CN111351854A

CN111351854A - Intelligent hollow axle flaw detector and system

Info

Publication number: CN111351854A
Application number: CN201811565257.6A
Authority: CN
Inventors: 谭鹰; 张旭亮; 黄雪峰; 崔旭斌; 单继光; 张闪; 刘丰迪; 尹东柱; 卜运强; 赵斌; 刘士超; 吴艳杰
Original assignee: Beijing Sheenline Group Co Ltd
Current assignee: Beijing Sheenline Technology Co Ltd; Beijing Sheenline Group Co Ltd
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2020-06-30

Abstract

The application relates to an intelligent hollow axle flaw detector and an intelligent hollow axle flaw detection system. The intelligent hollow axle flaw detector comprises a conveying device, a flaw detection device, a butt joint device, a visual positioning mechanism and a control device. The flaw detection device, the butt joint device and the visual positioning mechanism are all arranged on the conveying device. The butt joint device is used for moving the flaw detection device and realizing butt joint with the hollow axle to be detected. The visual positioning mechanism is used for acquiring the position information of the hollow axle to be detected. The control device is in communication connection with the transportation device, the flaw detection device, the butt joint device and the visual positioning mechanism and is used for controlling the transportation device, the flaw detection device and the butt joint device to work according to the position information of the hollow axle to be detected. The application provides a hollow axletree defectoscope of intelligence is high.

Description

Intelligent hollow axle flaw detector and system

Technical Field

The application relates to the field of flaw detection of hollow axles of rail transit vehicles, in particular to an intelligent flaw detector and an intelligent flaw detection system for hollow axles.

Background

The hollow axle is a key operation component of the motor train unit. The running state of the hollow axle is directly related to the safety of the motor train unit. China railway general company stipulates that flaw detection needs to be carried out on hollow axles of various motor train units regularly. At present, the ultrasonic flaw detection equipment for the hollow axle of the motor train unit is widely applied to flaw detection operation of the motor train unit.

In the traditional technology, the ultrasonic flaw detection of the hollow axle is mainly mobile ultrasonic flaw detection equipment for the hollow axle. The motor train unit is parked in a motor train application place, flaw detection personnel operate the movable hollow axle ultrasonic flaw detection equipment on site, the equipment is connected with the hollow axle of the motor train unit and subjected to flaw detection operation, ultrasonic images displayed by the flaw detection equipment are checked and analyzed on site, and whether the hollow axle is qualified or not is judged.

However, the hollow axle ultrasonic flaw detection equipment has the problems of low efficiency, high labor intensity, large influence of human factors on flaw detection results and the like.

Disclosure of Invention

In view of the above, it is necessary to provide an intelligent hollow axle flaw detector and system for solving the problem of low intelligence.

An intelligent hollow axle flaw detector, comprising:

a transportation device;

the flaw detection device is arranged on the conveying device;

the butt joint device is arranged on the conveying device and used for moving the flaw detection device and realizing butt joint with the hollow axle to be detected;

the visual positioning mechanism is arranged on the conveying device and used for acquiring the position information of the hollow axle to be detected;

and the control device is in communication connection with the transportation device, the flaw detection device, the visual positioning mechanism and the butt joint device and is used for controlling the transportation device, the flaw detection device and the butt joint device to work according to the position information of the hollow axle to be detected.

In one embodiment, the visual positioning mechanism comprises:

and the first visual positioning device is arranged on the conveying device, is in communication connection with the control device and is used for realizing coarse adjustment and positioning of the butt joint of the flaw detection device and the hollow axle to be detected.

In one embodiment, the visual positioning mechanism further comprises:

and the second visual positioning device is arranged on the butt joint device, is in communication connection with the control device and is used for realizing the fine positioning of the butt joint of the flaw detection device and the hollow axle to be detected.

In one embodiment, the docking device comprises a mechanical arm, and the control device is used for controlling the mechanical arm to clamp the flaw detection device to realize docking with the hollow axle to be detected according to the position information of the hollow axle to be detected.

In one embodiment, the flaw detection device comprises a feeding mechanism and an adapter hanging device, and the control device controls the mechanical arm to clamp the feeding mechanism and the adapter hanging device to realize butt joint with the hollow axle to be detected.

In one embodiment, the feed mechanism and adapter hitch comprises:

the adapter hanging plate is used for realizing hanging connection with the adapter;

the probe rod mounting cylinder is connected to the disc surface on one side of the adapter hanging disc and used for placing a probe rod;

and the clamping device is arranged on the surface of the adapter hanging disc and used for realizing the clamping of the adapter hanging disc and the adapter.

In one embodiment, the transporter includes a navigation mechanism communicatively coupled to the transporter and the controller for controlling a travel route of the transporter.

In one embodiment, the flaw detection device comprises a feeding mechanism, a feeding mechanism positioning device and a base, wherein the feeding mechanism positioning device is arranged between the feeding mechanism and the base and used for realizing the positioning and locking of the feeding mechanism.

In one embodiment, the feeding mechanism positioning device comprises:

the positioning sleeve is arranged on the feeding mechanism;

the positioning shaft is arranged on the base and matched with the positioning shaft.

In one embodiment, the positioning sleeve is provided with a first hole along a first direction, and the feeding mechanism positioning device further comprises a first limiting mechanism matched with the first hole.

In one embodiment, the first opening is a cylindrical opening, and the first limiting mechanism is a cylindrical structure; or, the first opening is a wedge-shaped opening, and the first limiting mechanism is of a wedge-shaped structure.

In one embodiment, the positioning sleeve is provided with a first notch, the first notch extends along a second direction, and the feeding mechanism positioning device further comprises a second limiting mechanism matched with the first notch, and the second limiting mechanism is arranged on the positioning shaft.

In one embodiment, the first notch is a circular notch, and the second limiting mechanism is a cylindrical limiting pin, and the cylindrical limiting pin is arranged on the positioning shaft along a direction perpendicular to the second direction.

In one embodiment, the first notch is a wedge-shaped notch, and the second limiting mechanism is a wedge-shaped limiting pin, and the wedge-shaped limiting pin is arranged on the positioning shaft along the second direction.

In one embodiment, the number of the wedge-shaped notches is multiple, and the wedge-shaped notches are distributed on the edge of the positioning sleeve;

the positioning shaft is of a boss structure and comprises a cylinder and a base station, the cylinder is connected to the base station, the wedge-shaped limiting pins are multiple in number and distributed on the base station.

In one embodiment, the flaw detection device is charged by a lithium battery.

In this embodiment, the hollow axletree defectoscope of intelligence includes conveyer, detection device, interfacing apparatus, vision positioning mechanism and controlling means. The flaw detection device, the butt joint device and the visual positioning mechanism are all arranged on the conveying device. The control device is in communication connection with the transportation device, the flaw detection device, the docking device and the visual positioning mechanism. The butt joint device is used for moving the flaw detection device and realizing butt joint with the hollow axle to be detected. The hollow axletree defectoscope of intelligence that this embodiment provided passes through controlling means control the conveyer motion to the drive flaw detection device with the interfacing apparatus motion accomplishes the automatic movement in the testing process, need not manual operation flaw detection device's removal has improved the intelligence of hollow axletree defectoscope of intelligence. Meanwhile, the butt joint device can automatically finish the movement of the flaw detection device and the butt joint work of the hollow axle to be detected, the manual operation of hanging the flaw detection device is not needed, and the intelligence of the intelligent hollow axle flaw detector is further improved. In addition, the control device is in communication connection with the transportation device, the flaw detection device, the docking device and the visual positioning mechanism. The control device controls the transportation device, the flaw detection device, the butt joint device and the visual positioning mechanism to work, the automatic operation of the whole flaw detection operation is completed, and the intelligent performance is high.

An intelligent hollow axle flaw detection system comprises at least one intelligent hollow axle flaw detector as described above;

and the scheduling device is used for scheduling the at least one intelligent hollow axle flaw detector to perform flaw detection operation on the at least one hollow axle to be detected according to the overhaul plan.

In the embodiment of the application, the intelligent hollow axle flaw detection system comprises one or more intelligent hollow axle flaw detectors, one or more hollow axles to be detected can be detected simultaneously, and the detection efficiency is improved.

Drawings

FIG. 1 is a schematic side view of an intelligent hollow axle flaw detector provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a flaw detection apparatus according to an embodiment of the present application;

FIG. 3 is a schematic main view structural diagram of an intelligent hollow axle flaw detector provided in an embodiment of the present application;

FIG. 4 is a schematic view of a positioning device of a feeding mechanism according to an embodiment of the present application;

FIG. 5 is a schematic view of a positioning device of a feeding mechanism according to an embodiment of the present application;

FIG. 6 is a schematic view of a positioning device of a feeding mechanism according to an embodiment of the present application;

FIG. 7 is a schematic side view of a positioning device of a feeding mechanism according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of a positioning device of a feeding mechanism according to an embodiment of the present application;

FIG. 9 is a schematic view of a positioning device of a feeding mechanism according to an embodiment of the present application;

FIG. 10 is a schematic view of a positioning device of a feeding mechanism according to an embodiment of the present application;

FIG. 11 is a schematic side view of a positioning device of a feeding mechanism according to an embodiment of the present disclosure;

FIG. 12 is a bottom view of a retaining sleeve provided in accordance with an embodiment of the present application;

FIG. 13 is a top view of a positioning shaft provided in accordance with an embodiment of the present application;

FIG. 14 is a schematic flow chart of a method of inspection operations according to an embodiment of the present application;

FIG. 15 is a schematic flow chart of a method of inspection operations according to an embodiment of the present application;

FIG. 16 is a schematic flow chart of a method of inspection operations according to an embodiment of the present application;

FIG. 17 is a schematic flow chart of a method of inspection operations according to an embodiment of the present application;

FIG. 18 is a schematic flow chart of a method for positioning a hollow axle provided in accordance with an embodiment of the present application;

fig. 19 is a schematic flow chart of a method for controlling the transportation device to walk towards the hollow axle to be detected according to the position information of the hollow axle to be detected, according to an embodiment of the present application;

FIG. 20 is a flowchart illustrating a method for correcting the walking offset of the transportation device so that the transportation device walks along a direction parallel to the track according to an embodiment of the present application;

fig. 21 is a schematic flow chart of a method for obtaining the parallelism of the transportation device and the track according to an embodiment of the present application;

fig. 22 is a schematic flowchart of a method for controlling the first visual positioning device to search and position the hollow axle to be detected within a preset range according to an embodiment of the present application;

fig. 23 is a schematic flow chart of a method for controlling the second visual positioning device to perform secondary positioning on the hollow axle to be detected according to an embodiment of the present application;

fig. 24 is a flowchart illustrating a method for compensating the first image information to obtain compensated image information according to an embodiment of the present application.

Description of reference numerals:

intelligent hollow axle flaw detector 10 conveyer 100 navigation device 110 feeding mechanism of flaw detector 200 and adapter hanging device 210 adapter hanging disc 211 probe rod setting cylinder 212 positioning table 2121 clamping hole 2123 clamping device 213 feeding mechanism 220 feeding mechanism positioning device 230 positioning sleeve 232 cylinder 2321 base 2322 first opening 233 first limiting mechanism 234 first notch 235 second limiting mechanism 236 base 240 first fastener 250 second fastener 260 flaw detection assembly 270 docking device 300 mechanical arm 310 clamp 311 pin shaft 313 visual positioning mechanism 400 first visual positioning device 410 second visual positioning device 420 control device 500

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the following describes the intelligent hollow axle flaw detector and the system of the present application in further detail by embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The intelligent hollow axle flaw detector and the system can be applied to the on-line detection of the non-falling wheels of motor train units (high-speed rails, motor trains and the like). The method is mainly used for detecting the internal defects, the transverse defects and the longitudinal defects of the outer surface of the hollow axle of the motor train unit and the like. The intelligent hollow axle flaw detector and the flaw detection operation method according to the present application will be described in further detail below with reference to specific examples.

Referring to fig. 1, an embodiment of the present application provides an intelligent hollow axle flaw detector 10, which includes a transportation device 100, a flaw detection device 200, a docking device 300, a visual positioning mechanism 400, and a control device 500. The flaw detection device 200, the docking device 300, and the visual positioning mechanism 400 are all disposed on the transportation device 100. The flaw detection device 200 is used for carrying out flaw detection operation on the hollow axle to be detected. The docking device 300 is used for moving the flaw detection device 200 and realizing docking with the hollow axle to be detected. The visual positioning mechanism 400 is used for acquiring the position information of the hollow axle to be detected. The control device 500 is connected to the transportation device 100, the inspection device 200, and the docking device 300 in communication. The control device 500 is used for controlling the transportation device 100, the flaw detection device 200 and the docking device 300 to work according to the position information of the water spinach porridge to be detected.

The transportation device is used as a running carrier of the flaw detection device 200 and the docking device 300 and is used for driving the flaw detection device 200 and the docking device 300 to move in the operation of the motor train unit. The transportation device 100 is connected to the control device 500 in a communication manner, and the control device 500 can control the transportation device to walk to complete the automatic operation of the transportation device 100. The present application does not limit the specific structure of the transportation device 100 as long as the function thereof can be achieved.

The flaw detection apparatus 200 may be an ultrasonic flaw detection apparatus. The flaw detection device 200 can perform flaw detection in a conventional ultrasonic mode, can perform flaw detection in a mode of combining conventional ultrasonic and phased array ultrasonic, and can perform flaw detection in a mode of combining conventional ultrasonic and eddy current. The specific structure, flaw detection mode and the like of the flaw detection device 200 are not limited in the present application, and can be selected according to actual requirements.

The docking device 300 is controlled by the control device 500 to move the inspection device 200 to the adapter, so that the feeding mechanism is hooked by the adapter hooking device 210 and the adapter. It is understood that the docking device 300 may also be used to move the inspection device 200 back to the original position (i.e., home) after the inspection operation is completed. The docking device 300 may have various structures, and the present application is not particularly limited as long as the functions thereof can be implemented.

The visual positioning mechanism 400 may be a video camera, a still camera, or the like. The visual positioning mechanism 400 can acquire image information of the hollow axle to be detected and transmit the image information to the control device 500. The control device 500 analyzes the image information to determine the position information of the hollow axle to be detected. The accuracy of flaw detection operation of the intelligent hollow axle flaw detector can be improved through the visual positioning mechanism 400.

The control device 500 includes a processor capable of receiving and processing data and sending instructions to devices communicatively coupled thereto, controlling the turning on, turning off, status changes, etc. of the devices. The control device 500 may include a computer device, a PLC (Programmable Logic Controller), and the like. The control device 500 may include hardware circuits and may also include software programs. The communication between the control device 500 and the transportation device 100, the inspection device 200, the docking device 300, and the visual positioning device 400 may be wired data transmission or wireless communication transmission.

The working process of the intelligent hollow axle flaw detector 10 is as follows:

the control device 500 controls the transportation device 100 carrying the flaw detection device 200 and the docking device 300 to move to the hollow axle to be detected according to requirements. The control device 500 controls the visual positioning mechanism 400 to acquire the position information of the hollow axle to be detected. The control device 500 controls the docking device 300 to move the flaw detection device 200 according to the position information of the hollow axle to be detected, and drives the feeding mechanism and the adapter hanging device 210 to move. The feed mechanism and adapter hitch 210 is moved to the adapter of the hollow axle to be tested. The adapter hanging plate 281 is hooked with the adapter. The control device 500 controls the flaw detection device 200 to perform flaw detection work. After the flaw detection device 200 completes the flaw detection work, the control device 500 controls the docking device 300 to move the flaw detection device 200 so that the flaw detection device 200 is returned to its original position.

In this embodiment, the intelligent hollow axle flaw detector 10 includes a transportation device 100, a flaw detection device 200, a docking device 300, a visual positioning mechanism 400, and a control device 500. The flaw detection device 200, the docking device 300, and the visual positioning mechanism 400 are all disposed on the transportation device 100. The control device 500 is connected to the transportation device 100, the inspection device 200, the docking device 300, and the visual positioning mechanism 400 in communication. The docking device 300 is used for moving the flaw detection device 200 and realizing docking with the hollow axle to be detected. The intelligent hollow axle flaw detector 10 provided by this embodiment controls the movement of the transportation device 100 through the control device 500, so as to drive the flaw detection device 200 and the docking device 300 to move, complete the automatic movement in the detection process, and the movement of the flaw detection device 200 does not need to be manually operated, thereby improving the intelligence of the intelligent hollow axle flaw detector 10. Meanwhile, the movement of the flaw detection device 200 and the butt joint work of the hollow axle to be detected can be automatically completed through the butt joint device 300, the hanging connection of the flaw detection device 200 does not need to be manually operated, and the intelligence of the intelligent hollow axle flaw detector 10 is further improved. In addition, the control device 500 is communicatively connected to the transportation device 100, the inspection device 200, the docking device 300, and the visual positioning mechanism 400. The control device 500 controls the transportation device 100, the flaw detection device 200, the docking device 300 and the visual positioning mechanism 400 to work, so that the automatic operation of the whole flaw detection operation is completed, and the intelligence is high.

In one embodiment, the visual positioning mechanism 400 includes a first visual positioning device 410. As shown in fig. 1, the first visual positioning device 410 is disposed on the transportation device 100. The first visual positioning device 410 is communicatively coupled to the control device 500. The first visual positioning device 410 is used for realizing coarse positioning of butt joint of the flaw detection device 200 and the hollow axle to be detected.

The rough adjustment and positioning of the joint of the flaw detection device 200 and the hollow axle to be detected means that the flaw detection device 200 is adjusted so that the flaw detection device 200 meets the preliminary requirement of the joint with the hollow axle to be detected. The specific parameter requirements for coarse positioning can be set according to actual requirements. The first visual positioning device 410 may be a device that includes image acquisition. In one embodiment, the first visual positioning device 410 comprises a visual camera. The vision camera is mounted to the transporter 100. When the control device 500 controls the transportation device 100 to reach the position of the hollow axle to be detected, the vision camera photographs the hollow axle to be detected and the adapter, and transmits image information to the control device 500. The control device 500 analyzes the image information to determine whether the position of the flaw detection device 200 meets the preliminary requirements of the docking. If the position of the flaw detection device 200 does not meet the preliminary requirements of butt joint, the control device 500 controls the transportation device 100 to adjust the position, so that the position of the flaw detection device 200 meets the preliminary requirements of butt joint with the hollow axle to be detected. In this embodiment, by providing the first visual positioning device 410, coarse positioning of the butting of the flaw detection device 200 and the hollow axle to be detected is realized, and the accuracy of butting of the intelligent hollow axle flaw detector 10 and the hollow axle to be detected before flaw detection operation is improved. Meanwhile, the first visual positioning device 410 can realize automatic adjustment and positioning of the intelligent hollow axle flaw detector 10 during flaw detection, and the intelligence of the intelligent hollow axle flaw detector 10 is further improved.

In one embodiment, the visual positioning mechanism 400 further comprises a second visual positioning device 420. As shown in fig. 3, the second visual positioning device 420 is disposed on the docking device 300. The second visual positioning device 420 is communicatively coupled to the control device 500. The second visual positioning device 420 is used for realizing the fine positioning of the butt joint of the flaw detection device 200 and the hollow axle to be detected.

The fine positioning of the butt joint of the flaw detection device 200 and the hollow axle to be detected means that the flaw detection device 200 is adjusted so that the flaw detection device 200 meets the requirement of accurate butt joint with the hollow axle to be detected. The specific parameter requirements of fine positioning can be set according to actual requirements. The second visual positioning means 420 may be a means comprising image acquisition. In one embodiment, the second visual positioning device 420 comprises a visual camera. The vision camera is mounted to the docking device 300. For example, the vision camera may be mounted to the robotic arm 310. Meanwhile, the second visual positioning device 420 may further include a distance sensor. The distance sensor may be mounted to the robot arm 310. After the first visual positioning device 410 completes the coarse positioning, the control device 100 controls the docking device 300 to grasp the inspection device 200 and move to the docking position with the adapter. The second visual positioning device 420 photographs the hollow axle to be detected and the adapter, and transmits the photographed images to the control device 500. The distance sensor detects information on the distance between the adapter hanging plate 281 and the adapter, and transmits the information to the control device 500. The control device 500 analyzes the image information and the distance information to determine whether the position of the flaw detector 200 meets the requirements of the final docking. If the position of the flaw detection device 200 does not meet the requirement of butt joint, the control device 500 controls the butt joint device 300 to adjust the position, so that the position of the flaw detection device 200 meets the requirement of butt joint with the hollow axle to be detected. In this embodiment, by providing the second visual positioning device 420, the butt joint of the flaw detection device 200 and the hollow axle to be detected is precisely positioned, and the butt joint accuracy of the flaw detection device 200 and the hollow axle to be detected is further improved when the intelligent hollow axle flaw detector 10 detects flaws. Meanwhile, the second visual positioning device 420 can realize automatic adjustment and positioning of the intelligent hollow axle flaw detector 10 during flaw detection, so that the intelligence of the intelligent hollow axle flaw detector 10 is further improved.

In one embodiment, the docking device 300 includes a robotic arm 310. The control device 500 is used for controlling the mechanical arm 310 to clamp the flaw detection device 200 to realize butt joint with the hollow axle to be detected according to the position information of the hollow axle to be detected.

The robotic arm 310 is communicatively coupled to the control device 500. The control device 500 can control the operation of the robot arm 310. The specific structure of the mechanical arm 310 is not limited in this application, and may be selected according to actual requirements. The mechanical arm 310 includes a structure and a component capable of clamping the flaw detection device 200, so that the mechanical arm 310 can grasp the flaw detection device 200 and drive the flaw detection device 200, and move to the hollow axle to be detected according to the position information of the hollow axle to be detected, which is acquired by the visual positioning mechanism 400, and complete the butt joint. In this embodiment, the precision and sensitivity of the movement and docking of the docking device 300 are improved by the robot arm 310.

In a particular embodiment, the inspection device 200 may include a feed mechanism and adapter hitch 210, a feed mechanism 220, an inspection assembly 270, and the like. The feed mechanism and adapter hitch 210 is coupled to the feed mechanism 220. The control device 500 controls the mechanical arm 310 to clamp the feeding mechanism and the adapter hanging device 210 to realize butt joint with the hollow axle to be detected. Wherein the flaw detection assembly 270 comprises a probe rod, an ultrasonic probe, and the like. The feeding mechanism 220 is used for driving the probe rod to perform feeding movement, so that the hollow axle to be detected is detected. The feeding mechanism 220 is hooked with the hollow axle to be detected by hooking the feeding mechanism and the adapter hooking device 210 with the adapter, so that the hooking is more convenient, the hollow axle to be detected with different specifications can be hooked, and the adaptability is high.

In one embodiment, the feed mechanism and adapter hitch 210 includes an adapter hitch plate 211, a probe mounting cylinder 212, and a clamp 213. The adapter plate 211 is connected to the probe rod receiving cylinder 212. Specifically, the probe rod mounting cylinder 212 is connected to a side plate surface of the adapter hanging plate 211 and used for placing a probe rod. The clamping device 213 is disposed on the disk surface of the adapter hanging disk 211 and is used for clamping the adapter hanging disk 211 and the adapter.

The tail end of the hollow axle to be detected is connected with an adapter. The adapter is used for interfacing with the adapter catch tray 211. It can be understood that the connection, the hitching and the like with the hollow axle to be detected mentioned in the application can be directly connected with the hollow axle to be detected or can be connected with the hollow axle to be detected through the adapter.

The adapter hanging disc 211 is a disc-shaped structure. The shape of the outer edge of the adapter hanging disc 211 can be a circular structure or an irregular shape. In one embodiment, the outer edge of the adapter catch tray 211 is composed of two oppositely disposed circular arc edges and two oppositely disposed straight edges. The adapter hanging plate 211 is used for hanging with a connecting plate of the adapter.

The probe installation cylinder 212 may have a barrel-shaped structure. The inner receiving space of the probe rod seating cylinder 212 is used for seating a probe rod. The center of the disk surface of the adapter hanging disk 211 can be provided with a through round hole, and the connecting disk of the adapter comprises a hole matched with the position, the size and the like of the through round hole. One end of the probe rod mounting cylinder 212 is butted with a through circular hole of the adapter hanging disc 211, so that the probe rod can pass through the through circular hole to enter the adapter.

The clamping device 213 is used to further clamp the adapter hanging tray 211 and the adapter after the adapter and the adapter hanging tray 211 are completed. The clamping device 213 may be a device that clamps the adapter with the adapter hanging plate 211 by suction force, or may be a device that clamps the adapter with the adapter hanging plate 211 by clamping force. The structure of the clamping device 213 may be different according to the principle of performing clamping. The clamp 213 may be provided at any position on the disk surface of the adapter catch disk 211. The connection mode between the clamping device 213 and the adapter hanging plate 211 is not limited, and may be selected according to actual requirements.

In this embodiment, the feeding mechanism and adapter hooking device 210 includes an adapter hooking plate 211, a probe rod setting cylinder 212, and a clamping device 213. Wherein clamping device 213 can realize adapter hitch plate 211 with the clamp of adapter makes feed mechanism and adapter hitch device 210 can realize pressing from both sides tightly automatically when realizing articulating, need not manual operation, has improved feed mechanism and adapter hitch device 210's degree of automation has alleviateed artifical labour intensity, has improved work efficiency.

Referring to fig. 2 and 3 together, in one embodiment, the inspection apparatus 200 includes a positioning stage 2121. The robotic arm 310 includes a clamp 311 that mates with the positioning table 2121. The clamp 311 is used for clamping the positioning table 2121 so as to move the flaw detection device 200 and butt joint with the hollow axle to be detected.

The positioning table 2121 can be disposed on the probe mounting barrel 282 of the feed mechanism and adapter hitch 210. The positioning mesa 2121 may have a polyhedral structure. The plurality of surfaces of the positioning table 2121 surround the outer wall of the probe rod placing cylinder 282. The clamp 311 may be disposed at an end of the robot arm 310. The specific shapes and structures of the positioning table 2121 and the clamp 311 are not limited, as long as they can cooperate with each other to complete the clamping action. In this embodiment, the positioning table 2121 is matched with the clamp 311 to complete the movement of the mechanical arm 310 to the flaw detection device 200, so that the flaw detection device 200 is butted with the hollow axle to be detected, and the structure is simple and easy to implement. And the clamp 311 and the positioning table 2121 cooperate to complete a clamping action, so that the clamping is stable, and the movement and the butt joint of the flaw detection apparatus 200 are more stable.

In one embodiment, the positioning table 2121 defines a clamping hole 2123. The clamp 311 includes a pin 313 matched with the clamping hole. The clamping hole 2123 may be provided at a side of the positioning table 2121. The clamping hole 2123 may be plural. In one embodiment, the number of the clamping holes 2123 is 3. The clamp 311 is correspondingly provided with pin shafts 313, the number, the size, the installation distance and the like of which are matched with the clamping holes 2123. The pin 313 can be inserted into the clamping hole 2123, so that the positioning table 2121 can be clamped to drive the flaw detection apparatus 200 to move. In this embodiment, the clamping holes 2123 are matched with the pin shaft 313 to clamp the positioning table 2121 by the clamp 311, so that the clamping stability is high, the clamping is not easy to fall off, and the stability of the intelligent hollow axle flaw detector 10 is further improved.

In one embodiment, the transporter 100 includes a navigation mechanism 110. The navigation mechanism 110 is communicatively coupled to the transporter 100 and the controller 500. The navigation mechanism 110 is used to control the travel route of the transporter 100.

The navigation mechanism 110 may be disposed inside the transporter 100. The navigation mechanism 110 is shown schematically in FIG. 1. The navigation mechanism 110 may be a laser navigation mechanism, a magnetic stripe navigation mechanism, a laser and magnetic stripe matched navigation mechanism, or an inertial navigation mechanism. The navigation mode of the navigation mechanism 110 is not limited in the present application, and may be selected according to actual requirements. In one embodiment, the navigation mechanism 110 is magnetic navigation. The transporter 100 may be an avg (automated Guided vehicle) automated Guided vehicle. And paving magnetic stripes on the ground of the equipment application site, establishing an electronic map of the motor train unit application site, and storing the electronic map in the control system 500 and the AVG automatic guided vehicle. And the control device 500 issues a walking route task to the AVG automatic guided vehicle according to the position and the layout of the hollow axle to be detected. The AVG automatic guided transport vehicle carrying the flaw detection device 200 and the docking device 300 walks to the hollow axle to be detected according to the walking route task. The control device 500 controls the docking device 300 and the flaw detection device 200 to perform other operations. In this embodiment, the navigation mechanism 110 is disposed in the transportation device 100, so that the transportation device 100 can walk more intelligently and accurately, and the intelligent hollow axle flaw detector 10 can be more intelligent and accurate.

Referring to fig. 4-11, in one embodiment, the inspection apparatus 200 further includes a feeding mechanism positioning device 230 and a base 240. The feeding mechanism positioning device 240 is disposed between the feeding mechanism 220 and the base 240. The feeding mechanism positioning device 230 is used for realizing the positioning and locking of the feeding mechanism 220.

After the flaw detection device 200 completes flaw detection, the control device 500 needs to control the docking device 300 to clamp the feeding mechanism 220 to move, and to replace the feeding mechanism 220 to the position of the flaw detection device 200 on the transportation device 100, that is, to return the feeding mechanism 220. When the flaw detection apparatus 200 is returned to its original position, the feeding mechanism 220 needs to be positioned and locked.

The feeding mechanism positioning device 230 may be disposed on a side of the feeding mechanism 220 close to the transportation device 100. The base 240 may be mounted to the transporter 100. When the docking device 300 clamps the feeding mechanism 220 and moves to the base 240, the feeding mechanism positioning device 230 positions the feeding mechanism 220 and can lock the feeding mechanism to prevent the feeding mechanism 220 from moving. In this embodiment, the feeding mechanism positioning device 230 enables the feeding mechanism 220 to be accurately and reliably returned, and provides a guarantee for the docking device 300 to accurately and repeatedly grasp and replace the feeding mechanism.

The structure of the feeding mechanism positioning device 230 may include many kinds as long as the positioning and locking of the feeding mechanism 220 can be achieved. In one embodiment, the feeding mechanism positioning device 230 includes a positioning sleeve 231 and a positioning shaft 232. The positioning sleeve is disposed on the feeding mechanism 220. The positioning shaft 232 is disposed on the base 240. The positioning shaft 232 is matched with the positioning shaft 232.

The positioning sleeve 231 is of a sleeve-shaped structure. The positioning sleeve 231 may be fixed to the feeding mechanism 220 by a first fastener 250. The positioning shaft 232 may be a shaft-like structure. The positioning shaft 232 may be secured to the base 240 by a second fastener 260. The positioning sleeve 231 comprises a positioning hole, and the positioning shaft 232 comprises a shaft body, wherein the shaft body is matched with the positioning hole in size, position and the like. When the docking device 300 clamps the feeding mechanism 220 and moves around the base 240, the feeding mechanism 220 can be positioned and locked by inserting the shaft into the positioning hole. The specific shape, structure, size, material, etc. of the positioning sleeve 231 and the positioning shaft 232 are not limited, as long as positioning and locking effects can be achieved. In this embodiment, the positioning and locking of the feeding mechanism 220 are realized by the cooperation of the positioning sleeve 231 and the positioning shaft 232, and the feeding mechanism is simple in structure and convenient to operate.

In one embodiment, the positioning sleeve 231 defines a first opening 233 along a first direction. The feeding mechanism positioning device 230 further comprises a first limiting mechanism 234 matched with the first opening 233.

The first direction may be a lateral direction. The positioning sleeve 231 is transversely provided with the first opening 233. The first opening can be opened at any position of the stop collar 233. The first limiting mechanism 234 is shaped, sized, etc. to match the first opening 233. The first stopper 234 is inserted into the first opening 233, and cooperates with the first opening 233 to define the position of the stopper sleeve 231, preventing the stopper sleeve 231 from moving in a direction perpendicular to the first direction. That is, when the first direction is the transverse direction, the first position-limiting mechanism 234 is engaged with the first opening 233, and can prevent the position-limiting sleeve 231 from moving in the longitudinal direction, so as to lock the position of the feeding mechanism 220 in the longitudinal direction. When the feeding mechanism 220 needs to be moved, the first stopper 234 is pulled out of the first opening 233, and the lock of the stopper 231 is released. The insertion and extraction of the first limiting mechanism 234 can be controlled electrically. The insertion and extraction of the first stopper 234 may be performed by the robot 310. The robotic arm 310 may include a gripper capable of grasping the first stop mechanism 234. The first stopper 234 is caught by the claw and inserted into the first opening 233. In this embodiment, the first opening 233 and the first limiting mechanism 234 are matched to improve the stability and reliability of the feeding mechanism 220.

In one embodiment, as shown in fig. 4-7, the first opening 233 is a cylindrical opening. The first position-limiting mechanism 234 is a position-limiting pin with a cylindrical structure. The cylindrical limiting pin can be an electric control cylindrical pin. The cylindrical first opening 233 and the first limiting mechanism 234 have simple structures and are easy to process.

In one embodiment, as shown in fig. 8 to 11, the first opening 233 is a wedge-shaped opening, and the first position-limiting mechanism 234 is a position-limiting pin having a wedge-shaped structure. The wedge-shaped limiting pin can be an electric control wedge-shaped limiting pin. The wedge-shaped opening hole is matched with the limiting pin of the wedge-shaped structure to achieve position limitation of the feeding mechanism 220, the structure is stable, the feeding mechanism is not prone to falling off, and stability and reliability of the feeding mechanism 220 are further improved.

In one embodiment, the retaining sleeve 231 defines a first notch 235. The feeding mechanism positioning device 230 further comprises a second limiting mechanism 236. The second limiting mechanism 236 is disposed on the positioning shaft 232. The first notch 235 extends in a second direction. The second stop mechanism 236 mates with the first notch 235.

The second direction may be a longitudinal direction. The number of the first notches 235 may be one or more. The structure, shape, etc. of the second position-limiting mechanism 236 are not limited as long as they are matched with the first notch 235. The second position-limiting mechanism 236 may be disposed at any position of the positioning shaft 232 according to different structures. The second position-limiting mechanism 236 is engaged with the first notch 235, so that the positioning sleeve 231 is prevented from rotating around the second direction. That is, when the second direction is longitudinal, the second limiting mechanism 236 and the first notch 235 cooperate to prevent the feeding mechanism 220 from rotating around the axis of the positioning shaft 232. In this embodiment, the stability and reliability of the feeding mechanism 220 are further improved by the cooperation of the first notch 235 and the second limiting mechanism 236.

The first notch 235 and the second stop mechanism 236 may have a variety of configurations. In one embodiment, the first notch 235 is a circular notch. The second limiting mechanism 236 is a cylindrical limiting pin. The cylindrical limit pin is arranged on the positioning shaft 232 along the second direction perpendicular to the second direction.

The diameter of the circular notch is equal to that of the circular limiting pin. The round limit pin can penetrate through the positioning shaft 232 along the transverse direction. The circular limit pin protrudes out of the positioning shaft 232. The circular limit pin can also be fixed on the side wall of the positioning shaft 232 along the transverse direction. The number of the circular notches and the number of the circular limit pins can be respectively 2. The circular limit pin and the positioning shaft 232 can be arranged respectively or can be of an integrally formed structure. In this embodiment, through circular notch with the cylinder spacer pin realizes feed mechanism 220 winds the rotation of second direction, simple structure, workable, and stability is high.

In one embodiment, the first notch 235 is a wedge-shaped notch. The second limit mechanism 236 is a wedge-shaped limit pin. The wedge-shaped limit pin is arranged on the positioning shaft 232 along the second direction. The number of the wedge-shaped notches can be one or a plurality. The number of the wedge-shaped limiting pins can be one or more. The wedge-shaped limiting pin may be disposed on the positioning shaft 232 in parallel with the axial direction of the positioning shaft 232.

Referring to fig. 12 and 13, in one embodiment, the number of the wedge-shaped notches and the wedge-shaped limit pins is multiple. A plurality of the wedge-shaped notches are distributed at the edge of the positioning sleeve 231. The positioning shaft 232 may be a boss structure. The positioning shaft 232 includes a cylinder 2321 and a base 2322. The cylinder 2321 is connected to the base 2322. The shape and structure of the cylinder 2321 are not limited, as long as the cylinder is matched with the position-limiting sleeve 231. The wedge-shaped limiting pins are distributed on the base 2322. The distribution positions of the wedge-shaped limiting pins are matched with the positions of the wedge-shaped notches, so that when the cylinder 2321 is inserted into the limiting sleeve 231, a plurality of wedge-shaped limiting pins are correspondingly inserted into the wedge-shaped notches. Taking the limiting sleeve 231 as an annular structure, and the cylinder 2321 as a cylindrical structure: the plurality of wedge-shaped notches may be formed along the circumference of the annular position-limiting sleeve 231; a plurality of the wedge shaped restraint pins may be circumferentially distributed around the cylinder 2321. When the docking device 300 clamps the feeding mechanism 220 and moves vertically downward, the column 2321 is inserted into the positioning hole of the positioning sleeve 231. The post 2321 defines the position of the feed mechanism 220 in the transverse direction. Meanwhile, the wedge-shaped notch and the wedge-shaped limiting sleeve are matched to limit the rotation of the feeding mechanism 220 around the axial direction of the cylinder 2321. In this embodiment, the wedge-shaped notch is matched with the wedge-shaped limit pin, so that the position of the feeding mechanism 220 is limited, the structure is more reliable, and the locking effect is better.

The flaw detection apparatus 200 may be powered by a rechargeable battery such as a lithium battery. In one embodiment, the inspection device 200 is charged using a lithium battery. The flaw detection device 200 comprises a charging interface for charging a lithium battery. Through the charging interface, the lithium battery can be charged. The device 200 of detecting a flaw that this embodiment provided can realize charging repeatedly, the energy saving, for the device 200 of detecting a flaw provides convenient reliable power.

One embodiment of the application provides an intelligent hollow axle flaw detection system. The intelligent hollow axle flaw detection system comprises at least one intelligent hollow axle flaw detector 10 as described above. The intelligent hollow axle flaw detection system further comprises a scheduling device, and the scheduling device is used for scheduling the at least one intelligent hollow axle flaw detector 10 to perform flaw detection operation on at least one hollow axle to be detected according to a maintenance plan.

And magnetic stripes are laid on the bottom surface of the equipment operation site, and positioning blocks and reference identification points are arranged. One or more of the intelligent hollow-axle flaw detectors 10 can simultaneously perform flaw detection operations at the equipment operating site. And the dispatching device respectively issues an operation task to each intelligent hollow axle flaw detector 10 according to the maintenance plan, so that the intelligent hollow axle flaw detectors 10 respectively complete butt joint and flaw detection.

In this embodiment, the intelligent hollow axle flaw detection system includes one or more intelligent hollow axle flaw detectors 10, and can realize simultaneous detection of one or more hollow axles to be detected, thereby improving detection efficiency.

The application also provides a hollow axle flaw detection operation method. The method is used for carrying out flaw detection work by using the intelligent hollow axle flaw detector 10. The hollow axle flaw detection operation method can be performed by the control device 500. It is understood that the control device 500 may further include a data storage device in addition to the processor for storing data collected by the sensors, operation plans, electronic maps of motor train unit operation centers, and the like. The control device 500 may control the steps of the method to be completed by a program or by acquiring a command or data manually input. The hollow axle flaw detection operation method is further described below with reference to specific examples.

Referring to fig. 14, an embodiment of the present application provides a hollow axle flaw detection method, including:

and S10, controlling the transportation device 100 to walk to the hollow axle to be detected.

And the operator formulates and audits a flaw detection operation plan according to the condition of the hollow shaft to be detected, and stores the flaw detection operation plan in the control device 500. The control device 500 acquires the flaw detection work plan, and generates a travel command and a work plan to the transportation device 100 according to the flaw detection work plan. The transportation device 100 carries the flaw detection device 200 and the docking device 300 to travel to the hollow axle to be detected.

And S20, controlling the docking device 300 to move the flaw detection device 200 and realizing docking with the hollow axle to be detected.

After the transportation device 100 reaches the hollow axle to be detected, a task completion condition instruction is returned to the control device 500. The control device 500 sends a work instruction to the docking device 300 according to the instruction returned by the transportation device 100. And the docking device 300 receives a working instruction, moves the flaw detection device 200 and docks with the adapter of the hollow axle to be detected. In one embodiment, the docking device 300 includes a robotic arm 310. The inspection apparatus 200 includes a positioning table 2121, and the robot 310 includes a clamp 311 matched with the positioning table 2121. When the docking device 300 receives a work order, the robot arm 310 clamps the positioning table 2121 through the clamp 311, so as to drive the feeding mechanism 220 to move to the adapter, and to hook the adapter hanging tray 281 to the adapter.

And S30, controlling the flaw detection device 200 to carry out flaw detection on the hollow axle to be detected.

After the docking device 300 is hooked, the control device 500 controls the flaw detection device 200 to perform flaw detection. The feeding mechanism 220 drives the probe rod to enter the adapter, so that the probe rod enters the hollow axle to be detected, and the internal defects, the outer surface transverse defects and the longitudinal defects of the hollow axle to be detected are detected. The flaw detection data is transmitted to the control device 500. The control device 500 processes the flaw detection data. After the flaw detection device 200 completes the flaw detection work, the flaw detection completion result is reported to the control device 500.

And S40, controlling the docking device 300 to move the flaw detection device 200 to return to the original position.

After receiving the flaw detection completion result, the control device 500 sends an unloading and homing instruction to the docking device 300. After receiving the unloading and returning instruction, the docking device 300 unloads and moves the flaw detection device 200 to the home position. In one embodiment, the robotic arm 310 grips the positioning table 2121 via the gripper 311, unloads the adapter catch tray 281 from the adapter, and moves, thereby moving the feed mechanism 220. The feeding mechanism 220 moves to the home position, the robot arm 310 leaves the positioning table, and the inspection apparatus 200 is completely returned.

In this embodiment, the hollow axle flaw detection operation method includes controlling the transportation device 100 to travel to the hollow axle to be detected. And then controlling the docking device 300 to move the flaw detection device 200 and realize docking with the hollow axle to be detected. And controlling the flaw detection device 200 to perform flaw detection on the hollow axle to be detected. And finally, controlling the docking device 300 to move the flaw detection device 200 to be in the home position. In the method provided by this embodiment, the transportation device 100 is controlled to move, so that the flaw detection device 200 and the docking device 300 are driven to move, automatic movement in the detection process is completed, manual operation for moving the flaw detection equipment is not required, and the intelligence of the intelligent hollow axle flaw detector 10 is improved. Meanwhile, the flaw detection device 200 is moved by controlling the docking device 300, and docking with the hollow axle to be detected is realized. The hanging connection of the flaw detection device 200 does not need to be manually operated, and the intelligence of the intelligent hollow axle flaw detector 10 is further improved. In addition, by controlling the operations of the transportation apparatus 100, the flaw detection apparatus 200, and the docking apparatus 300, the entire flaw detection work can be automated, and the intelligence is high.

Referring to fig. 15, in one embodiment, the transporter 100 includes a navigation mechanism 110. The navigation mechanism 110 is communicatively coupled to the transporter 100 and the controller 500. S10 includes:

s110, acquiring a traveling route of the transportation device 100 through the navigation mechanism 110.

The control device 500 sends a walking command and a walking task to the transportation device 100 according to the work plan. The transporter 100 sends the walking task to the navigation mechanism 110. The navigation mechanism 110 formulates the walking route according to the walking task.

And S120, controlling the transportation device 100 to walk to the hollow axle to be detected according to the walking route.

And the transportation device 100 automatically walks to the hollow axle to be detected according to the walking route.

In this embodiment, the walking route of the transportation device 100 is acquired through the navigation mechanism 110, and after the detection, the transportation device 100 is controlled to walk to the hollow axle to be detected through the walking route, so that the transportation device 100 can walk more accurately and intelligently.

In one embodiment, the visual positioning mechanism 400 includes a first visual positioning device 410. The first visual positioning device 410 is disposed on the transportation device 100. The first visual positioning device 410 is communicatively coupled to the control device 500. Before S20, the method further includes:

and S50, controlling the first visual positioning device 410 to butt joint, roughly adjust and position the flaw detection device 200 and the hollow axle to be detected.

The butt joint rough adjustment and positioning of the flaw detection device 200 and the hollow axle to be detected mean that the flaw detection device 200 is adjusted so that the flaw detection device 200 meets the preliminary requirements of butt joint with the hollow axle to be detected. After the transportation device 100 reaches the position of the hollow axle to be detected, the control device 500 controls the first visual positioning device 410 to position the hollow axle to be detected and the adapter, and transmits the position information of the adapter of the hollow axle to be detected to the control device 500. The control device 500 analyzes the image information to determine whether the position of the flaw detection device 200 meets the preliminary requirements of the docking. If the position of the flaw detection device 200 does not meet the preliminary requirements of butt joint, the control device 500 controls the transportation device 100 to adjust the position, so that the position of the flaw detection device 200 meets the preliminary requirements of butt joint with the hollow axle to be detected.

In this embodiment, the first visual positioning device 410 is controlled to perform butt joint rough adjustment positioning on the flaw detection device 200 and the hollow axle to be detected, so that the butt joint accuracy of the intelligent hollow axle flaw detector 10 and the hollow axle to be detected is improved. Meanwhile, the first visual positioning device 410 is controlled to butt joint, roughly adjust and position the flaw detection device 200 and the hollow axle to be detected, so that automatic adjustment and positioning can be realized, and the intelligence of the hollow axle flaw detection operation method is further improved.

Referring to fig. 16, in one embodiment, the visual positioning mechanism 400 further includes a second visual positioning device 420. The second visual positioning device 420 is disposed on the docking device 300. The second visual positioning device 420 is communicatively coupled to the control device 500. S20 includes:

s210, controlling the docking device 300 to move the inspection device 200;

s220, controlling the second visual positioning device 420 to butt-joint the flaw detection device 200 and the hollow axle to be detected for fine positioning;

and S230, controlling the butting device 300 to realize butting of the flaw detection device 200 and the hollow axle to be detected.

The butt joint fine positioning of the flaw detection device 200 and the hollow axle to be detected means that the flaw detection device 200 is adjusted so that the flaw detection device 200 meets the requirement of accurate butt joint with the hollow axle to be detected. The specific parameter requirements of fine positioning can be set according to actual requirements. Take the example where the second visual positioning device 420 comprises a visual camera and a distance sensor. After the first visual positioning device 410 completes the coarse positioning, the control device 100 controls the docking device 300 to grasp the inspection device 200 and move to the docking position with the adapter. The second visual positioning device 420 photographs the hollow axle to be detected and the adapter, and transmits the photographed images to the control device 500. The distance sensor detects information on the distance between the adapter hanging plate 281 and the adapter, and transmits the information to the control device 500. The control device 500 analyzes the image information and the distance information to determine whether the position of the flaw detector 200 meets the requirements of the final docking. If the position of the flaw detection device 200 does not meet the requirement of butt joint, the control device 500 controls the butt joint device 300 to adjust the position, so that the position of the flaw detection device 200 meets the requirement of butt joint with the hollow axle to be detected. In this embodiment, the second visual positioning device 420 is controlled to perform butt joint fine positioning on the flaw detection device 200 and the hollow axle to be detected, so that the butt joint accuracy of the flaw detection device 200 and the hollow axle to be detected is further improved when the intelligent hollow axle flaw detector 10 performs flaw detection. Meanwhile, the second visual positioning device 420 is controlled to automatically adjust and position the flaw detection device 200 and the hollow axle to be detected, so that the intelligence of the hollow axle flaw detection operation method is further improved.

Referring to FIG. 17, in one embodiment, the inspection device 200 includes a feeding mechanism 220, a feeding mechanism positioning device 230, and a base 240. The feeding mechanism positioning device 230 is disposed between the feeding mechanism 220 and the base 240. S40 includes:

s410, controlling the docking device 300 to move the flaw detection device 200 to the base 240;

s420, the feeding mechanism positioning device 230 is used to position and lock the feeding mechanism 220.

The docking device 300 holds the inspection apparatus 200 and moves to a position right above the base 240. Under the condition that the alignment between the positioning hole of the positioning sleeve 231 and the shaft body of the positioning shaft 232 is ensured, the control device 500 controls the docking device 300 to clamp the flaw detection device 200 to move vertically and downwardly. At this time, the first position-limiting device 234 is in a retracted state, so that the first position-limiting device 234 is prevented from moving and interfering with the positioning sleeve 231. The flaw detection device 200 continues to move downwards until the positioning hole of the positioning sleeve 231 contacts the shaft body of the positioning shaft 232, and then stops. The control device 500 controls the docking device 300 to leave the flaw detection device 200. At this point, the second stop 236 snaps into the first notch 235. The second stop 236 cooperates with the first notch 235 to limit the rotation of the feeding mechanism 220 about the second direction. Then, the control device 500 controls the docking device 300 to grasp the first stopper 234 by the jaws and insert the first stopper 234 into the first opening 233. The docking unit 300 can grasp the first position-limiting device 234 according to the position coordinates of the first position-limiting device 234 by the second visual positioning device 420, and control the jaws of the docking unit 300 to move to the position coordinates by the control unit 500, and then grasp the first position-limiting device 234. The first limiting device 234 cooperates with the first opening 233 to limit the movement of the feeding mechanism 220 along the first direction. To this end, the six degrees of freedom of the feed mechanism 220 are fully defined, ensuring accurate and reliable homing of the feed mechanism 220.

In this embodiment, the feeding mechanism 220 is positioned and locked by the feeding mechanism positioning device 230, so that the stability and reliability of the feeding mechanism 220 are improved, and a guarantee is provided for the docking device 300 to accurately and repeatedly grab and replace the feeding mechanism 220.

In one embodiment, before S10, the method may further include:

and S70, controlling the intelligent hollow axle flaw detector 10 to perform daily performance verification.

After receiving the walking instruction and the operation plan, the transportation device 100 is powered on and performs power-on self-test. The transporter 100 walks autonomously to a daily performance verification area. The daily performance verification area comprises a comparison sample hollow shaft and is used for verifying the daily performance of the intelligent hollow axle flaw detector 10. The control device 500 controls the first visual positioning device 410 to perform coarse positioning. The control device 500 controls the docking device 300 to clamp the inspection device 200 and move to the hollow shaft of the contrast sample, and the second visual positioning device 420 is used for performing docking and fine positioning. After the fine positioning of the butt joint is completed, the control device 500 controls the butt joint device 300 to complete the butt joint of the flaw detection device 200 and the hollow shaft of the comparison sample. The flaw detection device 200 performs flaw detection on the hollow shaft of the comparison sample. After the flaw detection is finished, the docking device 300 moves the flaw detection device 200 back to the original position. After the daily performance verification is completed, the intelligent hollow axle flaw detector 10 completes flaw detection operation according to the operation plan.

In this embodiment, before the flaw detection operation is performed, the daily performance of the intelligent hollow axle flaw detector 10 is checked, so that the stability and the safety of the flaw detection operation of the intelligent hollow axle flaw detector 10 are ensured, and the reliability of the method is further improved.

One embodiment of the present application provides a method for positioning a hollow axle, which is used to position the axle to be detected through the transportation device 100, the first visual positioning device 410, the second visual positioning device 420 and the control device 500 as described above.

Referring to fig. 18, the method for positioning a hollow axle comprises:

and S100, acquiring the position of the axle to be detected.

The control means 500 comprises a software application. The software application is capable of receiving and executing a job plan input by a user. The operation plan includes axial position information of the axle to be detected, which requires flaw detection operation. The axle to be detected is the hollow axle to be detected. The axle position information refers to information representing the relative position of the axle to be detected. For example, the axle to be detected is the Mth axle of the Nth carriage of the XX type locomotive. The control device 500 obtains the position information of the axle to be detected, i.e., the target position, according to the axle position information. The position information of the axle to be detected can be represented by coordinate data and can also be represented by data in other forms.

And S200, controlling the transportation device 100 to walk towards the axle to be detected according to the position information of the axle to be detected.

The control device 500 sends the position information of the axle to be detected to the transportation device 100, and sends a walking instruction to the transportation device 100. The transportation device 100 receives the walking instruction and the position information of the axle to be detected, and controls the vehicle body to walk along the laid magnetic strips through a control system of the transportation device. In one embodiment, the magnetic strip extends in a direction parallel to the track of the motor train unit. Thus, the transportation device 100 travels in a direction parallel to the rails.

S300, when the distance between the transportation device 100 and the axle to be detected is smaller than a preset threshold value, controlling the first visual positioning device 410 to search and position the hollow axle to be detected within a preset range.

Due to different models of the vehicles to be detected, or parking position errors of the vehicles to be detected, or walking errors of the transportation device 100, or other factors, the transportation device 100 walks according to the position information of the axles to be detected, and cannot guarantee that the actual positions of the axles to be detected are accurately reached. When the distance between the transportation device 100 and the axle to be detected is smaller than a preset threshold value, the control device 500 controls the first visual positioning device 410 to search and position the axle to be detected within a preset range, so as to ensure the accuracy of positioning the axle to be detected. The preset threshold and the preset range can be set according to actual needs. For example, the preset threshold may be 0.5 m. The preset range may be a circular area having a radius of 0.5 m. When the transportation device 100 travels along the magnetic stripe until the distance from the axle to be detected is less than 0.5m, the control device 500 controls the first visual positioning device 410 to search and capture the axle to be detected in a circular area with the radius of 0.5m in the traveling process. The specific manner of searching and positioning the axle to be detected by the first visual positioning device 410 is not limited in this application, as long as the searching and positioning function can be realized.

S400, when the first visual positioning device 410 searches and positions the axle to be detected, controlling the transportation device 100 to stop walking.

And S500, controlling the second visual positioning device 420 to perform secondary positioning on the axle to be detected.

After the first visual positioning device 410 searches for and positions the axle to be detected, the control device 500 controls the second visual positioning device 420 to start secondary positioning according to a preset algorithm, so as to further accurately position the axle to be detected.

The specific method for implementing the secondary positioning by the second visual positioning device 420 is not particularly limited, and may be selected according to actual requirements.

In this embodiment, the hollow axle positioning method obtains the position information of the axle to be detected. And controlling the transportation device 100 to walk towards the axle to be detected according to the position information of the axle to be detected. When the distance between the transportation device 100 and the axle to be detected is smaller than a preset threshold value, the first visual positioning device 410 is controlled to search and position the axle to be detected within a preset range, so that the full-automatic positioning of the axle to be detected is realized, and the intelligence of positioning the axle to be detected is improved. Through the searching and positioning of the first visual positioning device 410, the accuracy of positioning the axle to be detected is improved. Meanwhile, when the first visual positioning device 410 searches for and positions the axle to be detected, the transportation device 100 is further controlled to stop walking, and the second visual positioning device 420 is controlled to perform secondary positioning on the axle to be detected. And through secondary positioning, the accuracy of positioning the axle to be detected is further improved.

Referring to fig. 19, in one embodiment, S200 includes:

s201, determining a walking route according to the position information of the axle to be detected.

The control device 500 formulates a walking route to the axle to be detected according to the position information of the axle to be detected and the pre-stored electronic map of the equipment application station. The walking route is sent to the transportation device 100.

And S202, controlling the transportation device 100 to walk according to the walking route.

The self-control system of the transportation device 100 drives the vehicle body to travel according to the travel route and controls the direction of the vehicle body. The transporter 100 may include a guide. The transportation device 100 guides the vehicle body to travel along the travel route by the navigation device.

S203, correcting the walking offset of the transportation device 100 so that the transportation device 100 walks along the direction parallel to the track.

In the walking process of the transportation device 100, due to environmental factors or the accuracy of the transportation device 100, the walking of the transportation device 100 may have a certain offset, and the walking route of the transportation device 100 needs to be corrected in time to ensure that the transportation device 100 walks in a direction parallel to the track. In this embodiment, the walking offset of the transportation device 100 is corrected, so that the distance between the transportation device 100 and the vehicle to be detected is accurate and constant, and the accuracy of positioning the axle to be detected in the later stage is ensured.

Referring to fig. 20, in one embodiment, S203 includes:

s2031, obtaining a parallelism between the transportation device 100 and the track.

The transportation device 100 may detect the parallelism of the transportation device 100 and the track by providing a detection sensor. The kind of the detection sensor may be different according to a parallelism acquisition method. In one embodiment, the transporter 100 includes at least 2 distance sensors. The distance sensor is in communication with the own control system of the transport device 100 and/or the control device 500. The 2 distance sensors are respectively arranged at a first position and a second position of the transportation device 100. The first position and the second position are located on a line parallel to the direction of travel of the transporter 100. For example, the first position is located at a head position of the transportation device 100, the second position is located at a tail position of the transportation device 100, and a connection line between the first position and the second position is parallel to a body extension direction of the transportation device 100, that is, a running direction of the transportation device 100.

Referring to fig. 21, in one embodiment, S2031 comprises:

s2035, obtaining a distance between the first position of the transportation device 100 and the track, and obtaining a first distance.

S2037, obtaining a distance between a second position of the transportation device 100 and the track to obtain a second distance, where the second position and the first position are on a straight line parallel to the running direction of the transportation device 100.

S2039, obtaining the parallelism according to the first distance and the second distance.

The 2 distance sensors each transmit the measured first and second distances to the own control system of the transport device 100 and/or to the control device 500. The angle of the track extension direction is known. The self-control system of the transportation device 100 and/or the control device 500 calculates the parallelism according to the first distance and the second distance.

It will be appreciated that the distance sensor may also be used to measure the distance between the transporter 100 and the upright, thereby calculating the parallelism of the transporter 100 with the track.

S2032, correcting the walking route of the transportation device 100 according to the parallelism, to obtain a corrected walking route.

And calculating a correction scheme for the walking route according to the parallelism, and obtaining a new walking route, namely the corrected walking route. For example, if the transport apparatus 100 is deviated from the reference line by 2mm from the parallelism, the current travel route is corrected by-2 mm to obtain the corrected travel route.

S2033, controlling the transportation apparatus 100 to travel according to the corrected travel route.

The transportation device 100 walks according to the corrected walking route, and deviation can be corrected. The transportation device 100 is corrected in real time or at intervals according to the method, so that the transportation device 100 travels in a direction parallel to the track, and the intelligent hollow axle flaw detector 10 can accurately position the axle to be detected.

Referring to fig. 22, in an embodiment, in S300, the controlling the first visual positioning device 410 to search and position the axle to be detected within a preset range includes:

s301, controlling the first visual positioning apparatus 410 to move within the preset range and obtaining the image information of the current position.

Taking the first visual positioning device 410 as a visual camera as an example, the control device 500 controls the visual camera to acquire surrounding image information in real time or at certain time intervals during the walking process of the transportation device 100. Since the vision camera performs the acquisition of the image information while the transportation device 100 is traveling, each of the image information represents a location containing object condition information. The vision camera transmits image information of the current position to the control device 500.

S302, executing judgment operation, wherein the judgment operation comprises: and judging whether the image information of the current position comprises the image information of the axle to be detected.

The control device 500 analyzes the image information. Specifically, the vision camera compares the image information of the current position with the image information of the axle to be detected. The image information of the axle to be detected may be captured in advance and stored in the control device 500. The number of the image information of the axle to be detected can be multiple. And the image information of the axles to be detected represents the image information of the axles to be detected displayed at different angles and different distances. For example, the hollow axle has a circular shape, and the image information of the axle to be detected may include first position image information obtained at a first shooting position with a distance X1 and an angle Y1, where the shape of the axle to be detected represented by the first image information is an ellipse with an eccentricity of P1 and an area of S1; the image information of the axle to be detected further comprises first image information obtained at a first shooting position with a distance of X2 and an angle of Y2, at the moment, the shape of the axle to be detected represented by the second position image information is an ellipse with eccentricity of P2, and the area of the ellipse is S2; … …

The control device 500 extracts the parameters in the image information, and determines whether the image information includes one of the image information of the axles to be detected.

S303A, if yes, determining that the first visual positioning device 410 searches for and positions the axle to be detected.

And if the image information contains the image information of the axle to be detected, indicating that the axle to be detected is located at the current position.

S303B, if not, controlling the transportation device 100 to move within the preset range, and controlling the first visual positioning device 410 to continue to acquire image information of a next position, taking the image information of the next position as new image information of the current position, and executing the determining operation until it is determined that the first visual positioning device 410 searches and locates the axle to be detected.

If the image information does not include the image information of the axle to be detected, it is indicated that the current position does not include the axle to be detected. The control device 500 controls the transportation device 100 to move continuously, and repeats the processes of S310 and S320 until the axle to be detected is found.

In an embodiment, the first visual positioning device 410 is controlled to search and position the axle to be detected within the preset range through the above steps, and image information may be acquired one by one at a plurality of positions of a preset distance, and it is determined whether the acquired image information includes the image information of the axle to be detected. If so, determining that the first visual positioning device 410 searches for and positions the axle to be detected, and if not, controlling the transportation device to move to the next position within the preset range.

In another embodiment, the first visual positioning device 410 is controlled to search and position the axle to be detected within a preset range through the above steps, or the transportation device 100 moves, and the first visual positioning device 410 acquires an image of the surrounding environment in real time, and determines whether the image of the surrounding environment includes image information of the axle to be detected in real time, if so, the first visual positioning device 410 is determined to search and position the axle to be detected, and the transportation device 100 is controlled to stop walking. If not, the transportation device 100 continues to move, and the first visual positioning device 410 continues to acquire the surrounding environment image until the axle to be detected is searched and positioned.

In this embodiment, the first visual positioning device 410 is controlled to obtain the image information of the current position within the preset range, and then a judgment operation is performed to judge whether the image information of the current position includes the image information of the axle to be detected, so as to determine whether the current position includes the axle to be detected until the axle to be detected is searched and positioned. The method for positioning the axle to be detected is simple, fast and high in accuracy.

Referring to fig. 23, in an embodiment, the intelligent hollow axle flaw detector 10 further includes the docking device 300, the second visual positioning device is disposed on the docking device, and the docking device 300 is disposed on the transportation device 100. In a specific embodiment, the docking device 300 may include a structure such as a mechanical arm capable of moving the inspection device 200 to the axle to be inspected, so that the feeding mechanism is hooked with the adapter hooking device 210 and the adapter at the end of the axle to be inspected.

S500 comprises: s501, controlling the second visual positioning device 420 to acquire first image information of the axle to be detected.

After the transportation device 100 stops walking, the second visual positioning device 420 obtains the image information of the axle to be detected, that is, the first image information. The first image information represents the relevant information of the axle to be detected obtained at the angle of the second visual positioning device 420 when the transportation device 100 is still at the current position. The second visual positioning device 420 transmits the acquired first image information to the control device 500. The control device 500 may extract a plurality of information according to the first image information.

In one embodiment, the first image information includes one or more of an outer circle size, an outer circle shape, a shaft hole size, and a shaft hole shape of the axle to be detected.

S502, executing a matching operation, wherein the matching operation comprises the step of matching the first image information with preset standard image information to obtain a first matching degree.

The control device 500 acquires and stores the standard image information in advance. The standard image information comprises one or more of the excircle size, the excircle shape, the shaft hole size and the shaft hole shape of the axle to be detected. The control device 500 compares and matches the parameters acquired by the first image information with the corresponding parameters in the standard image information to obtain the first matching degree.

S503A, if the first matching degree satisfies a preset matching threshold, the position corresponding to the first image information is the position of the axle to be detected.

The preset matching threshold value can be adjusted and selected according to actual precision requirements. And when the first matching degree meets the requirement of the preset matching threshold, the position corresponding to the first image information is the position of the axle to be detected. The current position of the transportation device 100 is shown to meet the docking requirement, and the next docking operation can be implemented.

S504B, otherwise, controlling the docking device to adjust the position according to the first image information and the standard image information, controlling the second visual positioning device 420 to obtain second image information of the axle to be detected, using the second image information as new first image information, and continuing to perform the matching operation until the first matching degree meets the preset matching threshold.

And if the first matching degree does not meet the requirement of the preset matching threshold, the positioning of the axle to be detected does not meet the requirement, and further adjustment is needed. The control device 500 combines the first image information and the standard image information to make an adjustment scheme. The control device 500 controls the transportation device 100 to adjust the position according to the adjustment scheme. And after the position is adjusted, repeating the steps S510 and S530 until the first matching degree meets a preset matching threshold value, and accurately positioning the position of the axle to be detected.

In this embodiment, through secondary positioning, further improve the accuracy to hollow axletree location. And the second visual positioning device 420 is controlled to acquire the first image information of the axle to be detected, matching operation is executed, and whether accurate positioning is performed is judged according to comparison between the first matching degree and a preset matching threshold value until the hollow axle is accurately positioned. The method for positioning the axle to be detected is simple and rapid, has high accuracy, and can effectively improve the accuracy of the subsequent butt joint of the flaw detection device 200 and the axle to be detected.

In one embodiment, before S502, the method further comprises:

s504, compensating the first image information to obtain compensated image information;

and the matching operation comprises matching the compensation image information with the preset standard image information to obtain the first matching degree.

When the second visual positioning device 420 acquires the first image information, the parameters obtained by the first image information may not be accurate enough due to the influence of the surrounding environment factors. For example, the transportation device 100 jolts up and down due to the uneven height of the magnetic stripe during the walking process of the transportation device 100, so that the levelness of the second visual positioning device 420 changes, thereby affecting the accuracy of the first image information. The compensation of the first image information may be performed by a plurality of parameters and a plurality of methods according to a difference in parameters affecting the image information. The specific compensation parameters and compensation methods are not limited in this application. The first image information is compensated, and then the compensated image information is subjected to matching operation, so that the accuracy of the image information is improved, and the accuracy of positioning the axle to be detected is improved.

Referring to fig. 24, in one embodiment, the intelligent hollow axle flaw detector 10 further includes an angle measuring device disposed on the transportation device 100. Referring also to fig. 1, the angle measuring device may be located inside the body of the transporter 100. The angle measuring device is connected in communication with the control device 500. The angle measuring device may be a gyroscope or the like. S504 includes:

s5041, controlling the angle measuring device 140 to obtain the levelness of the transportation device 100.

S5042, compensating the first image information according to the levelness to obtain the compensated image information.

By acquiring the levelness of the transportation device 100 and compensating the first image information through the levelness, the influence caused by the change of the levelness of the second visual positioning device 420 due to bumping in the walking process of the transportation device 100 can be effectively compensated, so that the axle to be detected is positioned more accurately.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a hollow axletree defectoscope of intelligence which characterized in that includes:

a transport device (100);

a flaw detection device (200) provided to the transport device (100);

the butt joint device (300) is arranged on the conveying device (100) and is used for moving the flaw detection device (200) and realizing butt joint with the hollow axle to be detected;

the visual positioning mechanism (400) is arranged on the conveying device (100) and used for acquiring the position information of the hollow axle to be detected;

and the control device (500) is in communication connection with the transportation device (100), the flaw detection device (200), the visual positioning mechanism and the docking device (300) and is used for controlling the transportation device (100), the flaw detection device (200) and the docking device (300) to work according to the position information of the hollow axle to be detected.

2. The intelligent hollow axle flaw detector of claim 1, wherein the visual positioning mechanism (400) comprises:

the first visual positioning device (410) is arranged on the conveying device (100), is in communication connection with the control device (500), and is used for realizing coarse positioning of butt joint of the flaw detection device (200) and the hollow axle to be detected.

3. The intelligent hollow axle flaw detector of claim 2, wherein the visual positioning mechanism (400) further comprises:

and the second visual positioning device (420) is arranged on the butt joint device (300), is in communication connection with the control device (500), and is used for realizing the fine positioning of the butt joint of the flaw detection device (200) and the hollow axle to be detected.

4. The intelligent hollow axle flaw detector according to any one of claims 1 to 3, wherein the docking device (300) comprises a mechanical arm (310), and the control device (500) is configured to control the mechanical arm (310) to clamp the flaw detection device (200) to realize docking with the hollow axle to be detected according to the position information of the hollow axle to be detected.

5. The intelligent hollow axle flaw detector according to claim 4, wherein the flaw detector (200) comprises a feeding mechanism and adapter hanging device (210), and the control device (500) controls the mechanical arm (310) to clamp the feeding mechanism and adapter hanging device (210) to realize butt joint with the hollow axle to be detected.

6. The intelligent hollow axle flaw detector according to claim 4, wherein the flaw detector (200) comprises a feeding mechanism (220), a feeding mechanism positioning device (230), and a base (240), the feeding mechanism positioning device (230) being disposed between the feeding mechanism (220) and the base (240) for achieving positioning and locking of the feeding mechanism (220).

7. The intelligent hollow axle flaw detector of claim 6, wherein the feed mechanism positioning device (230) comprises:

a positioning sleeve (231) arranged on the feeding mechanism (220);

the positioning shaft (232) is arranged on the base (240), and the positioning shaft (232) is matched with the positioning shaft (232).

8. The intelligent hollow axle flaw detector according to claim 7, wherein the positioning sleeve (231) is provided with a first opening (233) along a first direction, and the feeding mechanism positioning device (230) further comprises a first limiting mechanism (234) matched with the first opening (233).

9. The intelligent hollow axle flaw detector according to claim 7, wherein the positioning sleeve (231) is provided with a first notch (235), the first notch (235) extends along a second direction, the feeding mechanism positioning device (230) further comprises a second limiting mechanism (236) matched with the first notch (235), and the second limiting mechanism (236) is arranged on the positioning shaft (232).

10. An intelligent hollow axle inspection system, comprising at least one intelligent hollow axle inspection machine (10) according to any one of claims 1-9;

scheduling means for scheduling said at least one intelligent hollow axle flaw detector (10) according to a service plan to perform flaw detection operations on at least one said hollow axle to be detected.