolley according to a specific embodiment of the present invention
  • FIG. 6 is a schematic structural view of a top rotation mechanism in a specific embodiment of the present invention.
  • FIG. 7 is a schematic view showing a state of a descending mechanism of a top turning mechanism according to an embodiment of the present invention.
  • Figure 8 is a schematic view showing the state of the top wheel of the top rotation mechanism in a specific embodiment of the present invention.
  • FIG. 9 is a schematic layout diagram of a flaw detection system in a specific embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a working mode of a flaw detection system according to a specific embodiment of the present invention.
  • FIG. 11 is a schematic diagram showing the second working mode of the flaw detection system in the specific embodiment of the present invention.
  • Figure 12 is a schematic view showing the rotation of the flaw detection system robot in a specific embodiment of the present invention.
  • the present invention provides a dual-robot rim spoke detection system for detecting flaw detection of wheels of a train such as a train or an EMU.
  • the flaw detection system specifically comprises a mobile trolley 3, a lifting platform 4, a top turning mechanism 1 and a robot 2.
  • the lifting platform 4 is movably connected to the moving trolley 3 in a vertical direction, and the top turning mechanism 1 is arranged on the lifting platform 4, and the top A top wheel arm 15 is disposed on the left and right sides of the rotating mechanism 1, and the top wheel arm 15 is used for lapping on the track 8 where the detected wheel is located, and a robot 2 is fixedly connected to the front and rear sides of the top rotating mechanism 1.
  • the robot 2 is provided with a tread carrier 5, and the top turning mechanism 1 is further provided with two inner carriers 6.
  • the mobile trolley 3 is used for carrying and transporting the upper lifting platform 4 and the top rotating mechanism 1 and the like, and the moving trolley 3 moves in the detecting ground, thereby pairing the wheels at different positions. 7 Perform flaw detection.
  • the lifting platform 4 is used for lifting the top rotating mechanism 1 to the detecting position, thereby facilitating the top turning mechanism 1 to position the detecting portion of the wheel.
  • the top turning mechanism 1 is dropped onto the moving cart 3 along with the lifting platform 4. .
  • the function of the top rotation mechanism 1 is to position and support the rail, then jack up the wheel pair 7 and leave the rail 8, so that the wheel can be driven to rotate by the top wheel 16, and the robot 2 drives the tread carrier 5 to the tread of the wheel, thereby passing the tread carrier
  • the probe on 5 detects the rotating wheel
  • the inner carrier 6 detects the wheel surface from the inside of the wheel through the inner probe.
  • the track height in the trench will fluctuate up and down within a range of no more than 30mm, causing the robot to follow the moving trolley to float up and down, which is not convenient for positioning.
  • the scheme integrates the design of the robot 2 and the top rotation mechanism 1 to solve the above problems, and at the same time adjusts the height position of the lifting platform 4, and can further adapt to the track height error in the trench above 30 mm. Specifically, after the top rotation mechanism 1 is positioned, the position of the rail 8 is always relatively fixed, and the robot 2 is fixedly connected with the top rotation mechanism 1 to ensure that the distance between the base and the wheel of the robot 2 is relatively constant, thereby improving positioning accuracy.
  • the flaw detection system is provided with two tread carriers 5 and an inner carrier 6, so that the two wheels of the wheel set 7 can be detected simultaneously. Since the robot 2 is fixed to the front and rear sides of the top rotation mechanism 1 in the present embodiment, it can be raised together with the top rotation mechanism 1. Therefore, the position of the robot 2 and the top rotation mechanism 1 can be kept unchanged, which is advantageous for improving the positioning accuracy and solving the problem.
  • the top wheel arm 15 rests on the track, and the force exerted by the wheel on the top turning mechanism is completely transmitted to the track through the top wheel arm, thereby avoiding the force of the moving car and preventing the infrastructure from sinking.
  • the robot 2 can be directly fixed to the base of the top rotation mechanism 1, or a mount for mounting the robot 2 can be provided on both sides of the top rotation mechanism 1.
  • the top rotation mechanism 1 of the present invention includes a top rotation base 10 and a robot mount 23, and a robot mount 23 is fixedly connected to the front and rear sides of the top turn base 10, and each robot mount 23 is provided with a robot 2 .
  • the robot mount 23 can be directly welded to the top turn base 10 or can be connected to the robot mount 23 by bolt fastening.
  • the robot mount 23 and the top turn base 10 can also be designed as a unitary structure.
  • the top rotation mechanism 1 of the present invention comprises a top wheel arm 15, a top wheel force receiving shaft 14, a top wheel swing arm 13, a top wheel telescopic rod and a top wheel 16, and the like, and specifically, the left and right sides of the top rotating base 10 are Two top wheel receiving shafts 14 are fixedly disposed, and each of the top wheel receiving shafts 14 is rotatably sleeved with a top wheel swinging arm 13 , and the upper end of each of the top wheel swinging arms 13 is provided for contacting with the wheel The top wheel 16, the lower ends of the two top wheel swing arms 13 on the same side wheel are connected by a top wheel telescopic rod.
  • the top rotating beam 11 is disposed on the top rotating base 10, and the top wheel beam 11 and the top rotating base 10 are integrally fixed, and the extending direction of the top wheel beam 11 and the moving trolley are 3
  • the moving direction is the same when working, that is, it is consistent with the extending direction of the track 8, as shown in FIG. 6.
  • the top wheel force receiving shaft 14 serves as a rotating shaft of the top wheel swing arm 13, so that the top wheel swing arm 13 can rotate relative to the top rotating base 10.
  • the top wheel swing arm 13 is rotatably connected to the top wheel force receiving shaft 14 in a vertical plane, and the rotation plane of the top wheel swing arm 13 is arranged in parallel with the plane of the detected wheel spoke, so that the top wheel swing arm can be arranged Top 13
  • the top wheel 16 is conveniently rotationally positioned below the wheel being inspected so that the wheel can be jacked up more conveniently.
  • the top wheel arm 15 and the top wheel force receiving shaft 14 are fixedly coupled to the top rotating base 10, and the top wheel receiving shaft 14 functions to apply the wheel pair 7 to the top wheel swing arm 13.
  • the pressure is transmitted to the top turn base 10 and transmitted to the track 8 through the top wheel arm 15.
  • the top wheel swing arm 13 in the present embodiment is a plate-shaped member, and the middle portion of the top wheel swing arm 13 is sleeved on the outer circumference of the top wheel force receiving shaft 14, that is, the upper and lower ends of the top wheel swing arm 13 and the top wheel force receiving shaft 14
  • the axial center has a certain distance.
  • the top wheel swing arm 13 can be set as a lever with a pivot point on the axis of the top wheel force receiving shaft 14, driving one end of the top wheel swing arm 13 and the other end also rotating around the pivot point. motion.
  • the present embodiment is provided with a top wheel telescopic rod for driving the rotation of the top wheel swing arm 13 at the lower end of the top wheel swing arm 13, and the two ends of the top wheel telescopic rod are respectively connected to the lower ends of the two top wheel swing arms 13, so
  • the top wheel telescopic rod When the top wheel telescopic rod is extended, the upper ends of the two top wheel swing arms 13 are close to each other, and the two top wheels 16 in contact with the wheel will continue to move to lift the wheel, as shown in FIG. 8;
  • the wheel telescopic rod is shortened, the upper ends of the two top wheel swing arms 13 are away from each other, thereby lowering the supported wheels, as shown in FIG.
  • the top rotation mechanism 1 further includes a wheel drive 18 for driving the rotation of the top wheel 16, and the wheel drive 18 drives the top wheel 16 to rotate while the wheel set 7 contacting the top wheel 16 rotates together. Therefore, the flaw detection system can perform flaw detection on the entire tread and the spoke of the wheel. Since the weight of the wheel set 7 is large, in order to avoid damage to the contact surface between the wheel set 7 and the top wheel 16, it is preferable that the present invention is provided with a rim cover 19 on the outer circumference of the top wheel 16.
  • the top wheel telescopic rod can have various structural forms, such as a telescopic hydraulic cylinder, a rack and pinion telescopic rod or a crank linkage mechanism, etc.
  • the top wheel telescopic rod in the present embodiment is a top wheel cylinder 12
  • the two ends of the top wheel cylinder 12 are connected to the lower ends of the two top wheel swing arms 13, and the top wheel cylinders 12 can provide a large jacking force and are stable in operation.
  • the top turning mechanism 1 further includes a positioning mechanism for projecting the top wheel 16 and the top wheel arm 15 into the underside of the wheel.
  • the positioning mechanism may be a rotary positioning mechanism that rotates the above components in position, or a telescopic mechanism that slides in a straight line.
  • a telescopic mechanism is used in the present solution.
  • one end of the telescopic mechanism is connected to the top rotating base 10, and the other end is connected with a top wheel arm 15 and a top wheel swing arm 13 and the like.
  • the present invention is further provided with a beam at the end of the top wheel receiving shaft 14, the beam is slidably coupled to the top rotating base 10 by a telescopic mechanism, and the beam is also fixed with a top wheel arm 15, which is firstly passed through a telescopic mechanism before detection The cross member is pushed to the inner side of the wheel, and the top wheel arm 15 extends above the rail 8.
  • the present scheme has two top wheels connected under each of the top wheels 16.
  • the swing arm 13, as shown in Fig. 3, has two top wheel swing arms 13 under each top wheel 16 that straddle the sides of the beam for a smooth connection.
  • the two inner carriers 6 can also realize the sliding movement in the left-right direction of the flaw detection system by the above-mentioned telescopic mechanism, so as to realize the positioning and detection of the wheel inner spokes.
  • the above-mentioned telescopic mechanism can also have various structural forms, such as a telescopic hydraulic cylinder or a rack and pinion telescopic rod.
  • the telescopic mechanism is a telescopic cylinder 17, as shown in FIG.
  • a plurality of top wheel arms 15 are provided in the present solution, and the plurality of top wheel arms 15 can make the wheel pair 7 and the top rotation mechanism.
  • the weight of 1 is transmitted more evenly to the track 8.
  • the top and bottom sides of the top rotation mechanism 1 are provided with two top wheel arms 15 , and the top wheel arm 15 is slidably fixed to the top rotation base in the direction perpendicular to the track 8 of the wheel by the above-mentioned telescopic mechanism. 10.
  • the lifting platform 4 is connected to the moving trolley 3 through a lifting mechanism.
  • the lifting mechanism may be a lifting hydraulic cylinder or a chain transmission lifting mechanism, etc.
  • the lifting mechanism in the present embodiment selects the lifting cylinder 42, as shown in FIG. 5 . Shown.
  • the mobile trolley 3 is provided with a guide rail 31 arranged in a vertical direction, and the lifting platform 4 is provided with a slider 41 slidably engaged with the guide rail 31, as shown in the figure. 5 is shown.
  • FIG. 9 to FIG. 12 Please refer to FIG. 9 to FIG. 12 for an introduction to the working process of the flaw detection system.
  • the moving cart 3 moves back and forth in the extending direction of the track 8, and the center position of the top turning mechanism 1 is positioned below the center of the wheel set 7;
  • the lifting platform 4 lifts the top turning mechanism 1 through the lifting cylinder 42 and makes the top wheel arm 15 higher than the track surface of the rail 8, and the robot mount 23 together with the robot 2 also rises together with the top turning mechanism 1;
  • the top rotation mechanism 1 abuts the left and right top wheel arms 15 against the inner side of the rail 8 through the telescopic cylinder 17;
  • the lift cylinder 42 is unloaded, and the lifting platform 4 is lowered.
  • the entire top rotating mechanism 1 is lowered until the four top wheel arms 15 are in contact with the rail 8.
  • the top rotation mechanism 1 is no longer lowered, and the lifting platform 4 is no longer subject to the upper top rotation mechanism 1 and the robot 2 pressure;
  • the top wheel cylinder 12 is extended, and the upper ends of the two top wheel swing arms 13 are pressed toward each other to contact the wheel tread, and the wheel is lifted off the rail 8, and the supporting force of the top wheel 16 is derived from the top wheel cylinder 12
  • the pressure received by the top wheel 16 is finally completely transmitted to the rail 8 through the four top wheel arms 15;
  • the inner carrier 6 is positioned to the inner side of the wheel
  • the two side robots 2 respectively carry the tread carrier 5 to the underside of the wheel treads on both sides of the wheel pair 7.
  • the wheels can be carried out through the inner carrier 6 and the probe of the tread carrier 5 Flaw detection.
  • the tread carrier 5 and the inner carrier 6 are respectively used for mounting the probe for flaw detection.
  • the first robot 21 and its first probe 51 are disposed on the right side of the top rotation mechanism 1, and the second side of the top rotation mechanism 1 is provided with the second The robot 22 and the second probe 52, the two ends of the wheel set 7 are the first wheel 71 and the second wheel 72, respectively.
  • the robot 2 on both sides of the top rotating mechanism 1 can simultaneously detect two wheels, for example, the first probe 51 is positioned.
  • the second probe 52 is positioned to the second wheel 72.
  • the first robot 21 and the second robot 22 can also rotate the 180° exchange to detect the two wheels.
  • the positioning detection mode of the solution can simultaneously detect two wheels of the same wheel pair 7 and improve the detection efficiency.
  • one side of the wheel set 7 has an obstacle 9 that hinders positioning.
  • the first robot 21 in FIG. 11 cannot perform positioning and detection, and therefore, the wheel pair The second robot 22 on the other side sequentially positions and detects the two wheels.
  • the second robot 22 is free to rotate, so that the second probe 52 sequentially performs positioning detection on the second wheel 72 and the first wheel 71.
  • the solution can avoid the obstacle 9 that hinders the positioning, and the two sides of the robot 2 can be freely combined to realize the positioning detection, thereby improving the versatility.
  • the detection of each wheel pair can be carried out in turn from the two ends of the train or the EMU.
  • the positioning accuracy is high, and the robot mounting seat 23 and the top rotation mechanism 1 are integrated structures, which facilitates accurate positioning of the probe;
  • the current domestic trains or EMUs can be detected in an orderly manner, the efficiency is higher than the current similar testing equipment.

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Abstract

一种双机器人轮辋轮辐探伤系统，包括移动小车(3)、升降平台(4)、顶转机构(1)和机器人(2)，所述升降平台(4)沿竖直方向可移动地连接于所述移动小车(3)上，所述顶转机构(1)设置于所述升降平台(4)上，所述顶转机构(1)的左右两侧均设置有顶轮手臂(15)，所述顶轮手臂(15)用于搭接于被检测车轮所在的轨道(8)上，所述顶转机构(1)的前后两侧均固定连接有一个所述机器人(2)，每个所述机器人(2)设有一个踏面载体(5)，所述顶转机构(1)还设有两个内侧载体(6)。该探伤系统可同时对轮对(7)的两个车轮进行检测；机器人(2)固定于顶转机构(1)前后两侧，可随顶转机构(1)一同上升，可以使机器人(2)与顶转机构(1)的位置保持不变，有利于提高定位精度；车体对顶转机构(1)施加的作用力通过顶轮手臂(15)完全传递至钢轨上，防止基建下沉。

Description

一种双机器人轮辋轮辐探伤系统
本申请要求于2016年08月24日提交中国专利局、申请号为201610721182.0、发明名称为“一种双机器人轮辋轮辐探伤系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及列车车轮探伤设备技术领域，尤其涉及一种双机器人轮辋轮辐探伤系统。
背景技术
列车车轮是列车重要的走行部件，需要定期在不落轮条件下进行超声波探伤检测并维护，以保证列车的正常行驶。探伤检测，需要利用自动化定位机构携带探伤载体定位贴合到车轮表面，通过顶转机构旋转车轮，实现定位后的探头对车轮进行一周的扫查，探伤检测系统利用探头扫查结果分析车轮是否出现损伤，从而实现对车轮的探伤检测。可见，探伤系统能否在不落轮条件下的车底空间内实现无障碍地将探伤载体准确及高效地定位到车轮指定表面处，关系到全列列车探伤检测的可靠性及探伤效率。
目前，存在以下三种探伤检测方式：
(1)单载体的轮辋轮辐探伤系统，此种设备配备单个踏面载体，检测火车一条轮对(2个轮)时需将车轮旋转两圈，按顺序依次检测2个轮。同时，当踏面载体的定位空间受限时，需将整个工作平台旋转180°，在轮对另外一侧进行探测，工作效率有限。
(2)基于导轨式的双探头载体的轮辋轮辐探伤系统，此种系统的两个探头载体布置在顶转装置一侧，在检测时，车轮旋转一圈即可以完成一条轮对(2个轮)检测。但是只能从车轮的一侧进行检测，若一侧的路径有干涉、阻扰定位的情况，也需将探头载体换向至车轮的另外一侧，工作效率低、导轨式的运动执行机构因无封闭的防护外罩导致故障率较高。
(3)基于机械手的双探头载体的轮辋轮辐探伤系统，此种系统的两个探头载体布置在顶转机构两侧，也可以一次完成火车一条轮对(2个轮)检测，但是，其机械手安装至检测车底盘，高度固定，无法跟随现场轨道高度变化而 自动调节，因此，不能确保与车轮轨道保持确定的位置关系，导致无法适应复杂多变的现场应用环境；同时，其顶转机构直接安装在小车底盘，而小车底盘的下方是辅助移动的小轨道，在顶起车轮时，轮对和顶转机构的部分压力会直接作用于小车底盘，进而作用于辅助移动的小轨道，因此，会导致地面下沉，不仅不便于定位，降低定位精度，而且还会引起安全隐患。
因此，如何提供一种便于检测且安全性高的轮辋轮辐探伤系统，是本领域技术人员目前需要解决的技术问题。
发明内容
本发明的目的是提供一种双机器人轮辋轮辐探伤系统，该探伤系统不仅便于定位检测，而且还具有很好的安全性能。
为了解决上述问题，本发明提供了以下技术方案：
一种双机器人轮辋轮辐探伤系统，包括移动小车、升降平台、顶转机构和机器人，所述升降平台沿竖直方向可移动地连接于所述移动小车上，所述顶转机构设置于所述升降平台上，所述顶转机构的左右两侧均设置有顶轮手臂，所述顶轮手臂用于搭接于被检测车轮所在的轨道上，所述顶转机构的前后两侧均固定连接有一个所述机器人，每个所述机器人设有一个踏面载体，所述顶转机构还设有两个内侧载体。
优选地，在上述双机器人轮辋轮辐探伤系统中，所述顶转机构包括顶转底座以及机器人安装座，所述顶转底座的前后两侧均固定连接有一个所述机器人安装座，每个所述机器人安装座上设置有一个所述机器人。
优选地，在上述双机器人轮辋轮辐探伤系统中，所述顶转底座的左右两侧均固定设置有两个顶轮受力轴，每个所述顶轮受力轴外周均可旋转地套设有一个顶轮摆臂，每个所述顶轮摆臂的上端设有用于与车轮接触的顶轮，位于同一侧车轮的两个所述顶轮摆臂的下端通过顶轮伸缩杆连接。
优选地，在上述双机器人轮辋轮辐探伤系统中，所述顶轮伸缩杆为顶轮油缸。
优选地，在上述双机器人轮辋轮辐探伤系统中，所述顶转机构的左右两侧均设置有两个所述顶轮手臂，所述顶轮手臂通过伸缩机构沿垂直于车轮所在轨道的方向可滑移地固定于所述顶转底座。
优选地，在上述双机器人轮辋轮辐探伤系统中，所述伸缩机构为伸缩油缸。
优选地，在上述双机器人轮辋轮辐探伤系统中，所述升降平台通过升降油缸连接于所述移动小车上方。
优选地，在上述双机器人轮辋轮辐探伤系统中，所述移动小车设置有沿竖直方向布置的导轨，所述升降平台设有与所述导轨滑动配合的滑块。
本发明提供的双机器人轮辋轮辐探伤系统，包括移动小车、升降平台、顶转机构和机器人，升降平台沿竖直方向可移动地连接于移动小车上，顶转机构设置于升降平台上，顶转机构的左右两侧均设置有顶轮手臂，顶轮手臂用于搭接于被检测车轮所在的轨道上，顶转机构的前后两侧均固定连接有一个机器人，每个机器人设有一个踏面载体，顶转机构还设有两个内侧载体。该探伤系统设有两个踏面载体和内侧载体，因此，可同时对轮对的两个车轮进行检测。由于本方案中机器人固定于顶转机构前后两侧并可随顶转机构一同上升，因此，可以使机器人与顶转机构的位置保持不变，有利于提高定位精度，解决了轨道下沉带来的机器人不便定位的问题。同时，顶轮手臂搭靠在轨道上，车轮对顶转机构施加的作用力通过顶轮手臂完全传递至轨道，避免了移动小车受力，防止基建下沉。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明具体实施例中的探伤系统整体结构示意图；
图2为本发明具体实施例中的探伤系统应用结构示意图；
图3为本发明具体实施例中的探伤系统去掉机器人的结构示意图；
图4为本发明具体实施例中的顶转机构与升降平台连接关系示意图；
图5为本发明具体实施例中的升降平台与移动小车连接示意图；
图6为本发明具体实施例中的顶转机构结构示意图；
图7为本发明具体实施例中的顶转机构降轮状态示意图；
图8为本发明具体实施例中的顶转机构顶轮状态示意图；
图9为本发明具体实施例中的探伤系统布局示意图；
图10为本发明具体实施例中的探伤系统工作方式一示意图；
图11为本发明具体实施例中的探伤系统工作方式二示意图；
图12为本发明具体实施例中的探伤系统机器人旋转示意图。
图1至图12中：
1-顶转机构、2-机器人、3-移动小车、4-升降平台、5-踏面载体、6-内侧载体、7-轮对、8-轨道、9-障碍物、10-顶转底座、11-顶轮横梁、12-顶轮油缸、13-顶轮摆臂、14-顶轮受力轴、15-顶轮手臂、16-顶轮、17-伸缩油缸、18-转轮驱动、19-轮缘套、21-第一机器人、22-第二机器人、23-机器人安装座、31-导轨、41-滑块、42-升降油缸、51-第一探头、52-第二探头、71-第一车轮、72-第二车轮。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参照图1至图12，在一种具体实施例方案中，本发明提供了一种双机器人轮辋轮辐探伤系统，用于对列车或动车组等有轨列车的车轮进行探伤检测。该探伤系统具体包括移动小车3、升降平台4、顶转机构1和机器人2，升降平台4沿竖直方向可移动地连接于移动小车3上，顶转机构1设置于升降平台4上，顶转机构1的左右两侧均设置有顶轮手臂15，顶轮手臂15用于搭接于被检测车轮所在的轨道8上，顶转机构1的前后两侧均固定连接有一个机器人2，每个机器人2设有一个踏面载体5，顶转机构1还设有两个内侧载体6。
具体的，在上述双机器人轮辋轮辐探伤系统中，移动小车3用于承载并搬运上部的升降平台4和顶转机构1等部件，移动小车3在检测地沟里移动，从而对不同位置的轮对7进行探伤检测。升降平台4用于将顶转机构1顶升至检测位置，从而便于顶转机构1对车轮的检测部位进行定位，当检测完毕时，顶转机构1随升降平台4一同下落至移动小车3上。顶转机构1的作用是定位支撑于轨道，随后将轮对7顶起并离开轨道8，从而可以通过顶轮16驱动车轮转动，机器人2带动踏面载体5定位至车轮的踏面，从而通过踏面载体5上的探头对旋转的车轮进行检测，内侧载体6通过内侧探头从车轮的内侧对车轮面进行检测。
探伤系统在整列检测地沟里移动时，在不同位置，地沟内轨道高度会在不大于30mm的范围内上下浮动，导致机器人也跟随移动小车上下浮动，不便于定位。本方案将机器人2与顶转机构1一体化固定设计，可以解决上述问题，同时调整升降平台4的高度位置，可进一步适应大于30mm以上的地沟内轨道高度误差。具体的，顶转机构1定位好后与轨道8的位置是始终相对固定的，而机器人2与顶转机构1固定连接，可以保证机器人2的底座与车轮距离是相对不变的，从而可以提高定位精度。
该探伤系统设有两个踏面载体5和内侧载体6，因此可同时对轮对7的两个车轮进行检测。由于本方案中机器人2固定于顶转机构1前后两侧，可随顶转机构1一同上升，因此，可以使机器人2与顶转机构1的位置保持不变，有利于提高定位精度，解决了轨道下沉带来的机器人不便定位的问题。同时，顶轮手臂15搭靠在轨道上，车轮对顶转机构施加的作用力通过顶轮手臂完全传递至轨道，避免了移动小车受力，防止基建下沉。
需要说明的是，本方案可以将机器人2直接固定于顶转机构1的底座上，也可以在顶转机构1两侧设置专门安装机器人2的安装座。优选地，本方案顶转机构1包括顶转底座10以及机器人安装座23，顶转底座10的前后两侧均固定连接有一个机器人安装座23，每个机器人安装座23上设置有一个机器人2。机器人安装座23可以直接焊接于顶转底座10上，也可以通过螺栓紧固连接于机器人安装座23，当然，也可将机器人安装座23与顶转底座10设计为一体结构。
请参见图6，需要说明的是，本发明还对顶转机构1进行了改进。本发明中的顶转机构1包括顶轮手臂15、顶轮受力轴14、顶轮摆臂13、顶轮伸缩杆和顶轮16等部件，具体的，顶转底座10的左右两侧均固定设置有两个顶轮受力轴14，每个顶轮受力轴14外周均可旋转地套设有一个顶轮摆臂13，每个顶轮摆臂13的上端设置有用于与车轮接触的顶轮16，位于同一侧车轮的两个顶轮摆臂13的下端通过顶轮伸缩杆连接。
其中，为了便于设置顶轮受力轴14，本方案在顶转底座10上设置有顶轮横梁11，顶轮横梁11与顶转底座10固定为一体，顶轮横梁11的延伸方向与移动小车3工作时的移动方向一致，即与轨道8的延伸方向一致，如图6所示。顶轮受力轴14作为顶轮摆臂13的转轴，使顶轮摆臂13可以相对顶转底座10发生转动。顶轮摆臂13在竖直面内可旋转地连接于顶轮受力轴14，顶轮摆臂13的旋转平面与被检测的车轮轮辐所在平面平行布置，如此设置，可以使顶轮摆臂13上端的 顶轮16方便地旋转定位至被检测车轮的下方，从而可以更加便捷地将车轮顶起。
请参照图7和图8，顶轮手臂15和顶轮受力轴14均固定连接于顶转底座10上，顶轮受力轴14的作用是将轮对7对顶轮摆臂13施加的压力传递至顶转底座10上并且通过顶轮手臂15传递至轨道8上。
本方案中的顶轮摆臂13为板状件，顶轮摆臂13的中部套设在顶轮受力轴14外周，即顶轮摆臂13的上下两端均与顶轮受力轴14的轴心存在一定距离，如此设置，可以将顶轮摆臂13设置成一个支点在顶轮受力轴14轴心的杠杆，驱动顶轮摆臂13的一端，则另一端也会绕支点旋转运动。因此，本方案在顶轮摆臂13的下端设置用于驱动顶轮摆臂13转动的顶轮伸缩杆，顶轮伸缩杆的两端分别连接于两个顶轮摆臂13的下端，如此设置，当顶轮伸缩杆伸长时，两个顶轮摆臂13的上端则相互靠近，与车轮接触的两个顶轮16就会继续运动从而将车轮顶起，如图8所示；当顶轮伸缩杆缩短时，两个顶轮摆臂13的上端则相互远离，从而将支撑的车轮下降，如图7所示。
需要说明的是，该顶转机构1还包括用于驱动顶轮16转动的转轮驱动18，转轮驱动18驱动顶轮16转动的同时，与顶轮16接触的轮对7则会一同转动，从而可以使该探伤系统对车轮的整个踏面和轮辐进行探伤检测。由于轮对7重量较大，为了避免轮对7和顶轮16之间的接触面产生损坏，优选地，本方案在顶轮16的外周套设有轮缘套19。
需要说明的是，顶轮伸缩杆可以有多种结构形式，例如伸缩液压缸、齿轮齿条伸缩杆或曲柄连杆机构等，优选地，本方案中的顶轮伸缩杆为顶轮油缸12，顶轮油缸12的两端连接于两个顶轮摆臂13的下端，顶轮油缸12可提供较大的顶升力，而且运行稳定。
需要说明的是，在将顶轮16定位支撑在车轮下方之前，需要先将整个顶转机构1抬升至定位高度，然后再将顶轮16伸展到车轮的踏面下方的前后两侧，同时，还需要将顶轮手臂15搭靠在轨道8以形成支撑，因此，该顶转机构1还包括用于将顶轮16和顶轮手臂15等部件伸入到车轮下方的定位机构。具体的，该定位机构可以为将上述部件旋转到位的旋转定位机构，或者为沿直线滑移运动的伸缩机构，优选地，本方案中采用了伸缩机构。
具体的，该伸缩机构的一端连接于顶转底座10，另一端连接有顶轮手臂15和顶轮摆臂13等部件。为了保证顶轮受力轴14能够稳定地连接于顶转底座10， 本方案在顶轮受力轴14的末端还设置有一个横梁，该横梁通过伸缩机构可滑移地连接于顶转底座10，该横梁还固定有顶轮手臂15，检测前先通过伸缩机构将该横梁推至车轮的内侧，同时，顶轮手臂15伸到轨道8上方，为了更好地将车轮的重力传递至顶转底座10，本方案在每个顶轮16下方连接有两个顶轮摆臂13，如图3所示，每个顶轮16下的两个顶轮摆臂13横跨在横梁两侧，实现平稳连接。
需要说明的是，两个内侧载体6也可通过上述伸缩机构实现沿探伤系统的左右方向的滑移运动，以实现对车轮内侧轮辐的定位和检测。与顶轮伸缩杆类似，上述伸缩机构也可以有多种结构形式，如伸缩液压缸或齿轮齿条伸缩杆等，优选地，上述伸缩机构为伸缩油缸17，如图6所示。
需要说明的是，为了使顶转机构1更加平稳地固定于轨道8上，优选地，本方案中设置了多个顶轮手臂15，多个顶轮手臂15可以使轮对7以及顶转机构1的重量更加均匀地传递到轨道8上。具体的，本方案中顶转机构1的左右两侧均设置有两个顶轮手臂15，顶轮手臂15通过上述伸缩机构沿垂直于车轮所在轨道8的方向可滑移地固定于顶转底座10。
需要说明的是，升降平台4通过升降机构连接于移动小车3上方，该升降机构可以为升降液压缸或链传动升降机构等，优选地，本方案中的升降机构选用升降油缸42，如图5所示。
为了进一步提高升降平台4升降过程的平稳性，优选地，本方案在移动小车3设置有沿竖直方向布置的导轨31，升降平台4则设置有与导轨31滑动配合的滑块41，如图5所示。
请参照图9至图12，下面对本探伤系统的工作过程进行介绍。
第一步，移动小车3在轨道8延伸方向前后移动，将顶转机构1的中心位置定位至轮对7的中心的下方；
第二步，升降平台4通过升降油缸42将顶转机构1顶升，并使顶轮手臂15高于轨道8的轨道面，机器人安装座23连同机器人2也跟随顶转机构1一同上升；
第三步，顶转机构1通过伸缩油缸17将左右两个顶轮手臂15分别抵靠在轨道8的内侧；
第四步，升降油缸42卸载，升降平台4下降，此时，由于受到上部顶转机构1及机器人2的重力作用，整个顶转机构1下降，直至4个顶轮手臂15与轨道8接触。此时，顶转机构1不再下降，升降平台4不再受上部顶转机构1和机器人2 的压力；
第五步，顶轮油缸12伸展，两个顶轮摆臂13的上端则相向挤压，进而接触到车轮踏面，将车轮顶起离开轨道8，顶轮16的支撑力来源于顶轮油缸12，顶轮16所受的压力最终通过4个顶轮手臂15完全传递至轨道8；
第六步，顶轮完毕后，内侧载体6定位至车轮内侧；
第八步，在上述步骤完成后，两侧机器人2分别携带踏面载体5定位至轮对7两侧的车轮踏面下方，定位完毕后，通过内侧载体6和踏面载体5的探头便可以对车轮进行探伤检测。
踏面载体5和内侧载体6分别用于安装探伤检测的探头，参见图9，顶转机构1的右侧设置第一机器人21及其第一探头51，顶转机构1的左侧设置了第二机器人22和第二探头52，轮对7的两端分别为第一车轮71和第二车轮72。
参见图10，在第一种工作方式中，轮对7的前后两侧均没有障碍物，因此，顶转机构1两侧机器人2可以同时对两个车轮进行检测，例如，第一探头51定位至第一车轮71，第二探头52定位至第二车轮72，当然，第一机器人21和第二机器人22还可以旋转180°交换检测两个车轮。
可见，本方案的定位检测方式可以实现对同一轮对7的两个车轮同时检测，提高了检测效率。
参见图11和图12，在第二种工作方式中，轮对7的一侧存在阻碍定位的障碍物9，例如图11中的第一机器人21则不能进行定位和检测，因此，由轮对7另一侧的第二机器人22先后对两个车轮进行定位和检测。如图12所示，第二机器人22可以自由旋转，使第二探头52依次对第二车轮72和第一车轮71进行定位检测。
可见，上述第二种工作方式中，本方案可以避开阻碍定位的障碍物9，利用两侧机器人2自由组合实现定位检测，提高了通用性。
对于整列列车或动车组的轮对检测，可以根据上述两种工作方式的组合检测的形式，可从列车或动车组的两端开始，依次对每个轮对进行探伤检测。
本发明具有以下优点：
1、搭配两个机器人2，分别设置于顶转机构1两侧，可以自由组合定位方式；
2、工作效率高，可以同时进行一个轮对7(两个车轮)的探伤检测；
3、适应性强，可以避免轮对7单侧有障碍物9的情况，快速有效地进行定 位；
4、定位精度高，机器人安装座23与顶转机构1为一体式结构，便于探头的精准定位；
5、安全性高，避免移动小车3受力，减少安全隐患；
6、可对当前国内的列车或动车组有序地进行探伤检测，效率高于当前同类检测设备。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (8)

  1. 一种双机器人轮辋轮辐探伤系统，其特征在于，包括移动小车(3)、升降平台(4)、顶转机构(1)和机器人(2)，所述升降平台(4)沿竖直方向可移动地连接于所述移动小车(3)上，所述顶转机构(1)设置于所述升降平台(4)上，所述顶转机构(1)的左右两侧均设置有顶轮手臂(15)，所述顶轮手臂(15)用于搭接于被检测车轮所在的轨道(8)上，所述顶转机构(1)的前后两侧均固定连接有一个所述机器人(2)，每个所述机器人(2)设有一个踏面载体(5)，所述顶转机构(1)还设有两个内侧载体(6)。
  2. 根据权利要求1所述的双机器人轮辋轮辐探伤系统，其特征在于，所述顶转机构(1)包括顶转底座(10)以及机器人安装座(23)，所述顶转底座(10)的前后两侧均固定连接有一个所述机器人安装座(23)，每个所述机器人安装座(23)上设置有一个所述机器人(2)。
  3. 根据权利要求2所述的双机器人轮辋轮辐探伤系统，其特征在于，所述顶转底座(10)的左右两侧均固定设置有两个顶轮受力轴(14)，每个所述顶轮受力轴(14)外周均可旋转地套设有一个顶轮摆臂(13)，每个所述顶轮摆臂(13)的上端设有用于与车轮接触的顶轮(16)，位于同一侧车轮的两个所述顶轮摆臂(13)的下端通过顶轮伸缩杆连接。
  4. 根据权利要求3所述的双机器人轮辋轮辐探伤系统，其特征在于，所述顶轮伸缩杆为顶轮油缸(12)。
  5. 根据权利要求2所述的双机器人轮辋轮辐探伤系统，其特征在于，所述顶转机构(1)的左右两侧均设置有两个所述顶轮手臂(15)，所述顶轮手臂(15)通过伸缩机构沿垂直于车轮所在轨道的方向可滑移地固定于所述顶转底座(10)。
  6. 根据权利要求5所述的双机器人轮辋轮辐探伤系统，其特征在于，所述伸缩机构为伸缩油缸(17)。
  7. 根据权利要求1所述的双机器人轮辋轮辐探伤系统，其特征在于，所述升降平台(4)通过升降油缸(42)连接于所述移动小车(3)上方。
  8. 根据权利要求7所述的双机器人轮辋轮辐探伤系统，其特征在于，所述移动小车(3)设置有沿竖直方向布置的导轨(31)，所述升降平台(4)设有 与所述导轨(31)滑动配合的滑块(41)。
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