CN112068540A - Track inspection robot - Google Patents
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- CN112068540A CN112068540A CN201910439475.3A CN201910439475A CN112068540A CN 112068540 A CN112068540 A CN 112068540A CN 201910439475 A CN201910439475 A CN 201910439475A CN 112068540 A CN112068540 A CN 112068540A
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- 238000007689 inspection Methods 0.000 title claims abstract description 64
- 238000001514 detection method Methods 0.000 claims abstract description 67
- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 230000009471 action Effects 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
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- 230000007246 mechanism Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 6
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- 230000007547 defect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a track inspection robot which comprises a chassis, a traveling device, a control device and a detection device, wherein the traveling device, the control device and the detection device are all arranged on the chassis; the walking device comprises a driving motor, a transmission part and a transmission shaft which are sequentially connected, wherein two ends of the transmission shaft are respectively connected with a first wheel and a second wheel which are respectively used for bearing a first track and a second track which are oppositely arranged; the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, and the control device is in communication connection with the walking device and the detection device so as to control the walking state and detection action of the robot. The track inspection device can replace manual operation to carry out track inspection operation, improve the precision of measured data, avoid measurement errors caused by manual operation, reduce labor intensity and improve labor safety.
Description
Technical Field
The invention relates to a railway track detection technology, in particular to a track inspection robot.
Background
In recent years, the railway industry in China is rapidly developed, the total length of a railway line is gradually increased year by year, the workload of railway track inspection is increased more and more, and the railway track inspection is mainly used for inspecting whether the railway line is defect-free so as to prevent safety accidents during the running of trains.
In the prior art, the railway track inspection work is mainly completed manually. An inspection worker drives the comprehensive inspection vehicle or manually pushes the inspection trolley to walk on the railway track, the comprehensive inspection vehicle is huge, needs to be integrally dispatched by a railway system, and is inconvenient to use and high in cost; various measuring tools are loaded on the inspection trolley, and in the inspection process, inspection personnel can measure some basic parameters of the track by using the tools at fixed intervals so as to ensure the normal operation of the train.
However, the measurement mode in the prior art requires that measurement personnel always work on the track, and has low safety, high labor intensity and high labor cost; meanwhile, the measuring tools are slightly placed incorrectly, so that great measuring errors can be generated, and the precision of measured data is low.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the track inspection robot, which can improve the measurement precision, avoid the measurement error caused by manual operation, reduce the labor intensity and improve the labor safety.
The embodiment of the invention provides a track inspection robot, which comprises a chassis, a walking device, a control device and a detection device, wherein the walking device, the control device and the detection device are all arranged on the chassis; the walking device comprises a driving motor, a transmission part and a transmission shaft which are sequentially connected, wherein two ends of the transmission shaft are respectively connected with a first wheel and a second wheel, and the first wheel and the second wheel are respectively used for bearing a first track and a second track which are oppositely arranged; the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, and the control device is in communication connection with the walking device and the detection device so as to control the walking state and the detection action of the robot.
The track inspection robot as above, optionally, the transmission shaft includes first transmission shaft and second transmission shaft, first transmission shaft and second transmission shaft all with the chassis is connected, driving motor passes through the driving piece drives first transmission shaft rotates with the drive the robot is along the track walking.
Optionally, the first transmission shaft is connected with the chassis through a first bearing seat, and the second transmission shaft is connected with the chassis through a second bearing seat; the transmission part comprises a speed reducer, a first chain wheel, a second chain wheel and a chain, the chain is connected with the first chain wheel and the second chain wheel, the second chain wheel is sleeved on the first transmission shaft, and the output end of the driving motor is connected with the first chain wheel through the speed reducer to drive the first transmission shaft to rotate.
The track inspection robot is characterized in that the second transmission shaft is provided with a coder, and the coder is in communication connection with the control device and used for detecting the number of turns of the second transmission shaft.
The track inspection robot optionally further comprises a clamping device, wherein the clamping device is arranged on one side, close to the first track, of the chassis, and the clamping device is used for clamping the first track, so that the first wheels can walk along the first track.
The track inspection robot as described above, optionally, the width of the second wheel is greater than the width of the first wheel in the track pitch direction.
The track inspection robot as described above, optionally, a scraping plate adapted to the first wheel and the second wheel is further disposed on the chassis.
The track inspection robot as described above, optionally, the control device includes a memory, a processor and an electrical element, the memory is connected to the processor for storing the measurement data of the detection device, and the processor is connected to the walking device and the detection device through the electrical element to control the walking state and the detection action of the robot.
Optionally, the track inspection robot includes a first distance sensor and a second distance sensor which are arranged oppositely, and the first distance sensor and the second distance sensor are respectively arranged on two sides of the chassis along the track gauge direction; the first distance sensor is arranged close to the first track, and the second distance sensor is arranged close to the second track; the first distance sensor is used for detecting the distance between the first distance sensor and the inner side surface of the first track, and the second distance sensor is used for detecting the distance between the second distance sensor and the inner side surface of the second track.
The track inspection robot as described above, optionally, the track height difference detection device includes an inclination sensor for measuring an inclination angle of the chassis.
The track inspection robot as described above, optionally, the platform detection device includes at least one third distance sensor and a fourth distance sensor, the third distance sensor and the fourth distance sensor can move up and down in a direction perpendicular to the chassis, the third distance sensor is used for detecting a distance from the platform to the robot, and the fourth distance sensor is used for detecting a height at which the third distance sensor moves.
The track inspection robot as described above, optionally, the canopy detection device includes an environmental sensor for detecting an environment in front of the robot traveling direction.
The track inspection robot optionally further comprises a collision-prevention device, wherein the collision-prevention device is in communication connection with the control device; the anti-collision device comprises a fifth distance sensor and a contact sensor, the fifth distance sensor is used for detecting an obstacle in front of the walking direction of the robot and sending a stop instruction to the control device when the distance from the obstacle is smaller than a preset value, and the contact sensor is used for sending the stop instruction to the control device after contacting the object.
The track inspection robot optionally further comprises a power supply, wherein the power supply is electrically connected with the walking device, the control device and the detection device.
The track inspection robot optionally further comprises a shell, wherein the shell is arranged on the chassis, and an accommodating cavity for accommodating a circuit board is formed between the shell and the chassis.
The track inspection robot as described above, optionally, the surface of the housing is further provided with a display device and a control button, and the display device and the control button are in communication connection with the control device.
The track inspection robot as described above, optionally, the control device further includes a wireless communication module, and the wireless communication module is used for connecting an external device.
The track inspection robot optionally further comprises a supporting wheel, wherein the supporting wheel is arranged below the chassis and located between the first wheel and the second wheel, and the distance between the bottom end of the supporting wheel and the chassis is greater than that between the first wheel and the chassis and less than that between the first track and the chassis.
The track inspection robot provided by the invention can realize the walking on the track by arranging the walking device, the control device can set the walking distance of the robot and the spacing distance of data detection, and the parameters of the track and the surrounding environment thereof are obtained by the detection device, so that the track inspection operation can be performed instead of manual operation, the precision of measured data is improved, the measurement error caused by manual operation is avoided, the labor intensity is reduced, and the labor safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a track inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic side view of FIG. 1;
FIG. 3 is a schematic front view of the structure of FIG. 1;
FIG. 4 is a schematic diagram of an active mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a driven mechanism according to an embodiment of the present invention.
Reference numerals:
100-a chassis; 210-an active mechanism;
211-drive motor; 212-a speed reducer;
213-a first sprocket; 214-a chain;
215-a first drive shaft; 216 — a first bearing seat;
217-a first wheel; 218-a second wheel;
221-a second drive shaft; 222-an encoder;
223-a pulley; 224-a synchronous belt;
225-second bearing seat; 220-a driven mechanism;
230-a support wheel; 240-a scraping plate;
300-a clamping device; 400-a housing;
510-gauge detection means; 520-track height difference detection means;
530-station detection device; 540-canopy detection device;
610-a fifth distance sensor; 620-a contact sensor;
700-a display device; 800-control buttons;
900-power supply; 1000-a control device;
1100-a first track; 1200-second track.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1 is a schematic structural diagram of a track inspection robot according to an embodiment of the present invention; FIG. 2 is a schematic side view of FIG. 1; FIG. 3 is a schematic front view of the structure of FIG. 1; FIG. 4 is a schematic diagram of an active mechanism according to an embodiment of the present invention; FIG. 5 is a schematic diagram of a follower mechanism provided in accordance with an embodiment of the present invention; please refer to fig. 1-5.
The embodiment provides a track inspection robot, which comprises a chassis 100, a walking device, a control device 1000 and a detection device, wherein the walking device, the control device 1000 and the detection device are all arranged on the chassis 100; the traveling device comprises a driving motor 211, a transmission part and a transmission shaft which are sequentially connected, wherein two ends of the transmission shaft are respectively connected with a first wheel 217 and a second wheel 218, and the first wheel 217 and the second wheel 218 are respectively used for bearing on a first track 1100 and a second track 1200 which are oppositely arranged; the detection device comprises a track gauge detection device 510, a track height difference detection device 520, a platform detection device 530 and a canopy detection device 540, and the control device 1000 is in communication connection with the walking device and the detection device so as to control the walking state and the detection action of the robot.
In this embodiment, the chassis 100 may be made of high-strength aluminum alloy or aluminum profile, so as to reduce the weight of the robot and improve the strength.
When the robot is used, the walking distance of the robot is pre-selected and set through the control device 1000, the distance between two adjacent sides is set, the robot walks on the first track 1100 and the second track 1200 through the walking mechanism, and data measurement is carried out by stopping at the set distance. The measured data includes the track gauge, the height difference between the first track 1100 and the second track 1200, the platform height and the distance between the platform and the center of the track, the size of the outer contour of the canopy, etc. Optionally, the control device 1000 includes a memory, a processor and an electrical element, the memory is connected with the processor in communication for storing the measurement data of the robot, and the processor is connected with the walking device and the detection device through the electrical element to control the walking state and the detection action of the robot. The measured data can be stored in the memory or compared with the preset standard data in the memory by the processor to find the defects of the track.
The track inspection robot provided by the embodiment can realize the walking on the track by arranging the walking device, the control device 1000 can arrange the walking distance of the robot and the spacing distance of data detection, and acquire various geometric parameters of the track and the surrounding environment thereof through the detection device, so that the track inspection operation can be performed instead of manual work, the precision of measured data is improved, the measurement error caused by manual operation is avoided, the labor intensity is reduced, and the labor safety is improved.
Specifically, the traveling device of the embodiment includes a driving mechanism 210 and a driven mechanism 220, the driving mechanism 210 includes a driving motor 211 and a transmission part, the transmission shaft includes a first transmission shaft 215 located on the driving mechanism 210 and a second transmission shaft 221 located on the driven mechanism 220, both the first transmission shaft 215 and the second transmission shaft 221 are fixedly connected to the chassis 100, the driving motor 211 drives the first transmission shaft 215 to rotate through a driving part, so that the first wheel 217 and the second wheel 218 on both sides of the first transmission shaft 215 travel along the track, and the second transmission shaft 221 rotates with the first transmission shaft 215 under the action of the chassis 100, so as to drive the first wheel 217 and the second wheel 218 on both sides of the second transmission shaft 221 to travel along the track, so as to implement the traveling of the robot.
Further, the first transmission shaft 215 is fixedly connected with the chassis 100 through the first bearing seat 216, and the second transmission shaft 221 is fixedly connected with the chassis 100 through the second bearing seat 225; the first bearing seat 216 and the second bearing seat 225 may be fixed to the chassis 100 by bolts. The transmission part comprises a speed reducer 212, a first chain wheel 213, a second chain wheel and a chain 214, the chain 214 is connected with the first chain wheel 213 and the second chain wheel, the second chain wheel is sleeved on the first transmission shaft 215, and the output end of the driving motor 211 is connected with the first chain wheel 213 through the speed reducer 212 to drive the first transmission shaft 215 to rotate.
The second transmission shaft 221 may be provided with an encoder 222, and the encoder 222 is in communication connection with the control device 1000 and is used for recording the walking distance of the robot. Specifically, the encoder 222 and the second transmission shaft 221 are connected through a belt pulley 223 and a synchronous belt 224, and when the robot travels, the encoder 222 can record the number of turns of the second transmission shaft 221, so that the distance traveled by the robot can be obtained through calculation.
Further, the present embodiment further includes a clamping device 300, the clamping device 300 is disposed on a side of the chassis 100 close to the first rail 1100, and the clamping device 300 is used for clamping the first rail 1100, so that the first wheel 217 travels along the first rail 1100.
The clamping device comprises a fixed wheel mechanism and a clamping wheel mechanism which are oppositely arranged, the fixed wheel of the fixed wheel mechanism always abuts against the first side face of the first rail 1100, the clamping wheel mechanism comprises a floating wheel and a pre-tightening mechanism, and the pre-tightening mechanism is used for applying pre-tightening force to the floating wheel so that the floating wheel abuts against the second side face of the rail 1000. Before the track inspection robot patrols and examines the operation, according to the actual size of the first track 1100 of measuration, adjust the size that pretension mechanism applyed the pretightning force to the loose wheel, make the loose wheel can support and push up on the second side of first track 1100, the fixed wheel supports and pushes up on the first side of first track 1100, thereby press from both sides tight track from first track 1100, make the track inspection robot can not take place to rock and squint with the first track 1100 that is pressed from both sides tightly when walking, can make the track inspection robot use the first track 1100 that is pressed from both sides tightly all the time to detect the operation, thereby eliminated the error of track inspection robot testing result, improved the precision of testing result.
Optionally, the width of the second wheel 218 is greater than the width of the first wheel 217 in the track pitch direction. Due to the fact that the track gauge of the railway track has a certain tolerance, the width of the second wheel 218 is set to be larger than the width of the upper end face of the second track 1200, the second wheel 218 can have a certain floating space, when the track gauge tolerance value changes, the second wheel 218 can be guaranteed to always walk on the second track 1200, and therefore the walking efficiency of the robot is improved.
Optionally, a scraping plate 240 matched with the first wheel 217 and the second wheel 218 is further arranged on the chassis 100, and the scraping plate 240 can remove stones, accumulated snow, sludge, leaves and the like on a track in front of the walking of the robot, so that the normal passing of the robot is ensured.
Alternatively, the track gauge detecting device 510 includes a first distance sensor and a second distance sensor which are oppositely disposed, and the first distance sensor and the second distance sensor are respectively disposed on both sides of the chassis 100 in the track gauge direction. The distance between the first distance sensor and the two side rails is obtained through the second distance sensor, and the fixed distance between the first distance sensor and the second distance sensor is added, so that the track gauge of the rails can be obtained. Wherein, first distance sensor and second distance sensor all can be selected as laser sensor.
Alternatively, the track height difference detection device 520 includes an inclination sensor, which may be disposed on the chassis 100, and the inclination sensor is configured to measure an inclination angle of the chassis 100, and the track height difference is calculated by the control device 1000 according to the measured track gauge by measuring the inclination angle of the chassis 100.
Optionally, the platform detecting device 530 includes at least one of a third distance sensor and a fourth distance sensor, the third and fourth distance sensors being movable up and down in a direction perpendicular to the chassis 100, the third distance sensor for detecting a distance of the platform from the robot, and the fourth distance sensor for detecting a height moved by the third distance sensor.
Specifically, the platform detection device 530 may be disposed near one side of the platform, the third distance sensor and the fourth distance sensor may be selected as laser sensors, the platform detection device 530 may include a movable sliding table, the movable sliding table is provided with the third distance sensor with three fixed angles, the third distance sensor may move up and down along with the movable sliding table, the third distance sensor may measure the distance to the side surface of the platform while moving, and the minimum distance from the center of the track to the side surface of the platform and the height from the platform to the track surface are calculated by the control device 1000.
Optionally, the canopy detection device 540 comprises an environment sensor for detecting the environment in front of the walking direction of the robot.
Specifically, the environmental sensor may be a radar, and when the robot stops at a certain position, the radar scans the distance from the object within 270 ° relative to the center of the track, and the cross-sectional profiles of the station and the canopy are fitted by the control device 1000, and compared with the standard profile limit, it is determined whether there is an intrusion limit.
Optionally, the system further comprises an anti-collision device, wherein the anti-collision device is in communication connection with the control device 1000; the anti-collision device includes a fifth distance sensor 610 and a contact sensor 620, and the fifth distance sensor 610 is configured to detect an obstacle in front of the robot in the walking direction and send a control command to the control device 1000 when the distance from the obstacle is less than a preset value.
Specifically, the fifth distance sensor 610 may be a laser sensor, the contact sensor 620 may be a pressure sensor, the fifth distance sensor 610 is composed of a main sensor with a measurement range of 3m and an auxiliary sensor with a measurement range of 1m, when the robot walks with an obstacle in front of 3m, the robot starts to decelerate, and when the robot walks with an obstacle in front of 1m, the robot stops; the light emitted by the main sensor is in a 90-degree fan shape, and the included angle between the auxiliary sensor and the main sensor is 45 degrees, so that the complete coverage of the front of the robot in motion is ensured. When the fifth distance sensor 610 fails, the contact sensor 620 hits an obstacle and the robot stops immediately.
Optionally, a power source 900 is further included, and the power source 900 is electrically connected to the walking device, the control device 1000 and the detection device. The power source 900 can be a DC 48V battery which is pushed and pulled to be placed on the chassis 100, and is convenient to replace.
Optionally, a housing 400 is further included, the housing 400 is disposed on the chassis 100, and a receiving cavity for receiving other devices is formed between the housing 400 and the chassis 100.
Optionally, the surface of the housing 400 is further provided with a display device 700 and control buttons 800, and the display device 700 and the control buttons 800 are communicatively connected with the control device 1000. The display device 700 can display the measured image in real time, and the control buttons 800 include at least a start button, an emergency stop button, a work indicator lamp, and the like.
Optionally, the control device 1000 further includes a wireless communication module, and the wireless communication module is used for connecting an external device. The external equipment can be a computer or a mobile phone and other devices, so that remote control and data acquisition are realized.
Optionally, the track inspection robot further includes a support wheel 230, the support wheel 230 is disposed under the chassis 100 and between the first wheel 217 and the second wheel 218, and a distance between a bottom end of the support wheel 230 and the chassis 100 is greater than a distance between the first wheel 217 and the chassis 100 and less than a distance between the first track 1100 and the chassis 100. Therefore, the robot can normally walk on the track, meanwhile, after the robot is taken down from the track, the supporting wheels 230 can be in contact with the ground, the first wheels 217 and the second wheels 218 are prevented from being damaged, and the service life is prolonged.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It should be noted that the terms "first" and "second" in the description of the present invention are used merely for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (18)
1. A track inspection robot is characterized by comprising a chassis, a traveling device, a control device and a detection device, wherein the traveling device, the control device and the detection device are all arranged on the chassis; the walking device comprises a driving motor, a transmission part and a transmission shaft which are sequentially connected, wherein two ends of the transmission shaft are respectively connected with a first wheel and a second wheel, and the first wheel and the second wheel are respectively used for bearing a first track and a second track which are oppositely arranged; the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, and the control device is in communication connection with the walking device and the detection device so as to control the walking state and the detection action of the robot.
2. The track inspection robot according to claim 1, wherein the transmission shafts include a first transmission shaft and a second transmission shaft, the first transmission shaft and the second transmission shaft are both connected to the chassis, and the driving motor drives the first transmission shaft to rotate to drive the robot to travel along the track through the driving member.
3. The track inspection robot according to claim 2, wherein the first drive shaft is connected to the chassis via a first bearing block, and the second drive shaft is connected to the chassis via a second bearing block; the transmission part comprises a speed reducer, a first chain wheel, a second chain wheel and a chain, the chain is connected with the first chain wheel and the second chain wheel, the second chain wheel is sleeved on the first transmission shaft, and the output end of the driving motor is connected with the first chain wheel through the speed reducer to drive the first transmission shaft to rotate.
4. The track inspection robot according to claim 2, wherein an encoder is further arranged on the second transmission shaft, and the encoder is in communication connection with the control device and used for detecting the number of rotating turns of the second transmission shaft.
5. The track inspection robot according to claim 1, further comprising a clamping device disposed on a side of the chassis adjacent the first track, the clamping device configured to clamp the first track such that the first wheel travels along the first track.
6. The track inspection robot according to claim 5, wherein the second wheel has a width greater than a width of the first wheel in the pitch direction.
7. The track inspection robot according to claim 1, wherein a scraping plate is further provided on the chassis that is adapted to the first wheel and the second wheel.
8. The track inspection robot according to claim 1, wherein the control device includes a memory, a processor and an electrical component, the memory is in communication with the processor for storing the measurement data of the detection device, and the processor is connected with the walking device and the detection device through the electrical component for controlling the walking state and the detection action of the robot.
9. The track inspection robot according to claim 1, wherein the track gauge detection device includes a first distance sensor and a second distance sensor which are oppositely arranged, and the first distance sensor and the second distance sensor are respectively arranged on two sides of the chassis along the track gauge direction; the first distance sensor is arranged close to the first track, and the second distance sensor is arranged close to the second track; the first distance sensor is used for detecting the distance between the first distance sensor and the inner side surface of the first track, and the second distance sensor is used for detecting the distance between the second distance sensor and the inner side surface of the second track.
10. The track inspection robot according to claim 1, wherein the track level difference detection device includes a tilt sensor for measuring a tilt angle of the chassis.
11. The track inspection robot according to claim 1, wherein the platform detection device includes at least one of a third distance sensor and a fourth distance sensor, the third and fourth distance sensors being movable up and down in a direction perpendicular to the chassis, the third distance sensor being configured to detect a distance of the platform from the robot, and the fourth distance sensor being configured to detect a height at which the third distance sensor is moved.
12. The track inspection robot according to claim 1, wherein the canopy detection device includes an environmental sensor for detecting an environment in front of the direction of travel of the robot.
13. The track inspection robot according to claim 1, further comprising an anti-collision device in communicative connection with the control device; the anti-collision device comprises a fifth distance sensor and a contact sensor, the fifth distance sensor is used for detecting an obstacle in front of the walking direction of the robot and sending a stop instruction to the control device when the distance from the obstacle is smaller than a preset value, and the contact sensor is used for sending the stop instruction to the control device after contacting the object.
14. The track inspection robot according to claim 1, further including a power source electrically connected to the traveling device, the control device and the detection device.
15. The track inspection robot according to claim 1, further comprising a housing disposed on the chassis, wherein a receiving cavity for receiving a circuit board is formed between the housing and the chassis.
16. The track inspection robot according to claim 15, wherein a display device and control buttons are further provided on the surface of the housing, the display device and control buttons being in communication with the control device.
17. The track inspection robot according to claim 1, wherein the control device further includes a wireless communication module for connecting to an external device.
18. The track inspection robot according to claim 1, further comprising support wheels disposed below the chassis and between the first and second wheels, wherein a distance between bottom ends of the support wheels and the chassis is greater than a distance between the first wheels and the chassis and less than a distance between the first track and the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439475.3A CN112068540A (en) | 2019-05-24 | 2019-05-24 | Track inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439475.3A CN112068540A (en) | 2019-05-24 | 2019-05-24 | Track inspection robot |
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| CN112068540A true CN112068540A (en) | 2020-12-11 |
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| CN201910439475.3A Pending CN112068540A (en) | 2019-05-24 | 2019-05-24 | Track inspection robot |
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| CN114310927A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Chassis of rail transit inspection robot and robot |
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| CN116149339A (en) * | 2023-04-21 | 2023-05-23 | 武汉奋进智能机器有限公司 | Walking deviation correcting method and device for track equipment, medium and track equipment system |
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