CN112721966A - High-speed railway rail flaw detection robot - Google Patents
High-speed railway rail flaw detection robot Download PDFInfo
- Publication number
- CN112721966A CN112721966A CN202110098857.1A CN202110098857A CN112721966A CN 112721966 A CN112721966 A CN 112721966A CN 202110098857 A CN202110098857 A CN 202110098857A CN 112721966 A CN112721966 A CN 112721966A
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- Prior art keywords
- steel rail
- rail
- speed railway
- acceleration sensor
- vibration test
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- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 91
- 239000010959 steel Substances 0.000 claims abstract description 91
- 230000001133 acceleration Effects 0.000 claims abstract description 53
- 238000012360 testing method Methods 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/08—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using communication transmission lines
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Transportation (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention relates to a high-speed railway steel rail flaw detection robot which can advance along a steel rail and comprises a first mechanical arm, a second mechanical arm, a force hammer, an acceleration sensor and a vibration test analyzer, wherein the force hammer for knocking the steel rail is arranged on the first mechanical arm, and the acceleration sensor is electrically connected with the vibration test analyzer; when the damage detection is carried out, the force hammer strikes the steel rail to simulate the load of a train passing through the steel rail, so that the steel rail is stressed; the acceleration sensor is attached to the steel rail through the second mechanical arm, the acceleration sensor collects acceleration signals and sends the acceleration signals to the vibration test analyzer, and the vibration test analyzer analyzes and judges whether the steel rail is damaged or not. The robot integrates the force hammer, the acceleration sensor and the vibration testing analyzer, so that the steel rail flaw detection mode is simple to operate, the detection efficiency is high, and the detection result is accurate.
Description
Technical Field
The invention relates to the technical field of railway maintenance, in particular to a high-speed railway steel rail flaw detection robot.
Background
In recent years, high-speed railways of various countries are rapidly developed, and the operation mileage is rapidly increased. Along with the increase of the service time of the high-speed railway steel rail and the increasing of the bearing load, the steel rail can generate cracks and damage, the two sides of the steel rail are unsmooth, and the train can be derailed in serious conditions, so the damage detection of the steel rail is concerned. At present, a manual detection method and a neural network-based steel rail damage detection method are adopted for the steel rail damage of the high-speed railway, the steel rail damage detection method is detected by means of rail maintenance workers, the detection efficiency is low, and the detection result is not accurate enough; the latter is complicated to operate.
Disclosure of Invention
In order to solve the problems, the invention provides a high-speed railway steel rail flaw detection robot which can advance along a steel rail and comprises a first mechanical arm, a second mechanical arm, a force hammer, an acceleration sensor and a vibration test analyzer, wherein the force hammer for knocking the steel rail is arranged on the first mechanical arm, and the acceleration sensor is electrically connected with the vibration test analyzer;
when the damage detection is carried out, the force hammer strikes the steel rail to simulate the load of a train passing through the steel rail, so that the steel rail is stressed; the acceleration sensor is attached to the steel rail through the second mechanical arm, the acceleration sensor collects acceleration signals and sends the acceleration signals to the vibration test analyzer, and the vibration test analyzer analyzes and judges whether the steel rail is damaged or not.
Preferably, a control unit capable of controlling the magnitude of the knocking force is arranged in the hammer.
Preferably, the force hammer strikes three times at the test point.
Preferably, a mechanical claw is arranged at the end of the second mechanical arm and used for grabbing the acceleration sensor.
Preferably, three acceleration sensors are included, and the three acceleration sensors can be attached to the top surface and two side surfaces of the steel rail during damage detection.
Preferably, when acquiring the acceleration signal, the acceleration sensor is attached to the steel rail through a magnetic seat.
Preferably, when the damage detection is carried out, the flaw detection robot travels along the steel rail, and detection points are arranged at intervals of 5 meters.
Preferably, a positioning module and a wireless transmission module are further arranged in the flaw detection robot, the positioning module is electrically connected with the vibration test analyzer for analysis, and when the vibration test analyzer analyzes that the steel rail is damaged, the positioning module determines the damage position of the steel rail;
the vibration test analyzer is electrically connected with a receiving end through a wireless transmission module, and the wireless transmission module is used for transmitting the steel rail damage position information and the damage information to the receiving end.
Preferably, the steel rail is a fishplate connecting steel rail or a seamless connecting steel rail.
Preferably, the first mechanical arm and the second mechanical arm are both six-degree-of-freedom mechanical arms.
Compared with the prior art, the invention has the following technical effects:
1. the invention provides a high-speed railway steel rail flaw detection robot, which integrates a force hammer, an acceleration sensor and a vibration test analyzer, so that the steel rail flaw detection mode is simple to operate, the detection efficiency is high, and the detection result is accurate;
2. in the invention, when the vibration test analyzer analyzes that the steel rail is damaged, the positioning module determines the damaged position of the steel rail, and the wireless transmission module sends the position information and the damage information to the receiving end and generates an alarm signal, thereby greatly improving the detection and repair efficiency of the steel rail.
In the invention, the positioning module can determine the specific position of the steel rail damage and further send the damage information to the receiving end, so that the steel rail can be quickly repaired.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:
fig. 1 is a diagram illustrating a position of an acceleration sensor distributed on a steel rail according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a second robot arm for attaching an acceleration sensor to a steel rail according to a preferred embodiment of the present invention;
fig. 3 is a flowchart of the operation of the high-speed railway rail inspection robot according to the preferred embodiment of the present invention.
Detailed Description
The high-speed railway rail inspection robot provided by the present invention will be described in detail with reference to fig. 1 to 3, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and color the robot within the scope that does not change the spirit and content of the present invention.
Referring to fig. 1 to 3, the high-speed railway steel rail flaw detection robot can travel along a steel rail 1 and comprises a first mechanical arm, a second mechanical arm 3, a force hammer, an acceleration sensor 2 and a vibration test analyzer, wherein the vibration test analyzer is embedded into the robot, the first mechanical arm and the second mechanical arm 3 are both six-degree-of-freedom mechanical arms, the force hammer for knocking the steel rail 1 is arranged on the first mechanical arm, and the acceleration sensor 2 is electrically connected with the vibration test analyzer. The flaw detection robot provided by the embodiment integrates the force hammer, the acceleration sensor 2 and the vibration testing analyzer, so that the steel rail flaw detection mode is simple to operate.
When the damage detection is carried out, the force hammer strikes the steel rail 1 to simulate the load of a train passing through the steel rail 1, so that the steel rail 1 is stressed; the second mechanical arm 3 attaches the acceleration sensor 2 to the steel rail 1, the acceleration sensor 2 collects acceleration signals and sends the acceleration signals to the vibration test analyzer, and the vibration test analyzer analyzes and judges whether the steel rail 1 is damaged or not.
Specifically, when damage detection is performed, the flaw detection robot travels along the steel rail 1, the force hammer strikes the steel rail 1 at intervals, the acceleration sensor 2 is attached to the steel rail 1 through the second mechanical arm 3, the acceleration sensor 2 transmits acquired acceleration signals to the vibration test analyzer, and the vibration test analyzer analyzes the acceleration signals, so that whether the steel rail 1 is damaged or not is determined.
In this embodiment, the hammer is provided with a control unit capable of controlling the magnitude of the striking force. Before the rail 1 is struck, the magnitude of the striking force is set in advance by the control unit.
When the flaw detection robot carries out damage detection, the steel rail 1 is knocked at fixed intervals, each test point is knocked three times with the same force, and the top surface of the steel rail 1 is preferably knocked. The fixed distance is preferably 5 meters, namely, the robot does not travel 5 meters for one test, and the damage position of the steel rail 1 is determined more accurately.
The second mechanical arm 3 is provided with a moving device capable of adhering the acceleration sensor 2 to the surface of the steel rail 1, and in the embodiment, a mechanical claw is arranged at the end part of the second mechanical arm 3 and used for grabbing the acceleration sensor 2. During testing, the mechanical claw places the acceleration sensor 2 on the surface of the steel rail 1 and clings to the steel rail 1.
And three acceleration sensors 2 are arranged on the second mechanical arm 3, and the three acceleration sensors 2 can be attached to the top surface and two side surfaces of the steel rail 1 during flaw detection testing. Namely, when the damage detection is carried out, the acceleration sensors 2 are adsorbed on the steel rail 1 at fixed distance positions, three acceleration sensors 2 are distributed at each test point, wherein one acceleration sensor 2' is closely attached to the top surface of the steel rail 1 to generate a transverse acceleration signal; the other two acceleration sensors 2 are tightly attached to two side surfaces of the steel rail 1 to generate vertical acceleration signals of the steel rail 1.
The flaw detection robot is also internally provided with a GPS module and a wireless transmission module, the GPS module is electrically connected with the vibration test analyzer for analysis, and when the vibration test analyzer analyzes that the steel rail 1 is damaged, the positioning module determines the damaged position of the steel rail 1;
the vibration testing analyzer is electrically connected with a receiving end through a wireless transmission module, the wireless transmission module is used for sending the damage position information and the damage information of the steel rail 1 to the receiving end, and the receiving end gives an alarm, so that the detection and repair efficiency of the steel rail 1 is greatly improved.
In this embodiment, the GPS module can determine the specific location of the damage to the steel rail 1, and further transmit the damage information to the receiving end, so that the steel rail 1 is quickly repaired. The receiving end can be a computer, a mobile phone or a background server of related personnel.
The invention is suitable for fishplate connecting steel rails or seamless connecting steel rails.
Claims (10)
1. A high-speed railway steel rail flaw detection robot can advance along a steel rail and is characterized by comprising a first mechanical arm, a second mechanical arm, a force hammer, an acceleration sensor and a vibration test analyzer, wherein the force hammer for knocking the steel rail is arranged on the first mechanical arm, and the acceleration sensor is electrically connected with the vibration test analyzer;
when the damage detection is carried out, the force hammer strikes the steel rail to simulate the load of a train passing through the steel rail, so that the steel rail is stressed; the acceleration sensor is attached to the steel rail through the second mechanical arm, the acceleration sensor collects acceleration signals and sends the acceleration signals to the vibration test analyzer, and the vibration test analyzer analyzes and judges whether the steel rail is damaged or not.
2. A rail inspection robot for a high speed railway according to claim 1 wherein said hammer is provided with a control unit for controlling the magnitude of the striking force.
3. The high speed railway rail inspection robot of claim 2 wherein the force hammer strikes three times at a test point.
4. The high-speed railway steel rail flaw detection robot of claim 1, wherein a gripper is provided at an end of the second robot arm, and the gripper is configured to grip the acceleration sensor.
5. The high-speed railway rail inspection robot according to claim 1, comprising three acceleration sensors, which are attached to the top surface and both side surfaces of the rail in the damage detection.
6. The high-speed railway rail inspection robot of claim 1, wherein the acceleration sensor is attached to a rail by a magnetic mount when acquiring the acceleration signal.
7. The high-speed railway rail inspection robot of claim 1, wherein the inspection robot travels along a rail at the time of flaw detection, with one detection point every 5 meters.
8. The high-speed railway steel rail flaw detection robot of claim 1, wherein a positioning module and a wireless transmission module are further arranged in the flaw detection robot, the positioning module is electrically connected with the vibration test analyzer for analysis, and when the vibration test analyzer analyzes that a steel rail is damaged, the positioning module determines the damage position of the steel rail;
the vibration test analyzer is electrically connected with a receiving end through a wireless transmission module, and the wireless transmission module is used for transmitting the steel rail damage position information and the damage information to the receiving end.
9. The high-speed railway steel rail inspection robot of claim 1, wherein the steel rail is a fishplate joint rail or a seamless joint rail.
10. The high-speed railway steel rail inspection robot of claim 1, wherein the first mechanical arm and the second mechanical arm are both six-degree-of-freedom mechanical arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110098857.1A CN112721966A (en) | 2021-01-25 | 2021-01-25 | High-speed railway rail flaw detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110098857.1A CN112721966A (en) | 2021-01-25 | 2021-01-25 | High-speed railway rail flaw detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112721966A true CN112721966A (en) | 2021-04-30 |
Family
ID=75595302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110098857.1A Withdrawn CN112721966A (en) | 2021-01-25 | 2021-01-25 | High-speed railway rail flaw detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112721966A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2550407Y (en) * | 2002-06-07 | 2003-05-14 | 同济大学 | Longitudinal force testing device for seamless line steel rail of railway |
| JP2012242310A (en) * | 2011-05-23 | 2012-12-10 | Nishimatsu Constr Co Ltd | Flaw detector and flaw detection method |
| CN103076399A (en) * | 2012-12-28 | 2013-05-01 | 中国路桥工程有限责任公司 | Knocking scan type bridge damage detecting and positioning system |
| CN103226132A (en) * | 2013-04-25 | 2013-07-31 | 哈尔滨工业大学 | High speed railway steel rail flaw detection experiment platform and detection method |
| CN104512434A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Rail damage detection device and rail damage detection method |
| WO2018040546A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Rescue robot for medium and low speed maglev |
| CN207081694U (en) * | 2017-08-08 | 2018-03-09 | 中国人民解放军96630部队 | A kind of automatic ultrasonic inspection instrument |
| CN112077859A (en) * | 2020-09-15 | 2020-12-15 | 刘新雨 | Industrial rail flaw detection robot |
-
2021
- 2021-01-25 CN CN202110098857.1A patent/CN112721966A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2550407Y (en) * | 2002-06-07 | 2003-05-14 | 同济大学 | Longitudinal force testing device for seamless line steel rail of railway |
| JP2012242310A (en) * | 2011-05-23 | 2012-12-10 | Nishimatsu Constr Co Ltd | Flaw detector and flaw detection method |
| CN103076399A (en) * | 2012-12-28 | 2013-05-01 | 中国路桥工程有限责任公司 | Knocking scan type bridge damage detecting and positioning system |
| CN103226132A (en) * | 2013-04-25 | 2013-07-31 | 哈尔滨工业大学 | High speed railway steel rail flaw detection experiment platform and detection method |
| CN104512434A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Rail damage detection device and rail damage detection method |
| WO2018040546A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Rescue robot for medium and low speed maglev |
| CN207081694U (en) * | 2017-08-08 | 2018-03-09 | 中国人民解放军96630部队 | A kind of automatic ultrasonic inspection instrument |
| CN112077859A (en) * | 2020-09-15 | 2020-12-15 | 刘新雨 | Industrial rail flaw detection robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210430 |
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| WW01 | Invention patent application withdrawn after publication |