WO2022037089A1 - 轨道巡检装置 - Google Patents

轨道巡检装置 Download PDF

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Publication number
WO2022037089A1
WO2022037089A1 PCT/CN2021/086953 CN2021086953W WO2022037089A1 WO 2022037089 A1 WO2022037089 A1 WO 2022037089A1 CN 2021086953 W CN2021086953 W CN 2021086953W WO 2022037089 A1 WO2022037089 A1 WO 2022037089A1
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WO
WIPO (PCT)
Prior art keywords
track
inspection device
track inspection
rod
along
Prior art date
Application number
PCT/CN2021/086953
Other languages
English (en)
French (fr)
Inventor
程二亭
姚秀军
桂晨光
Original Assignee
京东科技信息技术有限公司
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.)
Filing date
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Application filed by 京东科技信息技术有限公司 filed Critical 京东科技信息技术有限公司
Publication of WO2022037089A1 publication Critical patent/WO2022037089A1/zh

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    • 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
    • B61K9/08—Measuring installations for surveying permanent way
    • B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B61D15/10—Railway inspection trolleys hand or foot propelled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B61D15/12—Railway inspection trolleys power propelled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F19/00—Wheel guards; Bumpers; Obstruction removers or the like
    • B61F19/06—Nets, catchers, or the like for catching obstacles or removing them from the track
    • 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
    • B61K9/08—Measuring installations for surveying permanent way
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H8/00—Removing undesirable matter from the permanent way of railways; Removing undesirable matter from tramway rails
    • E01H8/10—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the present disclosure is based on the Chinese application with the application number of 202010840899.3 and the filing date of August 19, 2020 , and claims its priority.
  • the disclosure of the Chinese application is hereby incorporated into the present disclosure as a whole.
  • the present disclosure relates to the technical field of track detection, and in particular, to a track inspection device.
  • the inspection of the track is mainly done manually, and the inspection personnel are labor-intensive, and it is difficult to ensure the detection accuracy.
  • an automatic inspection device appeared, because the transition of the track at the joint is not smooth, or there may be a height difference between the two sides of the track, the automatic inspection device will inevitably generate bumps or the wheels are suspended when running on the track, which will affect the Accuracy of track detection.
  • the embodiments of the present disclosure provide a track inspection device, which can improve the accuracy of track detection.
  • Embodiments of the present disclosure provide a track inspection device, including:
  • a running part configured to make the track inspection device move along the first direction on two tracks, the two tracks are arranged at intervals along the second direction, and the second direction is perpendicular to the first direction;
  • the chassis part is arranged on the walking part, the chassis part includes a first beam, a second beam and a connecting rod, the first beam and the second beam are arranged at intervals along the first direction, and the connecting rod is arranged between the first beam and the second beam and extending along the first direction, two ends of the connecting rod are respectively connected with the first beam and the second beam, and are rotatably arranged relative to the first beam and the second beam; and
  • the detection unit which is provided on the chassis member, is configured to detect the condition of the track.
  • both the first beam and the second beam extend along the second direction, and the connecting rod is located at an intermediate position of the first beam along the second direction.
  • the detection assembly includes two photographing components mounted on at least one of the first beam and the second beam, the respective illumination surfaces of the two photographing components are configured to face the two tracks respectively, and the two photographing components The components are configured to take images of the two tracks separately.
  • a controller is also included, configured to compare the captured image with a pre-stored normal image to identify damage to the track.
  • an adjustment mechanism is further included, the photographing member is mounted on the first beam or the second beam through the adjusting mechanism, and the adjusting mechanism is configured to adjust at least one of the position and posture of the photographing member.
  • the adjustment mechanism includes: a first rod and a second rod, in a plane perpendicular to the first direction, the first end of the first rod is rotatably connected to the first beam or the second beam, the second The first end of the rod is rotatably connected with the second end of the first rod, and the second end of the second rod is mounted with the photographing component.
  • the detection assembly includes: a gauge detection component disposed on the first beam or the second beam, and the gauge detection component includes a first distance measuring sensor and a second distance measuring sensor spaced along the second direction, is configured to detect its distance from the track on the same side, respectively;
  • the track distance is the distance between the first ranging sensor and the second ranging sensor and the track on the same side respectively, and the sum of the distances between the first ranging sensor and the second ranging sensor.
  • there are two sets of gauge detection components which are respectively provided on the first beam and the second beam, and are arranged in the same position in the second direction, and the gauge is configured to be arranged on the two sets of gauge detection components. Obtained when the two first ranging sensors are aligned and the two second ranging sensors are aligned.
  • the detection assembly further includes an ultrasonic detection component configured to detect the presence of obstacles around the track.
  • a cleaning member is further included, disposed on the outer side of the chassis member along the first direction and disposed adjacent to the track, and configured to clean the track.
  • the cleaning components include:
  • a sweeping portion disposed on the mounting frame, configured to sweep by contact with the track
  • the baffle is provided on the mounting frame and is located outside the brush part in the first direction, and is configured to remove sundries on the rail in advance.
  • the baffle is height adjustable relative to the mounting bracket.
  • the baffle includes:
  • the first board is vertically arranged and installed on the outer side of the mounting frame along the first direction;
  • a second plate disposed vertically, outside the first plate in the first direction and inclined toward the outside of the rail relative to a plane perpendicular to the first direction;
  • the third board is connected between the bottom of the first board and the top of the second board.
  • the mount includes:
  • the first installation part is fixed with the first beam or the second beam;
  • the second mounting portion is located outside the first mounting portion along the first direction, and forms an L-shaped structure with the first mounting portion, and the second mounting portion is rotatably connected to the first mounting portion;
  • an elastic element two ends of which are respectively connected to the top end of the first mounting portion and the outer end of the second mounting portion;
  • the brush part is arranged at the bottom of the second installation part.
  • the brush portion includes a plurality of densely packed wires.
  • an anti-collision component is also included, which is arranged on the outer side of the beam close to the advancing direction of the track inspection device among the first beam and the second beam.
  • an alarm component is also included, which is configured to alarm when the track inspection device itself fails or is disturbed by the outside world.
  • a drive member is also included, the running member includes a front wheel set and a rear wheel set, and the drive member is configured to provide power to the front wheel set or the rear wheel set.
  • it also includes a push rod, which is arranged on the first beam or the second beam, and is configured to drive the track inspection device to walk under the action of external force when the driving component fails.
  • the push rod is rotatably disposed relative to the first beam or the second beam so that the push rod is folded onto the first beam or the second beam on which the push rod is mounted.
  • the top end of the push rod is provided with a bracket, which is configured to place the mobile terminal when the track inspection device is debugged.
  • it also includes:
  • both sides of the battery box are connected to the first beam or the second beam on which the battery box is installed through a reinforcing beam;
  • the battery is located in the battery compartment.
  • the chassis part adopts an H-shaped structure
  • the connecting rod is rotatably arranged relative to the first beam and the second beam. Forcing the first beam and/or the second beam to rotate relative to the connecting rod under the action of the track, so that the posture of the chassis components can be flexibly adjusted according to the track conditions, ensuring reliable contact between the walking components and the track, and making the track patrol
  • the walking of the inspection device on the track is more stable, and the accuracy and precision of the inspection of the inspection components can be improved.
  • the structure of the chassis components is simple and the weight is light, which realizes the light weight of the track inspection device and is convenient to use.
  • FIG. 1 is a schematic structural diagram of some embodiments of the disclosed track inspection device
  • FIG. 2 is a top view of some embodiments of the disclosed track inspection device
  • FIG. 3 is a schematic structural diagram of some embodiments of cleaning components in the track inspection device of the present disclosure.
  • an element when an element is referred to as being “on” another element, it can be directly on the other element or be indirectly on the other element with one or more intervening therebetween. more intermediate elements. Also, when an element is referred to as being “connected to” another element, it can be directly connected to the another element or be indirectly connected to the another element with one or more intervening elements therebetween an intermediate element. In the following, the same reference numerals refer to the same elements.
  • the "first direction” mentioned later is the extension direction of the track 3, that is, the moving direction of the track inspection device, which is defined as the x-direction;
  • the "second direction” is the direction in which the two tracks 3 are arranged at intervals , the second direction is perpendicular to the first direction in the horizontal plane, and the second direction is defined as the y direction;
  • the "third direction” perpendicular to the plane where the first direction and the second direction are located is the height direction, which is defined as the z direction.
  • the present disclosure provides a track inspection device, which can be used for inspection of railways, subways, or tracks in tunnels, etc., and can realize automatic inspection.
  • the track inspection device of the present disclosure includes: a running part 2 , a chassis part 1 and a detection part.
  • the traveling member 2 is configured to move the track inspection device along the first direction x on the two tracks 3, and the two tracks 3 are arranged at intervals along the second direction y.
  • the walking member 2 can walk by rolling, such as wheels.
  • the walking member 2 includes four wheels, and each track 3 is matched with two wheels; Part 2 snaps onto the side of rail 3.
  • the chassis part 1 is arranged on the walking part 2, and the chassis part 1 includes a first beam 11, a second beam 12 and a connecting rod 13, the first beam 11 and the second beam 12 are arranged at intervals along the first direction x, and the connecting rod 13 is arranged on the Between the first beam 11 and the second beam 12 and extending along the first direction x, the two ends of the connecting rod 13 are respectively connected with the first beam 11 and the second beam 12 and are opposite to the first beam 11 and the second beam 12 Set rotatably.
  • the detection unit is provided on the chassis member 1 and is configured to detect the condition of the rail 3 including the state of the rail 3 itself and/or the condition of the space around the rail 3 .
  • the chassis part 1 adopts an H-shaped structure, and the connecting rod 13 is rotatably arranged relative to the first beam 11 and the second beam 12 , and the track 3 on one side is uneven or the tracks on both sides are uneven. 3.
  • the first beam 11 and the second beam 12 will be forced to rotate relative to the connecting rod 13 under the action of the track 3, so that the posture of the chassis component 1 can be flexibly adapted according to the situation of the track 3
  • the adjustment ensures reliable contact between the traveling parts and the track 3, so that the track inspection device travels more smoothly on the track 3, and the accuracy and precision of the detection of the detection parts can be improved.
  • the chassis component 1 has a simple structure and light weight, which realizes the lightweight of the track inspection device and is convenient to use.
  • the track inspection device of the present disclosure can better adapt to the parameter error of the railway track, so as to achieve higher detection accuracy, thereby achieving high detection accuracy. Instead of manual detection.
  • both the first beam 11 and the second beam 12 extend along the second direction y, the first beam 11 and the second beam 12 can span the two rails 3 , and the connecting rod 13 is located at the first In the middle position of the beam 11 along the second direction y, the connecting rod 13 is perpendicular to the first beam 11 and the second beam 12 .
  • This structure can make the chassis part 1 symmetrical with respect to the connecting rod 13 in the second direction y, on the one hand, the weight of the chassis part 1 can be evenly distributed, so that the running of the track inspection device is more stable;
  • the middle position between the rails 3 can make the adjustment structures on both sides of the chassis part 1 symmetrical, and the adaptability of the two rails 3 can be kept the same.
  • the track inspection device further includes a driving component
  • the running component 2 includes a front wheel set and a rear wheel set
  • the driving component is configured to provide power to the front wheel set or the rear wheel set.
  • the driving component is configured to provide power to the front wheel set, which can prevent the front end of the chassis component 1 from being lifted when the track inspection device is activated.
  • the track inspection device further includes a push rod 10 , which is arranged on the first beam 11 or the second beam 12 and is configured to drive the track inspection device to walk under the action of external force when the driving component fails.
  • the track inspection device can be driven by the inspector pulling the push rod 10.
  • the push rod 10 is arranged at an angle with respect to the chassis component 1, and can be arranged vertically or inclined toward the forward direction.
  • the push rod 10 is disposed on the first beam 11 , which is more convenient to apply external force to the push rod 10 .
  • This embodiment can still use the detection components on the track inspection device to realize the inspection of the track 3 under the condition of the failure of the automatic driving walking function, so that the inspection task can be successfully completed, and the accuracy of the inspection can still be ensured.
  • the push rod 10 is rotatably arranged relative to the first beam 11 or the second beam 12 , so that the push rod 10 is folded onto the first beam 11 or the second beam 12 on which the push rod 10 is installed, and can be rotated
  • the connection position may be located at the bottom end of the push rod 10 .
  • the push rod 10 may be consistent with the length direction of the first beam 11 or the second beam 12 itself after being folded by 90° along the vertical plane where the second direction y is located.
  • the track inspection device in the case of failure of the automatic driving and walking function, can walk to realize detection by exerting an external action on the push rod 10, and in the automatic inspection working mode, the push rod 10 can be folded back to reduce the The height occupied by the small push rod 10 and the additional resistance brought about, for example, when inspecting the railway track or the track in the tunnel, it may encounter a relatively large wind force, and retracting the push rod 10 can reduce the track inspection device. Shaking during walking, thereby improving detection accuracy.
  • the top end of the push rod 10 is provided with a bracket 20, which is configured to place a mobile terminal 30, such as a notebook computer, a tablet computer, a mobile phone, etc., when the track inspection device is debugged.
  • a mobile terminal 30 such as a notebook computer, a tablet computer, a mobile phone, etc.
  • the push rod 10 when debugging the track inspection device, can be in an open state, and the mobile terminal 30 can be prevented on the bracket, so as to flexibly debug the track inspection device.
  • the drive components may be powered or illuminated in order to power the track inspection device.
  • the track inspection device also includes: a battery box 14 and a battery 50.
  • the battery box 14 is fixed to the inner side of the first beam 11 or the second beam 12 along the first direction x, and in the second direction y, both sides of the battery box 14 are
  • the reinforcing beam 15 is connected with the first beam 11 or the second beam 12 on which the battery box 14 is installed; the battery 50 is arranged in the battery box 14 .
  • the battery box 14 is arranged at the middle position of the first beam 11 or the second beam 12 along the second direction y, and passes through the two sides.
  • the reinforcement beams 15 are reinforced, which can improve the rigidity of the connection between the battery box 14 and the chassis component 1 .
  • the track inspection device further includes a lighting component 40 for providing lighting.
  • This embodiment can be adapted to perform inspection tasks in low light or at night.
  • the detection assembly includes two photographing components 4 mounted on at least one of the first beam 11 and the second beam 12 , and both photographing components 4 may be mounted on the first beam 11 , or both can be mounted on the second beam 12 , or one of the photographing components 4 is mounted on the first beam 11 , and the other photographing component 4 is mounted on the second beam 12 .
  • the respective irradiated surfaces of the two photographing components 4 are configured to respectively irradiate toward the two rails 3 , that is, to irradiate outward along the second direction y, and the two photographing components 4 are configured to take images of the two rails 3 respectively.
  • the track inspection device may further include a controller, and the controller may be arranged on the chassis component 1, for example, using a single-chip microcomputer, PLC, DSP, etc., or may be arranged in a control station, and the controller wirelessly receives the image of the photographing component 4,
  • the controller is configured to compare the captured image with a pre-stored normal image to identify damage to the track 3 through a learning algorithm. Damage conditions include cracks, wear and other diseases.
  • the track inspection device further includes an adjusting mechanism 5 , and the photographing component 4 is mounted on the first beam 11 or the second beam 12 through the adjusting mechanism 5 , and the adjusting mechanism 5 is configured to adjust the position and posture of the photographing component 4 at least one of them.
  • At least one of the position and posture of the photographing component 4 can be flexibly adjusted to obtain a better photographing angle, thereby obtaining a clear image, thereby improving the accuracy of identifying the damage of the track 3. sex. For example, for a specific track, it can be adjusted during commissioning, and the position can be maintained during subsequent use.
  • the adjustment mechanism 5 includes: a first rod 51 and a second rod 52 , in a plane perpendicular to the first direction x, the first end of the first rod 51 is connected to the first beam 11 or the second beam 12 is rotatably connected, the first end of the second rod 52 is rotatably connected with the second end of the first rod 51 , and the second end of the second rod 52 is mounted with the photographing component 4 .
  • the two first rods 51 are connected to the side of the second beam 12 facing the first beam 11 , and the length of the first rod 51 may be greater than that of the second rod 52 .
  • the first rod 51 mainly adjusts the height of the shooting part 4 and the shooting distance from the track 3
  • the second rod 52 mainly adjusts the shooting angle of the shooting part 4 , and can also fine-tune its height. Through the cooperation of the first rod 51 and the second rod 52 , a better shooting angle can be flexibly obtained, so as to obtain a clear image, thereby improving the accuracy of identifying the damage of the track 3 .
  • the detection assembly includes: a gauge detection component 6 , which is arranged on the first beam 11 or the second beam 12 and is used to detect the distance between the two rails 3 .
  • the track distance detection part 6 includes a first distance measuring sensor 61 and a second distance measuring sensor 62 arranged at intervals along the second direction y, and configured to respectively detect the distance from the track 3 on the same side.
  • the track distance is the distance between the first ranging sensor 61 and the second ranging sensor 62 and the track 3 on the same side respectively, and the sum of the distances between the first ranging sensor 61 and the second ranging sensor 62 .
  • the first beam 11 and the second beam 12 may be arranged along the second direction.
  • the distance between the two tracks 3 can be detected in real time during the running process of the track inspection device, and the position where the track distance exceeds the standard can be automatically determined by the controller.
  • gauge detection components 6 there are two groups of gauge detection components 6 , which are respectively provided on the first beam 11 and the second beam 12 , and are arranged in the same position in the second direction y. It is configured to be obtained with the two first ranging sensors 61 aligned and the two second ranging sensors 62 aligned in the two sets of the track distance detecting section 6 .
  • the two first ranging sensors 61 are aligned, and the two second ranging sensors 62 are also aligned, but in the actual traveling process, due to the different heights of the rails 3 on both sides, or the rails 3 have bends
  • the positional deviation includes the positional deviation along the second direction y and the third direction z.
  • the detection assembly further includes an ultrasonic detection component 8 , which may be disposed on the side of the first beam 11 away from the second beam 12 and configured to detect whether there is an obstacle around the track 3 .
  • the controller can make the track inspection device stop walking when receiving a signal that there is an obstacle around the track, and then walk after the obstacle is cleared in time.
  • the track inspection device further includes an anti-collision component 60 , such as an anti-collision bar, disposed on the outer side surfaces of the first beam 11 and the second beam 12 which are close to the advancing direction.
  • an anti-collision component 60 such as an anti-collision bar
  • the track inspection device further includes an alarm component 9, such as a sound and light alarm, which is configured to alarm when the track inspection device itself fails or is disturbed by the outside world.
  • an alarm component 9 such as a sound and light alarm, which is configured to alarm when the track inspection device itself fails or is disturbed by the outside world. This embodiment can remind maintenance personnel in time when the track inspection device breaks down or is disturbed by the outside world, so as to carry out subsequent processing, so as to avoid danger caused by the track inspection device staying on the track for a long time.
  • the track inspection device of the present disclosure further includes a cleaning member 7 , which is arranged on the outer side of the chassis member 1 along the first direction x at a position corresponding to the track 3 , and is configured to Track 3 is cleaned.
  • the sundries, dust or rust on the surface of the track 3 can be removed by the cleaning member 7, so that the running of the track inspection device is more stable and smooth, preventing the overturning when encountering large sundries, and also improving the detection efficiency of the track. Accuracy and reliability.
  • the cleaning member 7 includes a mounting frame 71 , a brush portion 72 and a baffle 73 .
  • the mounting frame 71 is fixed to the first beam 11 or the second beam 12;
  • the brush part 72 is arranged on the mounting frame 71 and is configured to clean by contacting the rail 3;
  • the baffle 73 is arranged on the mounting frame 71, and It is located outside the sweeping portion 72 in the first direction x and is configured to remove debris on the track 3 in advance.
  • the bottom end of the baffle 73 is higher than the upper surface of the track 3 so as not to affect the running of the track inspection device.
  • debris on the track 3 such as stones, sand, paper scraps, etc.
  • the baffle plate 73 can be scraped off by the baffle plate 73 first, so that the walking part 2 can move smoothly, preventing the occurrence of roll or shaking, and then scraped by the sweeping part 72.
  • the running stability of the traveling member 2 can be further improved, and the track detection accuracy can be improved.
  • the baffle 73 is provided in a height-adjustable manner relative to the mounting bracket 71 . If the baffle 73 is adjusted to a lower position, small debris can be removed, but it is difficult to pass through the unevenness of the track 3; if the baffle 73 is adjusted to a higher position, although it can be To ensure smooth passage, only larger debris can be removed. For the track 3 to be inspected, the baffle 73 can be adjusted to a suitable height to remove more debris on the basis of ensuring smooth passage.
  • the baffle plate 73 includes: a first plate 731 , which is vertically arranged and mounted on the outer side of the mounting frame 71 along the first direction x, and at least two plates can be spaced along the second direction y on the first plate 731 .
  • the second plate 732 which is arranged vertically, is located on the outer side of the first plate 731 along the first direction x, and faces the rail relative to the plane perpendicular to the first direction x.
  • the outer side of 3 is inclined; and the third plate 733, arranged horizontally, is connected between the bottom of the first plate 731 and the top of the second plate 732, and the third plate 733 is triangular due to the inclined arrangement of the second plate 732.
  • This embodiment can remove the sundries on the track 3 to the outside of the track 3 through the second plate 732 during the running process of the track inspection device, so as to prevent the inspection process from being affected, and also prevent the vehicle from being affected.
  • the mounting bracket 71 includes: a first mounting portion 711 , a second mounting portion 712 , a counterweight 75 and an elastic element 77 .
  • the first mounting portion 711 is fixed to the first beam 11 or the second beam 12 , and the first mounting portion 711 may have a plate-like structure, and a triangular weight-reducing through groove is provided in the middle position of the bottom.
  • the second mounting portion 712 is located outside the first mounting portion 711 along the first direction x, and forms an L-shaped structure with the first mounting portion 711, and the second mounting portion 712 is rotatably connected to the first mounting portion 711, for example, the
  • the second mounting portion 712 includes two side frames 7121 with an L-shaped cross-section and an opening facing outward. One end of each of the two side frames is rotatably connected to the first mounting portion 711, and the other ends are connected by a cross bar 7122. 73 can be attached to the crossbar 7122.
  • the counterweight 75 is provided on the second mounting portion 712 , for example, between the two side frames 7121 .
  • Both ends of the elastic element 77 are connected to the top end of the first mounting portion 71 and the outer end of the second mounting portion 71 respectively, and the elastic element 77 may be a spring; wherein, the sweeping portion 72 is provided at the bottom of the second mounting portion 71 and is also located at the bottom of the second mounting portion 71. Bottom of counterweight 75.
  • a fixing rod 76 is respectively provided at both ends of the top of the first mounting portion 711 along the second direction y, and a fixing rod is respectively protruded from both sides of the second mounting portion 712 along the second direction y. 76 , the end of the elastic element 77 is connected to the fixing rod 76 .
  • the sweeping brush part 72 can be in close contact with the rail 3 under the action of the counterweight 75 to improve the sweeping effect;
  • the brush part 72 contacts the slightly raised part of the rail 3 the sweeping part 72 and the second mounting part 712 swing upward. After passing through the raised part, the sweeping part 72 returns to the original position. Under the force of the elastic element 77 , the return position of the brush portion 72 is relatively gentle, preventing impact or damage to the rail 3 .
  • the brush portion 72 includes a plurality of closely spaced wires. Such a sweeping brush part 72 can more thoroughly remove the dirt on the surface of the track 3, and has better wear resistance, which can improve the service life.
  • the track inspection device of the present disclosure can be designed in the form of an inspection robot or an inspection vehicle.
  • the track inspection device can be made to travel in the forward direction. After the inspection is completed, it can travel in the reverse direction.
  • the driving components can be directly reversed, or The track inspection device turned around. This inspection method can be compared through two inspection results, so as to further improve the detection accuracy.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

一种轨道巡检装置，包括：行走部件(2)，被配置为使轨道巡检装置在两条轨道(3)上沿第一方向(x)移动，两条轨道(3)沿第二方向(y)间隔设置；底盘部件(1)，设在行走部件(2)上，底盘部件(1)包括第一梁(11)、第二梁(12)和连接杆(13)，第一梁(11)和第二梁(12)沿第一方向(x)间隔设置，连接杆(13)设在第一梁(11)和第二梁(12)之间且沿第一方向(x)延伸，连接杆(13)的两端分别与第一梁(11)和第二梁(12)连接，且相对于第一梁(11)和第二梁(12)可转动地设置；和检测组件，设置于底盘部件(1)，被配置为对轨道(3)的情况进行检测。

Description

轨道巡检装置
相关申请的横向引用
本公开是以申请号为 202010840899.3，申请日 为2020年8月19日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及轨道检测技术领域，尤其涉及一种轨道巡检装置。
背景技术
近些年，铁路、地铁等轨道交通行业迅速发展，在车辆运行的过程中，行驶的安全性与轨道的状态密切相关，例如轨道出现较大程度的磨损或裂纹，轨距不满足要求等，均会影响列车的运行安全性。
目前对于轨道的巡检主要依靠人工来完成，巡检人员劳动强度大，而且难以保证检测精度。后来虽然出现了自动巡检装置，但是由于轨道在接头处过渡不太平滑，或者两侧轨道可能出现高度差，自动巡检装置在轨道上运行时难免会产生颠簸或轮子悬空的现象，从而影响轨道检测的准确度。
公开内容
本公开的实施例提供了一种轨道巡检装置，能够提高轨道检测的准确度。
本公开的实施例提供了一种轨道巡检装置，包括：
行走部件，被配置为使轨道巡检装置在两条轨道上沿第一方向移动，两条轨道沿第二方向间隔设置，第二方向垂直于第一方向；
底盘部件，设在行走部件上，底盘部件包括第一梁、第二梁和连接杆，第一梁和第二梁沿第一方向间隔设置，连接杆设在第一梁和第二梁之间且沿第一方向延伸，连接杆的两端分别与第一梁和第二梁连接，且相对于第一梁和第二梁可转动地设置；和
检测组件，设置于底盘部件，被配置为对轨道的情况进行检测。
在一些实施例中，第一梁和第二梁均沿第二方向延伸，连接杆位于第一梁沿第二方向的中间位置。
在一些实施例中，检测组件包括两个拍摄部件，安装于第一梁和第二梁中的至少 一个上，两个拍摄部件各自的照射面被构造为分别朝向两条轨道，且两个拍摄部件被配置为分别拍摄两条轨道的图像。
在一些实施例中，还包括控制器，被配置为将拍摄的图像与预存的正常图像进行对比，以识别出轨道的损伤情况。
在一些实施例中，还包括调节机构，拍摄部件通过调节机构安装于第一梁或第二梁上，调节机构被配置为调节拍摄部件的位置和姿态中的至少一种。
在一些实施例中，调节机构包括：第一杆和第二杆，在垂直于第一方向的平面内，第一杆的第一端与第一梁或第二梁可转动地连接，第二杆的第一端与第一杆的第二端可转动地连接，第二杆的第二端安装拍摄部件。
在一些实施例中，检测组件包括：轨距检测部件，设在第一梁或第二梁上，轨距检测部件包括沿第二方向间隔设置的第一测距传感器和第二测距传感器，被配置为分别检测其与同侧的轨道的距离；
其中，轨距为第一测距传感器和第二测距传感器分别与同侧的轨道的距离，以及第一测距传感器和第二测距传感器的距离之和。
在一些实施例中，轨距检测部件设有两组，分别设在第一梁和第二梁上，且在第二方向上的设置位置相同，轨距被配置为在两组轨距检测部件中的两个第一测距传感器对正，且两个第二测距传感器对正的情况下获得。
在一些实施例中，检测组件还包括超声检测部件，被配置为检测轨道周围是否存在障碍物。
在一些实施例中，还包括清扫部件，设在底盘部件沿第一方向的外侧且靠近轨道设置，被配置为对轨道进行清扫。
在一些实施例中，清扫部件包括：
安装架，与第一梁或第二梁固定；和
扫刷部，设在安装架上，被配置为通过与轨道接触进行清扫；和
挡板，设在安装架上，且在第一方向上位于扫刷部的外侧，被配置为预先去除轨道上的杂物。
在一些实施例中，挡板相对于安装架高度可调地设置。
在一些实施例中，挡板包括：
第一板，竖直设置，且沿第一方向安装于安装架的外侧面；
第二板，竖直设置，沿第一方向位于第一板的外侧，且相对垂直于第一方向的平 面朝向轨道的外侧倾斜；和
第三板，连接在第一板的底部和第二板的顶部之间。
在一些实施例中，安装架包括：
第一安装部，与第一梁或第二梁固定；
第二安装部，沿第一方向位于第一安装部外侧，并与第一安装部形成L形结构，且第二安装部与第一安装部可转动地连接；
配重，设在第二安装部上；和
弹性元件，两端分别连接于第一安装部的顶端和第二安装部的外端；
其中，扫刷部设在第二安装部的底部。
在一些实施例中，扫刷部包括多个密布的金属丝。
在一些实施例中，还包括防撞部件，设在第一梁和第二梁中靠近轨道巡检装置前进方向的梁的外侧面。
在一些实施例中，还包括报警部件，被配置为在轨道巡检装置自身故障或受到外界干扰时报警。
在一些实施例中，还包括驱动部件，行走部件包括前轮组和后轮组，驱动部件被配置为对前轮组或后轮组提供动力。
在一些实施例中，还包括推杆，设在第一梁或第二梁上，被配置为在驱动部件发生故障时在外力作用下带动轨道巡检装置行走。
在一些实施例中，推杆相对于第一梁或第二梁可转动地设置，以使推杆折叠至安装推杆的第一梁或第二梁上。
在一些实施例中，推杆的顶端设有支架，被配置为在轨道巡检装置调试时放置移动终端。
在一些实施例中，还包括：
电池盒，固定于第一梁或第二梁沿第一方向的内侧，在第二方向上，电池盒的两侧均通过加强梁与安装电池盒的第一梁或第二梁连接；和
电池，设在电池盒内。
本公开实施例的轨道巡检装置，底盘部件采用H形结构，且连接杆相对于第一梁和第二梁可转动地设置，在单侧轨道出现不平或者两侧轨道存在高度差时，会迫使第一梁和/或第二梁会在轨道的作用下相对于连接杆相对转动，从而使底盘部件的姿态能够根据轨道情况灵活地自适应调整，保证行走部件与轨道可靠接触，使轨道巡检装置 在轨道上的行走更加平稳，能够提高检测部件检测的准确性和精度。而且，底盘部件的结构简单，重量轻，实现了轨道巡检装置的轻量化，使用方便。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开轨道巡检装置的一些实施例的结构示意图；
图2为本公开轨道巡检装置的一些实施例的俯视图；
图3为本公开轨道巡检装置中清扫部件的一些实施例的结构示意图。
附图标记说明
1、底盘部件；11、第一梁；12、第二梁；13、连接杆；2、行走部件；3、轨道；4、拍摄部件；5、调节机构；51、第一杆；52、第二杆；6、轨距检测部件；61、第一测距传感器；62、第二测距传感器；
7、清扫部件；71、安装架；711、第一安装部；712、第二安装部；7121、侧架；7122、横杆；72、扫刷部；73、挡板；731、第一板；732、第二板；733、第三板；734、长圆孔；75、配重；76、固定杆；77、弹性元件；8、超声检测部件；9、报警部件；10、推杆；11、第一梁；12、第二梁；14、电池盒；15、加强梁；20、支架；30、移动终端；40、照明部件；50、电池；60、防撞部件。
具体实施方式
以下详细说明本公开。在以下段落中，更为详细地限定了实施例的不同方面。如此限定的各方面可与任何其他的一个方面或多个方面组合，除非明确指出不可组合。尤其是，被认为是优选的或有利的任何特征可与其他一个或多个被认为是优选的或有利的特征组合。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。
此外，当元件被称作“在”另一元件“上”时，该元件可以直接在所述另一元件上，或者可以间接地在所述另一元件上并且在它们之间插入有一个或更多个中间元 件。另外，当元件被称作“连接到”另一元件时，该元件可以直接连接到所述另一元件，或者可以间接地连接到所述另一元件并且在它们之间插入有一个或更多个中间元件。在下文中，同样的附图标记表示同样的元件。
本公开中采用了“上”、“下”、“顶”、“底”、“前”、“后”、“内”和“外”等指示的方位或位置关系的描述，这仅是为了便于描述本公开，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。如图1所示，后续提到的“第一方向”为轨道3的延伸方向，即轨道巡检装置的移动方向，定义为x向；“第二方向”为两条轨道3间隔设置的方向，第二方向在水平面内垂直于第一方向，第二方向定义为y向；“第三方向”垂直与第一方向和第二方向所在的平面，为高度方向，定义为z向。
如图1和图2所示，本公开提供了一种轨道巡检装置，可用于铁路、地铁或隧道内轨道等的巡检，能够实现自动巡检。
在一些实施例中，本公开的轨道巡检装置包括：行走部件2、底盘部件1和检测部件。
其中，行走部件2被配置为使轨道巡检装置在两条轨道3上沿第一方向x移动，两条轨道3沿第二方向y间隔设置。行走部件2可以通过滚动实现行走，例如轮子，图1中，行走部件2包括四个轮子，每条轨道3均与两个轮子配合；或者行走部件2也可以通过滑动实现行走，例如，使行走部件2卡在轨道3的侧面上。
底盘部件1设在行走部件2上，底盘部件1包括第一梁11、第二梁12和连接杆13，第一梁11和第二梁12沿第一方向x间隔设置，连接杆13设在第一梁11和第二梁12之间且沿第一方向x延伸，连接杆13的两端分别与第一梁11和第二梁12连接，且相对于第一梁11和第二梁12可转动地设置。
检测组件设置于底盘部件1，被配置为对轨道3的情况进行检测，轨道3的情况包括轨道3自身的状态和/或轨道3周围空间的情况。
本公开该实施例的轨道巡检装置，底盘部件1采用H形结构，且连接杆13相对于第一梁11和第二梁12可转动地设置，在单侧轨道3出现不平或者两侧轨道3存在高度差时，会迫使第一梁11和第二梁12中的至少一个在轨道3的作用下与连接杆13相对转动，从而使底盘部件1的姿态能够根据轨道3情况灵活地自适应调整，保证行走部件与轨道3可靠接触，使轨道巡检装置在轨道3上的行走更加平稳，能够提高检测部件检测的准确性和精度。而且，底盘部件1的结构简单，重量轻，实现了轨道巡 检装置的轻量化，使用方便。
例如，在对铁路轨道进行巡检时，铁路轨道难以到达较高的精度，两侧的轨道在制造或铺设时难免会出现高度差，而且经过长期使用后，轨道的磨损也可能导致两侧轨道出现高度差，且两节轨道的接头部位也会出现连接不平滑的现象，因此，本公开的轨道巡检装置能够更好地适应铁路轨道的参数误差，从而达到较高的检测准确性，从而代替人工检测。
如图1和图2所示，第一梁11和第二梁12均沿第二方向y延伸，第一梁11和第二梁12可横跨于两条轨道3，连接杆13位于第一梁11沿第二方向y的中间位置，连接杆13垂直于第一梁11和第二梁12。
此种结构能够使底盘部件1在第二方向y相对于连接杆13对称，一方面能够使底盘部件1的重量分布均匀，使轨道巡检装置的行走更加平稳；而且，使连接杆13位于两条轨道3之间的中间位置，能够使底盘部件1两侧的调节结构对称，对应两条轨道3的适应性保持一致。
在一些实施例中，轨道巡检装置还包括驱动部件，行走部件2包括前轮组和后轮组，驱动部件被配置为对所述前轮组或所述后轮组提供动力。该实施例能够使前轮组和后轮组的运行速度保持一致，从而使轨道巡检装置能够更稳定地在轨道3上行走。较优地，驱动部件被配置为对前轮组提供动力，可防止底盘部件1前端在轨道巡检装置在启动时出现抬起的现象。
如图1所示，轨道巡检装置还包括推杆10，设在第一梁11或第二梁12上，被配置为在驱动部件发生故障时在外力作用下带动轨道巡检装置行走。例如，可通过巡检人员拉动推杆10使轨道巡检装置行走，推杆10相对于底盘部件1呈角度设置，可垂直设置或者朝向前进方向倾斜。较优地，若第一梁11靠近前进方向设置，推杆10设在第一梁11上，更加方便向推杆10施加外力。
该实施例能够在自动驱动行走功能故障的情况下，仍能利用轨道巡检装置上的检测部件实现轨道3的巡检，使巡检任务在顺利完成的前提下，仍然保证检测的准确性。
如图1所示，推杆10相对于第一梁11或第二梁12可转动地设置，以使推杆10折叠至安装推杆10的第一梁11或第二梁12上，可转动连接位置可位于推杆10底端。例如，推杆10沿第二方向y所在的竖直平面折叠90°后可与第一梁11或第二梁12自身的长度方向一致。
该实施例既能在自动驱动行走功能故障的情况下，通过对推杆10施加外部作用 使轨道巡检装置行走实现检测，又能在自动巡检工作模式下，将推杆10折回，以减小推杆10占用的高度以及带来的额外阻力，例如，在对铁路轨道或隧道内轨道进行巡检时，可能会遇到较大的风力，将推杆10收回可减小轨道巡检装置在行走过程中的晃动，从而提高检测准确性。
如图1所示，推杆10的顶端设有支架20，被配置为在轨道巡检装置调试时放置移动终端30，例如笔记本电脑、平板电脑、手机等。
该实施例能够在调试轨道巡检装置时，使推杆10处于打开状态，并在支架上防止移动终端30，以灵活地对轨道巡检装置进行调试。
在一些实施例中，为了对轨道巡检装置供电，可为驱动部件提供动力或者照明。轨道巡检装置还包括：电池盒14和电池50，电池盒14固定于第一梁11或第二梁12沿第一方向x的内侧，在第二方向y上，电池盒14的两侧均通过加强梁15与安装电池盒14的第一梁11或第二梁12连接；电池50设在电池盒14内。为了使轨道巡检装置在第二方向y上重量分布均匀，使两侧受力均匀，电池盒14设在第一梁11或第二梁12沿第二方向y的中间位置，而且通过两侧的加强梁15进行加固，可提高电池盒14与底盘部件1连接的刚性。
在一些实施例中，轨道巡检装置还包括照明部件40，用于提供照明。该实施例能够适应于在光线较暗，或者夜间进行巡检任务。
下面对检测部件进行说明。
在一些实施例中，如图1所示，检测组件包括两个拍摄部件4，安装于第一梁11和第二梁12中的至少一个上，两个拍摄部件4可以都安装于第一梁11上，也可都安装于第二梁12上，或者其中一个拍摄部件4安装于第一梁11上，另一个拍摄部件4安装于第二梁12上。两个拍摄部件4各自的照射面被构造为分别朝向两条轨道3，即沿第二方向y朝外照射，两个拍摄部件4被配置为分别拍摄两条轨道3的图像。
进一步地，轨道巡检装置可还包括控制器，控制器可设在底盘部件1上，例如采用单片机、PLC、DSP等，也可设在控制站中，控制器无线接收拍摄部件4的图像，控制器被配置为将拍摄的图像与预存的正常图像进行对比，以通过学习算法识别出轨道3的损伤情况。损伤情况包括裂纹、磨损等病害。
如图1所示，轨道巡检装置还包括调节机构5，拍摄部件4通过调节机构5安装于第一梁11或第二梁12上，调节机构5被配置为调节拍摄部件4的位置和姿态中的至少一种。
该实施例通过设置调节机构5，能够灵活地调节拍摄部件4的位置和姿态中的至少一种，以获得较佳的拍摄角度，从而获得清晰的图像，进而提高对轨道3损伤情况识别的准确性。例如，对于特定的轨道，可调试过程中进行调节，后续使用过程可保持该位置。
在一些实施例中，如图1所示，调节机构5包括：第一杆51和第二杆52，在垂直于第一方向x的平面内，第一杆51的第一端与第一梁11或第二梁12可转动地连接，第二杆52的第一端与第一杆51的第二端可转动地连接，第二杆52的第二端安装拍摄部件4。在图1中，两个第一杆51均连接在第二梁12朝向第一梁11的侧面，第一杆51的长度可大于第二杆52。
该实施例中，第一杆51主要调节拍摄部件4的高度和与轨道3的拍摄距离，第二杆52主要调节拍摄部件4的拍摄角度，同时也能对其高度进行微调。通过第一杆51和第二杆52配合，能够灵活地获得较佳的拍摄角度，从而获得清晰的图像，进而提高对轨道3损伤情况识别的准确性。
在一些实施例中，如图1所示，检测组件包括：轨距检测部件6，设在第一梁11或第二梁12上，用于检测两条轨道3之间的距离。轨距检测部件6包括沿第二方向y间隔设置的第一测距传感器61和第二测距传感器62，被配置为分别检测其与同侧的轨道3的距离。
其中，轨距为第一测距传感器61和第二测距传感器62分别与同侧的轨道3的距离，以及第一测距传感器61和第二测距传感器62的距离之和。为了便于检测，并提高检测准确性，可使第一梁11和第二梁12沿第二方向设置。
该实施例能够在轨道巡检装置行走的过程中，实时地检测出两条轨道3之间的距离，可通过控制器自动判断出轨距超标的位置。
在一些实施例中，如图2所示，轨距检测部件6设有两组，分别设在第一梁11和第二梁12上，且在第二方向y上的设置位置相同，轨距被配置为在两组轨距检测部件6中的两个第一测距传感器61对正，且两个第二测距传感器62对正的情况下获得。
在理想情况下，两个第一测距传感器61对正，且两个第二测距传感器62也对正，但是在实际行进过程中，由于两侧轨道3的高度不同，或者轨道3存在弯道，会使两个第一测距传感器61出现位置偏差，或两个第二测距传感器62出现位置偏差的情况，位置偏差包括沿第二方向y和第三方向z的位置偏差。通过控制器判断测距传感器的 对正情况，能够判断出轨距检测的时机，以提高轨距检测的准确性。
在一些实施例中，如图1所示，检测组件还包括超声检测部件8，可设在第一梁11远离第二梁12的侧面上，被配置为检测轨道3周围是否存在障碍物。控制器能够在接收到轨道周围存在障碍物的信号时，使轨道巡检装置停止行走，待及时清除障碍物后再行走。
在一些实施例中，轨道巡检装置还包括防撞部件60，例如防撞条，设在第一梁11和第二梁12中靠近前进方向的梁外侧面。通过设置防撞部件60，能够在轨道巡检装置在于其它物体碰撞时减小冲击力，以防受到损坏。
在一些实施例中，轨道巡检装置还包括报警部件9，例如声光报警器，被配置为在轨道巡检装置自身故障或受到外界干扰时报警。该实施例能够在轨道巡检装置出现故障或受到外界干扰时及时提醒维护人员，以便进行后续处理，以免轨道巡检装置长时间停留在轨道上带来危险。
在上述实施例的基础上，如图1所示，本公开的轨道巡检装置还包括清扫部件7，设在底盘部件1沿第一方向x的外侧与轨道3对应的位置，被配置为对轨道3进行清扫。
该实施例能够通过清扫部件7扫除轨道3表面的杂物、灰尘或锈蚀等，使轨道巡检装置的行走更加稳定顺畅，防止遇到较大的杂物发生倾翻，还能提高轨道检测的准确性和可靠性。
如图3所示，清扫部件7包括：安装架71、扫刷部72和挡板73。其中，安装架71与第一梁11或第二梁12固定；扫刷部72设在安装架71上，被配置为通过与轨道3接触进行清扫；挡板73设在安装架71上，且在第一方向x上位于扫刷部72的外侧，被配置为预先去除轨道3上的杂物，挡板73的底端高于轨道3的上表面，以免影响轨道巡检装置的行走。
该实施例能够先通过挡板73刮除轨道3上的杂物，例如，石块，沙子、纸屑等，使行走部件2顺利移动，防止发生侧倾或抖动，再通过扫刷部72刮除轨道3上表面的灰尘、污物、铁锈等，能够进一步提高行走部件2行走的平稳性，提高轨道检测准确性。
如图3所示，挡板73相对于安装架71高度可调地设置。若将挡板73调节到较低的位置，能够清除较小的杂物，但是在遇到轨道3上的不平顺之处则难以通过；若将挡板73调节到较高的位置，虽然能够保证顺利通过，则只能清除较大的杂物。对 于待巡检的轨道3，可将挡板73调节至合适的高度，以在保证顺利通过的基础上清除更多的杂物。
如图3所示，挡板73包括：第一板731，竖直设置，且沿第一方向x安装于安装架71的外侧面，第一板731上可沿第二方向y间隔设置至少两个长圆孔734，并通过紧固件与安装架71固定；第二板732，竖直设置，沿第一方向x位于第一板731的外侧，且相对垂直于第一方向x的平面朝向轨道3的外侧倾斜；和第三板733，水平设置，连接在第一板731的底部和第二板732的顶部之间，由于第二板732倾斜设置，使第三板733呈三角形。
该实施例能够在轨道巡检装置行走的过程中，通过第二板732将轨道3上的杂物清除至轨道3的外侧，防止影响巡检过程，还能防止对车辆的行驶造成影响。
如图3所示，安装架71包括：第一安装部711、第二安装部712、配重75和弹性元件77。
其中，第一安装部711与第一梁11或第二梁12固定，第一安装部711可呈板状结构，在底部的中间位置设置三角形减重通槽。
第二安装部712沿第一方向x位于第一安装部711外侧，并与第一安装部711形成L形结构，且第二安装部712与第一安装部711可转动地连接，例如，第二安装部712包括两个截面为L形且开口朝外的侧架7121，两个侧架各自的一端与第一安装部711可转动地连接，各自的另一端通过横杆7122连接，挡板73可连接在横杆7122上。
配重75设在第二安装部712上，例如，设在两个侧架7121之间。
弹性元件77两端分别连接于第一安装部71的顶端和第二安装部71的外端，弹性元件77可以是弹簧；其中，扫刷部72设在第二安装部71的底部，也位于配重75的底部。为了便于固定弹性元件77，第一安装部711顶部沿第二方向y的两端分别设有一个固定杆76，第二安装部712沿第二方向y的两侧分别向外伸出一个固定杆76，弹性元件77的端部连接于固定杆76。
该实施例中，扫刷部72能够在配重75的作用下与轨道3紧密接触，以提高清扫效果；而且，由于第二安装部712相对于第一安装部711可转动地连接，在扫刷部72接触到轨道3上略高起的部分时，扫刷部72及第二安装部712向上摆动，待通过高起部分后，扫刷部72回到原位置，在此过程中，由于受到弹性元件77的作用力，扫刷部72的回位比较平缓，防止对轨道3造成冲击或损伤。
在一些实施例中，扫刷部72包括多个密布的金属丝。此种扫刷部72能够更彻底 地清除轨道3表面的污物，而且耐磨性较好，可提高使用寿命。
本公开的轨道巡检装置可设计为巡检机器人或巡检车辆等形式。在对一段特定长度的轨道进行巡检时，可使轨道巡检装置沿着正方向行走，待检查完毕后，再反向行走，在反向行走时，可以直接使驱动部件反转，也可以轨道巡检装置掉头。此种巡检方式能够通过两次的检查结果进行对比，以进一步提高检测的准确性。
以上对本公开所提供的一种轨道巡检装置进行了详细介绍。本文中应用了具体的实施例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以对本公开进行若干改进和修饰，这些改进和修饰也落入本公开权利要求的保护范围内。

Claims (22)

  1. 一种轨道巡检装置，包括：
    行走部件(2)，被配置为使所述轨道巡检装置在两条轨道(3)上沿第一方向(x)移动，所述两条轨道(3)沿第二方向(y)间隔设置，所述第二方向(y)垂直于所述第一方向(x)；
    底盘部件(1)，设在所述行走部件(2)上，所述底盘部件(1)包括第一梁(11)、第二梁(12)和连接杆(13)，所述第一梁(11)和所述第二梁(12)沿所述第一方向(x)间隔设置，所述连接杆(13)设在所述第一梁(11)和所述第二梁(12)之间且沿所述第一方向(x)延伸，所述连接杆(13)的两端分别与所述第一梁(11)和所述第二梁(12)连接，且相对于所述第一梁(11)和所述第二梁(12)可转动地设置；和
    检测组件，设置于所述底盘部件(1)，被配置为对所述轨道(3)的情况进行检测。
  2. 根据权利要求1所述的轨道巡检装置，其中，所述第一梁(11)和所述第二梁(12)均沿所述第二方向(y)延伸，所述连接杆(13)位于所述第一梁(11)沿所述第二方向(y)的中间位置。
  3. 根据权利要求1或2所述的轨道巡检装置，其中，所述检测组件包括两个拍摄部件(4)，安装于所述第一梁(11)和所述第二梁(12)中的至少一个上，所述两个拍摄部件(4)各自的照射面被构造为分别朝向所述两条轨道(3)，且所述两个拍摄部件(4)被配置为分别拍摄所述两条轨道(3)的图像。
  4. 根据权利要求1～3任一所述的轨道巡检装置，还包括控制器，被配置为将拍摄的图像与预存的正常图像进行对比，以识别出所述轨道(3)的损伤情况。
  5. 根据权利要求3所述的轨道巡检装置，还包括调节机构(5)，所述拍摄部件(4)通过所述调节机构(5)安装于所述第一梁(11)或所述第二梁(12)上，所述调节机构(5)被配置为调节所述拍摄部件(4)的位置和姿态中的至少一种。
  6. 根据权利要求5所述的轨道巡检装置，其中，所述调节机构(5)包括：第一杆(51)和第二杆(52)，在垂直于所述第一方向(x)的平面内，所述第一杆(51)的第一端与所述第一梁(11)或所述第二梁(12)可转动地连接，所述第二杆(52)的第一端与所述第一杆(51)的第二端可转动地连接，所述第二杆(52)的第二端安 装所述拍摄部件(4)。
  7. 根据权利要求1～6任一所述的轨道巡检装置，其中，所述检测组件包括：轨距检测部件(6)，设在所述第一梁(11)或所述第二梁(12)上，所述轨距检测部件(6)包括沿所述第二方向(y)间隔设置的第一测距传感器(61)和第二测距传感器(62)，被配置为分别检测其与同侧的所述轨道(3)的距离；
    其中，轨距为所述第一测距传感器(61)和所述第二测距传感器(62)分别与同侧的所述轨道(3)的距离，以及所述第一测距传感器(61)和所述第二测距传感器(62)的距离之和。
  8. 根据权利要求7所述的轨道巡检装置，其中，所述轨距检测部件(6)设有两组，分别设在所述第一梁(11)和所述第二梁(12)上，且在所述第二方向(y)上的设置位置相同，所述轨距被配置为在两组所述轨距检测部件(6)中的两个所述第一测距传感器(61)对正，且两个第二测距传感器(62)对正的情况下获得。
  9. 根据权利要求1～8任一所述的轨道巡检装置，其中，所述检测组件还包括超声检测部件(8)，被配置为检测所述轨道(3)周围是否存在障碍物。
  10. 根据权利要求1～9任一所述的轨道巡检装置，还包括清扫部件(7)，设在所述底盘部件(1)沿所述第一方向(x)的外侧且靠近所述轨道(3)设置，被配置为对所述轨道(3)进行清扫。
  11. 根据权利要求10所述的轨道巡检装置，其中，所述清扫部件(7)包括：
    安装架(71)，与所述第一梁(11)或所述第二梁(12)固定；
    扫刷部(72)，设在所述安装架(71)上，被配置为通过与所述轨道(3)接触进行清扫；和
    挡板(73)，设在所述安装架(71)上，且在所述第一方向(x)上位于所述扫刷部(72)的外侧，被配置为预先去除所述轨道(3)上的杂物。
  12. 根据权利要求11所述的轨道巡检装置，其中，所述挡板(73)相对于所述安装架(71)高度可调。
  13. 根据权利要求11或12所述的轨道巡检装置，其中，所述挡板(73)包括：
    第一板(731)，竖直设置，且沿所述第一方向(x)安装于所述安装架(71)的外侧面；
    第二板(732)，竖直设置，沿所述第一方向(x)位于所述第一板(731)的外侧，且相对垂直于所述第一方向(x)的平面朝向所述轨道(3)的外侧倾斜；和
    第三板(733)，连接在所述第一板(731)的底部和所述第二板(733)的顶部之间。
  14. 根据权利要求11～13任一所述的轨道巡检装置，其中，所述安装架(71)包括：
    第一安装部(711)，与所述第一梁(11)或所述第二梁(12)固定；
    第二安装部(712)，沿所述第一方向(x)位于所述第一安装部(711)外侧，并与所述第一安装部(711)形成L形结构，且所述第二安装部(712)与所述第一安装部(711)可转动地连接；
    配重(75)，设在所述第二安装部(712)上；和
    弹性元件(77)，两端分别连接于所述第一安装部(71)的顶端和所述第二安装部(71)的外端；
    其中，所述扫刷部(72)设在所述第二安装部(71)的底部。
  15. 根据权利要求11～14任一所述的轨道巡检装置，其中，所述扫刷部(72)包括多个密布的金属丝。
  16. 根据权利要求1～15任一所述的轨道巡检装置，还包括防撞部件(60)，设在所述第一梁(11)和第二梁(12)中靠近所述轨道巡检装置前进方向的梁的外侧面。
  17. 根据权利要求1～16任一所述的轨道巡检装置，还包括报警部件(9)，被配置为在所述轨道巡检装置自身故障或受到外界干扰时报警。
  18. 根据权利要求1～17任一所述的轨道巡检装置，还包括驱动部件，所述行走部件(2)包括前轮组和后轮组，所述驱动部件被配置为对所述前轮组或所述后轮组提供动力。
  19. 根据权利要求18所述的轨道巡检装置，还包括推杆(10)，设在所述第一梁(11)或所述第二梁(12)上，被配置为在所述驱动部件发生故障时在外力作用下带动所述轨道巡检装置行走。
  20. 根据权利要求19所述的轨道巡检装置，其中，所述推杆(10)相对于所述第一梁(11)或所述第二梁(12)可转动地设置，以使所述推杆(10)折叠至安装所述推杆(10)的所述第一梁(11)或所述第二梁(12)上。
  21. 根据权利要求19或20所述的轨道巡检装置，其中，所述推杆(10)的顶端设有支架(20)，被配置为在所述轨道巡检装置调试时放置移动终端(30)。
  22. 根据权利要求1～21任一所述的轨道巡检装置，还包括：
    电池盒(14)，固定于所述第一梁(11)或所述第二梁(12)沿所述第一方向(x)的内侧，在所述第二方向(y)上，所述电池盒(14)的两侧均通过加强梁(15)与安装所述电池盒(14)的所述第一梁(11)或所述第二梁(12)连接；和
    电池(50)，设在所述电池盒(14)内。
PCT/CN2021/086953 2020-08-19 2021-04-13 轨道巡检装置 WO2022037089A1 (zh)

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CN114954561A (zh) * 2022-05-17 2022-08-30 平煤神马建工集团有限公司 一种隧道内轨道交通用安全检测装置
CN115140117A (zh) * 2022-06-22 2022-10-04 西安猎鹰科技有限公司 一种轨道探伤用智能巡检装置
CN115214592A (zh) * 2022-07-13 2022-10-21 北京主导时代科技有限公司 一种轨道车辆制动机检测装置
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CN113470298A (zh) * 2021-06-30 2021-10-01 重庆消防安全技术研究服务有限责任公司 消防智能预警巡逻设备
CN114954561B (zh) * 2022-05-17 2023-08-15 平煤神马建工集团有限公司 一种隧道内轨道交通用安全检测装置
CN114954561A (zh) * 2022-05-17 2022-08-30 平煤神马建工集团有限公司 一种隧道内轨道交通用安全检测装置
CN115140117A (zh) * 2022-06-22 2022-10-04 西安猎鹰科技有限公司 一种轨道探伤用智能巡检装置
CN115214592A (zh) * 2022-07-13 2022-10-21 北京主导时代科技有限公司 一种轨道车辆制动机检测装置
CN115214592B (zh) * 2022-07-13 2024-05-10 北京主导时代科技有限公司 一种轨道车辆制动机检测装置
CN115930742A (zh) * 2023-02-21 2023-04-07 沈阳衡器制造有限公司 一种轨道衡安装用测量装置
CN115930742B (zh) * 2023-02-21 2023-05-16 沈阳衡器制造有限公司 一种轨道衡安装用测量装置
CN115942094B (zh) * 2023-03-09 2023-05-05 西南石油大学 一种基于铁路轨道的巡检装置
CN115942094A (zh) * 2023-03-09 2023-04-07 西南石油大学 一种基于铁路轨道的巡检装置
CN117260676A (zh) * 2023-11-17 2023-12-22 江苏葆隆智能科技有限公司 一种基于人工智能的巡检机器人及其控制方法
CN117260676B (zh) * 2023-11-17 2024-03-08 江苏葆隆智能科技有限公司 一种基于人工智能的巡检机器人及其控制方法
CN117798955A (zh) * 2024-03-01 2024-04-02 中铁一局集团电务工程有限公司 一种高速公路隧道智能巡检机器人
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CN118129706A (zh) * 2024-05-08 2024-06-04 苏州大学 一种城市轨道沉降检测装置及其操作方法

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