CN117533366B - A rail inspection robot - Google Patents

Abstract

The invention relates to the technical field of steel rail detection, and discloses a steel rail detection robot, which comprises: the walking assembly drives the space on the structure shared rail carried on the walking assembly to cooperatively operate in the skylight period and comprises left and right symmetrical walking wheels and a linking framework for establishing a linking state of the single-side walking wheels; the detection piece is arranged on the walking assembly and is matched with the action track of the walking assembly to detect track parameters; the device comprises a connecting framework, a workpiece placing group frame, a pressing piece and a pressing piece, wherein the workpiece placing group frame is arranged at the upper end of the connecting framework and is in a state of symmetry at two ends, the workpiece placing group frame comprises supporting plates arranged at the upper end of the connecting framework at one side to form a workpiece placing surface, a stop rotary table matched with a torsion state between the two supporting plates is arranged between the two supporting plates, the pressing piece is arranged on a structure body opposite to the connecting framework, and the pressing piece is subjected to an external force when the pressing piece is larger than a pressing threshold value. The invention solves the problem of how to make the detecting vehicle pass the turnout more safely under the condition of detecting the safety of the detecting vehicle.

Description

A rail inspection robot

Technical Field

The invention relates to the technical field of rail detection, in particular to a rail detection robot.

Background Art

With the rapid development of my country's rail transit industry, higher requirements have been put forward for the safety of rail transit operations, making the maintenance of rails more arduous. Turnouts are an important part of the track. As one of the weak links of the track, turnouts will seriously affect the safety of the inspection vehicle, reduce the speed of the inspection vehicle, limit the speed of the inspection vehicle passing the turnout, aggravate the vibration of the inspection vehicle, and cause the inspection vehicle to deviate from the established route. When the problem is serious, it may even cause the inspection vehicle to travel in the wrong direction or derail, posing a major safety hazard. Therefore, inspecting the turnout is an important part of track operation and maintenance.

The existing railway system adopts the method of large single turnouts, which is the most common way. At present, with the expansion of the railway network and the growth of railway transportation demand, the number of turnouts on some lines is also increasing. This makes the length of large turnouts increase. It may take more time for the inspection vehicle to pass through the longer turnout, which may be limited in some locations and lines. How to make the inspection vehicle pass the turnout more safely while the inspection vehicle is running safely needs to be solved.

Summary of the invention

In view of the deficiencies in the prior art, the present invention provides a rail inspection robot to solve the above problems.

To achieve the above object, the present invention provides the following technical solution: a rail inspection robot, comprising:

The walking assembly drives the structure mounted thereon to work collaboratively on the shared track space during the skylight period, and includes left-right symmetrical walking wheels and a connection frame for establishing a connection state of the single-side walking wheels;

A detection component, which is installed on the walking component and cooperates with the movement trajectory of the walking component to detect track parameters;

The component placement assembly frame is installed on the upper end of the connecting frame and is symmetrical at both ends. It includes a support plate installed on the upper end of the single-side connecting frame to form a component placement surface. A stopper disc is arranged between the two support plates to match the torsion state between the two support plates.

An extrusion piece is installed on the structures opposite to the two connecting frames, and a retreat guide piece is installed to guide the extrusion piece to move in the direction of reducing the external force when the external force applied to the extrusion piece is greater than the extrusion threshold;

The retreat guide member is composed of a support rail installed on the connection frame and a reinforcement support frame connected to the connection frame and bearing force together, and the lower end of the reinforcement support frame is connected to an elastic telescopic member connected to the support rail;

The connecting frames at the front and rear ends of the extrusion piece are both provided with tightening devices for tightening the track to maintain walking stability, and the structure of the extrusion piece is the same as that of the tightening device.

In a specific embodiment, the elastic telescopic member includes a spring telescopic rod installed at the lower end of the support frame, a compression spring is sleeved on the spring telescopic rod, and a spring seat connected to and sleeved on the spring telescopic rod is connected to the structural length of the compression spring in the initial state, and a slider slidably connected to the support slide rail is installed at one end of the spring telescopic rod extending to the support slide rail, the lower end of the slider is connected to the extrusion member, and a telescopic block connected to the spring telescopic rod is installed in conjunction with the slider;

A measuring rod for measuring the track gauge is installed on the telescopic block offset from the spring telescopic rod, the measuring rod is connected to a displacement sensor, and the displacement sensor is installed on the reinforced support frame structure through a displacement sensor mounting seat;

A sensor frame is installed on the reinforcing support frame of the spring mounting seat installation surface at an eccentric surface, and an inclination sensor is placed on the sensor frame.

In a specific implementation scheme, the connecting frame at the installation position of the tightening device is provided with a sliding guide rail connected thereto, and the tightening device includes a guide wheel support frame slidably installed on the sliding guide rail, a spring mounting seat is installed at the lower end of the guide wheel support frame, and a guide wheel group for tightening the side wall of the track is installed at one end of the spring mounting seat.

In a specific embodiment, the stop turntable includes a connecting shaft connected to a single support plate, and an end of the connecting shaft away from the end connected to the support plate is installed with an end head, and the end head is connected to the support plate through a stop block slidably connected thereto;

The connecting shaft matching end and the stop block are connected between the two support plates, thereby establishing an elastic connection and a twistable state of the two support plates.

In a specific implementation scheme, the spring mounting seat is T-shaped, and its longitudinal plate is arranged at the lower end of the guide wheel support frame, and the transverse plate connected to the longitudinal plate extends parallel to the extension direction of the spring mounting seat, and the transverse plate is provided with an inner groove with a length less than its own length, and part of the guide wheel assembly mechanism is clamped in the inner groove.

In a specific implementation manner, a battery is installed on one of the two support plates, and a terminal processing device is installed on the other support plate.

In a specific implementation scheme, the guide wheel group includes an elastic mounting seat installed at the front and rear ends of the longitudinal plate, a compression spring is sleeved on the elastic mounting seat, a movable rod is installed inside the elastic mounting seat, an internal connection plate clamped in the inner sinking groove is connected between the two movable rods, and the guide wheel mounting seat and the guide wheel are symmetrically installed at the front and rear ends of the lower end of the internal connection plate.

Compared with the prior art, the present invention provides a rail inspection robot, which has the following beneficial effects:

In the technical solution disclosed in the present invention, the installed traveling assembly is utilized to achieve a tightening effect on the rails when turning, so that the rails are tightened when the type of the present invention is paused in turning, thereby ensuring that one end of the rail entering the turnout is subjected to the centripetal force, and the centripetal force is balanced by utilizing the tightening assembly included in the traveling assembly, thereby promoting the stability of the overall structure, and further achieving data accuracy when detecting rail parameters at the turnout.

In the technical solution disclosed in the present invention, an elastic connection and a torsionable state are established between the two support plates, so that the vibration generated when the vehicle of the present invention travels on the rails is offset by the sliding of the stop block in the arc groove, thereby ensuring the stability of the driving process and the reliability of the detection data to avoid excessively abnormal values in the data and reduce the detection efficiency.

An inner groove having a length less than the length of the transverse plate is opened, and part of the guide wheel group mechanism is arranged in the inner groove. On the one hand, the guide wheel group is guided to move on the transverse plate, and at the same time, the moving distance is controlled, so that after completing the movement of the predetermined maximum distance, the guide wheel group loses the moving function and instead has a tightening effect on the rail, forming a state of clamping the rail in different directions with the wheel rim of the running wheel, thereby effectively reducing the derailment caused by the section without rail guard.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of a rail inspection robot according to the present invention;

FIG2 is a schematic diagram of a single side structural decomposition of a rail inspection robot according to the present invention;

FIG3 is a schematic diagram of the structure of a stop turntable of a rail inspection robot according to the present invention;

FIG4 is a schematic diagram of the structure of a retracting guide member of a rail inspection robot according to the present invention;

FIG5 is a schematic diagram of a structural portion of a retracting guide member from a different perspective from that in FIG4 ;

FIG6 is a schematic structural diagram of a tightening device of a rail inspection robot according to the present invention;

FIG. 7 is a schematic diagram of the structure of an elastic mounting base of a rail inspection robot according to the present invention.

In the figure: 1. walking assembly; 11. walking wheel; 12. connecting frame; 2. detection part; 3. mounting assembly frame; 31. support plate; 32. stop turntable; 321. connecting shaft; 322. end; 323. stop block; 4. extrusion part; 5. retreat guide member; 51. supporting slide rail; 52. strengthening support frame; 53. elastic telescopic member; 531. spring telescopic rod; 532. compression spring; 533. spring seat; 534. slider; 535. telescopic block; 536. inclination sensor; 6. tightening device; 61. sliding guide rail; 62. guide wheel support frame; 63. guide wheel group; 631. elastic mounting seat; 6311. longitudinal plate; 6312. transverse plate; 6313. inner sinking groove; 632. inner connecting plate; 633. guide wheel.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to Figures 1 to 7. A rail inspection robot provided by an embodiment of the present invention includes: a walking component 1 that drives a structure shared rail mounted thereon to work collaboratively in space during a skylight period, and includes a left-right symmetrical walking wheel 11 with a mileage sensor installed thereon and a connecting frame 12 that establishes a connection state of the single-side walking wheel 11; a detection component 2 that is installed on the walking component 1 and cooperates with the movement trajectory of the walking component 1 to detect track parameters; a mounting assembly frame 3 that is installed on the upper end of the connecting frame 12 and is symmetrical at both ends, and includes a support plate 31 installed on the upper end of the single-side connecting frame 12 to form a mounting surface, a stop turntable 32 that matches the torsion state between the two support plates 31 is arranged between the two support plates 31, a battery is installed on one of the two support plates 31, and a terminal processing device is installed on the other support plate 31.

The specific problem solved in this embodiment is: how to make the inspection vehicle pass the switch more safely when the inspection vehicle is running safely; the present invention uses the installed traveling assembly 1 to achieve a tightening effect on the rail when turning, so that the rail is tightened when the vehicle of the present invention is paused in turning, thereby ensuring that one end of the rail entering the switch is subjected to the centripetal force, and the centripetal force is balanced by the tightening assembly included in the traveling assembly 1, thereby promoting the stability of the overall structure, and thus achieving data accuracy when detecting rail parameters at the switch.

The stop turntable 32 includes a connecting shaft 321 that connects a single support plate 31, and an end head 322 is installed at the end of the connecting shaft 321 that is away from the connection with the support plate 31, and the end head 322 is connected to the support plate 31 through a stop block 323 that is slidably connected thereto, and the connecting shaft 321 cooperates with the end head 322 and the stop block 323 to connect between the two support plates 31, and an arc groove that is larger than the stop block 323 is opened on the end head 322, so that the stop block 323 can slide a certain distance in the arc groove in accordance with the arc groove, and based on the balance consideration of the components carried on the surfaces of the two support plates 31, in this embodiment, the angle of rotation of the stop block 323 in the arc groove is not more than 15 degrees, thereby establishing an elastic connection and a torsion state of the two support plates 31, so that the vibration generated when the type of the present invention travels on the rail is offset by the sliding of the stop block 323 in the arc groove, thereby ensuring the stability of the driving process and the reliability of the detection data, so as to avoid the data having excessively abnormal values and reducing the detection efficiency. This prevents the vibration or angle tilt generated by one end support plate 31 from affecting the other support plate 31, and then transmitting the vibration or angle tilt to the running wheel 11 to affect the stability of the type of the present invention, resulting in increased vibration effect or excessive angle twisting or even derailment of one side of the running wheel 11.

In this specific embodiment, an extrusion member 4 is installed on the structure relative to the two connecting frames 12, and a retreat guide member 5 is used to guide the extrusion member 4 to move in the direction of reducing the external force when the external force is greater than the extrusion threshold. The retreat guide member 5 is composed of a support slide rail 51 installed on the connecting frame 12 and a reinforcement support frame 52 connected to the connecting frame 12 and subjected to force together. The lower end of the reinforcement support frame 52 is connected to an elastic telescopic member 53 connected to the support slide rail 51; the elastic telescopic member 53 includes a spring telescopic rod 531 installed at the lower end of the support frame, and a compression spring 532 is sleeved on the extension rod. The compression spring 532 is internally connected to the spring telescopic rod 5 under the structural length in the initial state. 31 is connected to and sleeved on the spring seat 533, and a sensor frame is installed on the eccentric surface of the reinforced support frame 52 of the spring seat 533 installation surface, and an inclination sensor 536 is placed on the sensor frame. A slider 534 slidably connected to the support slide rail 51 is installed on the end of the spring telescopic rod 531 extending to the support slide rail 51, and the lower end of the slider 534 is connected to the extrusion piece 4, and a telescopic block 535 connected to the spring telescopic rod 531 is installed in conjunction with the slider 534; a measuring rod for measuring the track gauge is installed on the telescopic block 535 offset from the spring telescopic rod 531, and the measuring rod is connected to a displacement sensor, which is installed on the reinforced support frame 52 structure through a displacement sensor mounting seat. When the present invention is started, the terminal processing device, the inclination sensor 536, the mileage sensor and the displacement sensor start to start. The inclination sensor 536 and the displacement sensor determine the current state of the rail by the expansion and contraction amount of the compression spring 532 on the spring telescopic rod 531, and transmit the data to the terminal processing device, which determines by calculation whether the current compression amount of the compression spring 532 can be used for fast travel, so as to ensure the safety during the detection process. In order to facilitate the installation of the elastic telescopic parts, a gear and a rack are installed on the reinforced mounting frame relative to one end of the displacement sensor, and a rotating handle is installed on the gear. Thus, the action of the gear and the rack is used to promote the movement of the rack, thereby adjusting the distance between the telescopic block 535 and the sensor frame to facilitate the installation of the components therebetween.

On the other hand, the present invention utilizes the mid-section processing device to control the rotation speed of the motor coaxially connected to the walking wheel 11 to control its rapid forward or backward movement. Specifically, under the left-right symmetrical structure set in this embodiment, the track gauge can be obtained when it is at the switch and on the normal straight track. First, when it is at the switch: the two displacement sensors connected to the measuring rod are relative, and a single side enters the switch to generate a variable, thereby forming a single variable. On the basis of calculating the difference between them, the track gauge value is obtained, and it is judged whether it is within the standard range according to the predetermined track gauge value. On the other hand, when on a normal straight track, the calculation method is the same as the above method. After obtaining the displacement sensor data and the inclination sensor 536 data, the track superelevation can be calculated based on a predetermined formula to obtain a predetermined value, and whether it is superelevated only needs to be compared with the standard value.

The connecting frames 12 at the front and rear ends of the extrusion member 4 are both equipped with a tightening device 6 for tightening the track to maintain walking stability. The connecting frames 12 at the installation position of the tightening device 6 are both provided with a sliding guide rail 61 connected thereto, and the tightening device 6 includes a guide wheel support frame 62 slidably mounted on the sliding guide rail 61, and a spring mounting seat is installed at the lower end of the guide wheel support frame 62, and a guide wheel group 63 for tightening the side wall of the track is installed at one end of the spring mounting seat. The guide wheel group 63 includes an elastic mounting seat 631 installed at the front and rear ends of the longitudinal plate 6311, a compression spring 532 is sleeved on the elastic mounting seat 631, and a movable rod is installed in the elastic mounting seat 631. An inner connecting plate 632 clamped in the inner sinking groove 6313 is connected between the two movable rods. The lower end of the inner connecting plate 632 is symmetrically installed with a guide wheel 633 mounting seat and a guide wheel 633. The spring mounting seat is T-shaped, and its longitudinal plate 6311 is arranged at the lower end of the guide wheel support frame 62, and the transverse plate 6312 connected to the longitudinal plate 6311 extends parallel to the extension direction of the spring mounting seat, and the transverse plate 6312 is provided with an inner sinking groove 6313 with a length less than its own length, and part of the guide wheel group 63 mechanism is clamped in the inner sinking groove 6313. At the same time, in order to ensure the controllability of the speed of the robot of the present invention when passing the switch, a displacement sensor is installed on the inner connecting plate 632. The robot of the present invention is When passing the switch, the guide wheel 633 located in the forward direction is squeezed by the track, causing the inner plate 632 to move in the inner lining groove, and the displacement sensor detects the data. Similarly, after the inclination sensor 536 of the present invention produces an angle different from that of the straight rail as a whole, it transmits the data to the data terminal processing device in the same way as the displacement sensor. After a predetermined program is used to calculate whether it is safe to pass the switch at the current speed, when the robot travels to the middle of the journey, the two guide wheels 633 at the rear end of the robot are squeezed by the track. Similarly, as mentioned above, the displacement sensor and the inclination sensor 536 transmit data to the data terminal processing device, which will ultimately determine whether there are any safety hazards in passing the switch and upload the data to the cloud for storage, waiting for the staff to conduct a final inspection after the overall inspection is completed. In this way, the entire process of passing the switch of the present invention is completed, and data storage is provided to facilitate the establishment of a subsequent data model for the switch equipment.

The control method of the electrical components appearing in this article is to automatically control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. A rail inspection robot, comprising: A walking assembly (1) drives the structure mounted thereon to work collaboratively on the shared rail space during the skylight period, and comprises a left-right symmetrically mounted walking wheel (11) and a connection frame (12) for establishing a connection state of the single-side walking wheel (11); A detection component (2) is installed on the walking component (1) and cooperates with the movement trajectory of the walking component (1) to detect track parameters; The component placement assembly frame (3) is installed on the upper end of the connecting frame (12) and is symmetrical at both ends, and comprises a support plate (31) installed on the upper end of the single-side connecting frame (12) to form a component placement surface, and a stopper (32) is arranged between the two support plates (31) to match the torsion state between the two support plates (31); An extrusion member (4) and a retreat guide member (5) are installed on the structures opposite to the two connecting frames (12) for guiding the extrusion member (4) to move in a direction of reducing the external force when the extrusion member (4) is subjected to an external force greater than an extrusion threshold; The retreat guide member (5) is composed of a support rail (51) installed on the connection frame (12) and a reinforcement support frame (52) connected to the connection frame (12) and bearing force together, and the lower end of the reinforcement support frame (52) is connected to an elastic telescopic member (53) connected to the support rail (51); The connecting frames (12) at the front and rear ends of the extrusion piece (4) are both provided with a tightening device (6) for tightening the track to maintain walking stability. The structure of the extrusion piece (4) is the same as that of the tightening device (6). 2. A rail inspection robot according to claim 1, characterized in that: the elastic telescopic member (53) includes a spring telescopic rod (531) installed at the lower end of the support frame, the spring telescopic rod (531) is sleeved with a compression spring (532), the compression spring (532) is internally connected to a spring seat (533) connected to and sleeved on the spring telescopic rod (531) under the structural length of the initial state, the end of the spring telescopic rod (531) extending toward the support rail (51) is installed with a slider (534) slidably connected to the support rail (51), the lower end of the slider (534) is connected to the extrusion member (4), and a telescopic block (535) connected to the spring telescopic rod (531) is installed in conjunction with the slider (534); A measuring rod for measuring the track gauge is installed on the telescopic block (535) offset from the spring telescopic rod (531), the measuring rod is connected to a displacement sensor, and the displacement sensor is installed on the reinforced support frame (52) structure through a displacement sensor mounting seat; A sensor frame is installed on the reinforcing support frame (52) of the spring seat (533) installation surface at an eccentric surface, and an inclination sensor (536) is placed on the sensor frame. 3. A rail inspection robot according to claim 1, characterized in that: a sliding guide rail (61) is provided on the connecting frame (12) at the installation position of the tightening device (6) and connected thereto, and the tightening device (6) includes a guide wheel support frame (62) slidably installed on the sliding guide rail (61), and a spring mounting seat is installed at the lower end of the guide wheel support frame (62), and a guide wheel group (63) for tightening the side wall of the rail is installed at one end of the spring mounting seat. 4. A rail inspection robot according to claim 1, characterized in that: the stop turntable (32) includes a connecting shaft (321) connected to a single support plate (31), and an end (322) is installed at the end of the connecting shaft (321) away from the end connected to the support plate (31), and the end (322) is connected to the support plate (31) through a stop block (323) slidably connected thereto; The connecting shaft (321) cooperates with the end head (322) and the stop block (323) to connect the two support plates (31), thereby establishing an elastic connection and a twistable state of the two support plates (31). 5. A rail inspection robot according to claim 3, characterized in that: the spring mounting seat is T-shaped, and its longitudinal plate (6311) is arranged at the lower end of the guide wheel support frame (62), and the transverse plate (6312) connected to the longitudinal plate (6311) extends parallel to the extension direction of the spring mounting seat, and the transverse plate (6312) is provided with an inner groove (6313) whose length is less than its own length, and a part of the guide wheel group (63) is clamped in the inner groove (6313). 6. A rail inspection robot according to claim 4, characterized in that: a battery is installed on one of the two support plates (31), and a terminal processing device is installed on the other support plate (31). 7. A rail inspection robot according to claim 5, characterized in that: the guide wheel group (63) includes an elastic mounting seat (631) mounted on the front and rear ends of the longitudinal plate (6311), a compression spring (532) is sleeved on the elastic mounting seat (631), and a spring (532) is installed in the elastic mounting seat (631) The movable rods are connected with an inner connecting plate (632) clamped in the inner sinking groove (6313). A guide wheel (633) mounting seat and a guide wheel (633) are symmetrically mounted on the lower end of the inner connecting plate (632) in a front-to-back manner.