CN114838964A - Subway bogie inspection robot - Google Patents
Subway bogie inspection robot Download PDFInfo
- Publication number
- CN114838964A CN114838964A CN202210317321.9A CN202210317321A CN114838964A CN 114838964 A CN114838964 A CN 114838964A CN 202210317321 A CN202210317321 A CN 202210317321A CN 114838964 A CN114838964 A CN 114838964A
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- Prior art keywords
- vehicle body
- navigation
- bogie
- supporting plate
- image acquisition
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- 238000007689 inspection Methods 0.000 title claims abstract description 25
- 239000000725 suspension Substances 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/08—Railway vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a subway bogie inspection robot which comprises a motion platform, a lifting mechanism, a mechanical arm and an image acquisition module, wherein the motion platform is arranged on the upper portion of the motion platform; the motion platform comprises a vehicle body, a navigation control device and a suspension mechanism, wherein the navigation control device comprises a navigation sensor and a navigation controller and is used for controlling the vehicle body to autonomously navigate; the suspension mechanism comprises a moving guide rail, a high-precision slide block, a spring and a moving module, and is used for keeping the driving capability and the moving stability of the vehicle body; the lifting mechanism comprises a supporting plate, a screw rod, a synchronous belt and a servo driving mechanism and is used for controlling the lifting of the supporting plate; the base of arm is fixed in the backup pad, and the arm has the force feedback function, installs the image acquisition module at the arm end. The subway bogie inspection device is suitable for narrow and complex environments of the bogie, is stable in movement and strong in driving capability, can acquire images of different parts of the bogie in all directions and at multiple angles, and improves the inspection efficiency of the subway bogie.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a subway bogie inspection robot.
Background
The bogie is a running mechanism of a subway vehicle and plays an important role in the aspect of safe operation of the subway. The subway bogie inspection means that the bogie is comprehensively inspected after a train enters a maintenance warehouse, and the inspection comprises the steps of whether bolt connection is loose, whether wheel set parts are worn, whether a retainer has cracks and the like, so that potential safety hazards in train operation are reduced, and normal operation of the train is guaranteed.
At present, the daily inspection operation of the bogie of the subway vehicle in China adopts a manual inspection method. Because all overhauls and all arrange to go on after midnight train warehouse entry, overhaul the peak of a project many, personnel intensity of labour is big, causes the easy fatigue of operation personnel, leads to the problem of false retrieval, missed examination, and overhauls inefficiency, and experience dependence is strong.
And the prior similar patent of a novel transformer substation mobile inspection robot (publication number: CN112171650A) and the prior patent of an inspection robot (publication number: CN 113650038A). Has the following disadvantages: firstly, the stability maintaining setting for maintaining the motion stability of the platform is lacked; secondly, the mechanical arm lacks an autonomous protection mechanism.
Therefore, it is necessary to provide an inspection robot for subway bogie inspection to solve the above problems.
Disclosure of Invention
The invention provides a subway bogie inspection robot, which aims at solving the problems of the existing manual inspection bogie, improving the inspection efficiency and overcoming the defects in the prior art.
The invention discloses a subway bogie inspection robot which comprises a motion platform, a lifting mechanism, a mechanical arm and an image acquisition module.
The motion platform comprises a vehicle body, a navigation control device and a suspension mechanism.
The navigation control device comprises a navigation sensor and a navigation controller; the navigation sensor comprises a first three-dimensional laser radar and a second three-dimensional laser radar which are respectively arranged at the front end and the rear end of the vehicle body; and the navigation controller is integrated on the vehicle body, is connected with the navigation sensor and is used for controlling the autonomous navigation of the vehicle body.
The suspension mechanism comprises a moving guide rail, a high-precision slide block, a spring and a moving module; the motion guide rail is connected with the automobile body, and spring and high accuracy slider are installed on the motion guide rail, and the high accuracy slider is on the spring, and the motion module is connected with the high accuracy slider.
The lifting mechanism comprises a supporting plate, a screw rod, a synchronous belt and a servo driving mechanism; the screw rod is connected with the vehicle body, and the support plate is arranged at the top of the screw rod; the servo driving mechanism is arranged on the lower side of the supporting plate and drives the screw rod to rotate through the synchronous belt, so that the supporting plate can lift.
The base of arm is fixed in the backup pad, and the arm has the force feedback function, installs the image acquisition module at the arm end.
Furthermore, the image acquisition module adopts a three-dimensional color camera with an automatic light supplementing function.
The beneficial technical effects of the invention are as follows:
1. according to the invention, the height of the mechanical arm is adjusted through the lifting platform, and the posture adjustment characteristic of the mechanical arm is utilized, so that the image acquisition module can be driven to acquire images of different parts of the bogie in an all-around and multi-angle manner, and particularly for the inspection part in a part of complex and narrow space of the bogie, the tail end of the mechanical arm can be flexibly adjusted to be close to an inspection target to acquire the images.
2. The mechanical arm has a force feedback function, can avoid hard collision with parts of the bogie in a narrow and complex environment of the bogie, and realizes the protection of the parts of the bogie, the mechanical arm and the image acquisition module.
3. According to the invention, through the plurality of three-dimensional laser radars of the navigation control device, accurate navigation of the robot in the overhaul trench and accurate positioning under the bogie can be realized.
4. The robot is connected with the motion module through the suspension mechanism, so that the sufficient attaching force of the robot on uneven ground is ensured, and the driving capability and the motion stability are improved.
Drawings
Fig. 1 is a schematic structural view of the subway bogie inspection robot.
In the figure: the device comprises a spring 1, a high-precision sliding block 2, a motion module 3, a three-dimensional laser radar 4, a support plate 5, a synchronous belt 6, a mechanical arm 7, an image acquisition module 8, a servo driving mechanism 9, a three-dimensional laser radar 10, a lead screw 11, a motion guide rail 12 and a vehicle body 13.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
The invention discloses a subway bogie inspection robot which comprises a motion platform, a lifting mechanism, a mechanical arm 7 and an image acquisition module 8, and is shown in figure 1.
The motion platform comprises a vehicle body 13, a navigation control device and a suspension mechanism.
The navigation control device comprises a navigation sensor and a navigation controller; the navigation sensor comprises a first three-dimensional laser radar 4 and a second three-dimensional laser radar 10 which are respectively arranged at the front end and the rear end of the vehicle body 13; and the navigation controller is integrated on the vehicle body 13, is connected with the navigation sensor and is used for controlling the autonomous navigation of the vehicle body.
The suspension mechanism comprises a moving guide rail 12, a high-precision slide block 2, a spring 1 and a moving module 3; the motion guide rail 12 is connected with automobile body 13, and spring 1 and high accuracy slider 2 are installed on motion guide rail 12, and high accuracy slider 2 is on spring 1, and motion module 3 is connected with high accuracy slider 2. The suspension mechanism ensures that the robot always keeps enough attaching force with the ground when patrolling and examining on uneven ground, and improves the driving capability and the motion stability.
The lifting mechanism comprises a supporting plate 5, a screw rod 11, a synchronous belt 6 and a servo driving mechanism 9; the screw rod 11 is connected with the vehicle body 13, and the support plate 5 is arranged at the top of the screw rod 11; servo actuating mechanism 9 installs in backup pad 5 downside, and servo actuating mechanism 9 drives the lead screw 11 through hold-in range 6 and rotates, realizes the lift of backup pad 5.
The base of arm 7 is fixed in backup pad 5, and arm 7 has the force feedback function, hangs the mechanism and has guaranteed that the robot when patrolling and examining on uneven ground, remains throughout with the sufficient laminating power in ground, has improved drive capacity and motion stability.
An image acquisition module 8 is installed at the tail end of the mechanical arm 7, and the image acquisition module 8 adopts a three-dimensional color camera with an automatic light supplementing function.
The navigation controller of the invention controls the vehicle body 13 to walk according to the data collected by the navigation sensor. The image acquisition module 8 acquires real-time image pictures through the three-dimensional camera, drives the mechanical arm to lift through the lifting platform, drives the three-dimensional camera through the adjustment of the pose of the mechanical arm to realize all-dimensional multi-angle data acquisition, and has good inspection effect.
Claims (2)
1. The inspection robot for the metro bogie is characterized by comprising a moving platform, a lifting mechanism, a mechanical arm (7) and an image acquisition module (8);
the motion platform comprises a vehicle body (13), a navigation control device and a suspension mechanism;
the navigation control device comprises a navigation sensor and a navigation controller; the navigation sensor comprises a first three-dimensional laser radar (4) and a second three-dimensional laser radar (10) which are respectively arranged at the front end and the rear end of the vehicle body (13); the navigation controller is integrated on the vehicle body (13), is connected with the navigation sensor and is used for controlling the vehicle body to navigate autonomously;
the suspension mechanism comprises a moving guide rail (12), a high-precision sliding block (2), a spring (1) and a moving module (3); the moving guide rail (12) is connected with the vehicle body (13), the spring (1) and the high-precision slide block (2) are arranged on the moving guide rail (12), the high-precision slide block (2) is arranged on the spring (1), and the moving module (3) is connected with the high-precision slide block (2);
the lifting mechanism comprises a supporting plate (5), a screw rod (11), a synchronous belt (6) and a servo driving mechanism (9); the screw rod (11) is connected with the vehicle body (13), and the support plate (5) is arranged at the top of the screw rod (11); the servo driving mechanism (9) is arranged at the lower side of the supporting plate (5), and the servo driving mechanism (9) drives the screw rod (11) to rotate through the synchronous belt (6) to realize the lifting of the supporting plate (5);
the base of the mechanical arm (7) is fixed on the supporting plate (5), the mechanical arm (7) has a force feedback function, and the tail end of the mechanical arm (7) is provided with an image acquisition module (8).
2. The inspection robot for the metro bogie according to claim 1, wherein the image acquisition module (8) adopts a three-dimensional color camera with an automatic light supplementing function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317321.9A CN114838964A (en) | 2022-03-29 | 2022-03-29 | Subway bogie inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317321.9A CN114838964A (en) | 2022-03-29 | 2022-03-29 | Subway bogie inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114838964A true CN114838964A (en) | 2022-08-02 |
Family
ID=82563711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210317321.9A Pending CN114838964A (en) | 2022-03-29 | 2022-03-29 | Subway bogie inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114838964A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103754080A (en) * | 2014-01-15 | 2014-04-30 | 国网四川省电力公司电力科学研究院 | Substation inspection robot vehicle chassis |
| CN109291946A (en) * | 2018-10-23 | 2019-02-01 | 深圳市朗驰欣创科技股份有限公司 | A kind of rail traction station crusing robot |
| CN109623839A (en) * | 2018-12-24 | 2019-04-16 | 西南交通大学 | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting |
| CN111409720A (en) * | 2019-12-27 | 2020-07-14 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Power distribution inspection robot |
| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
| CN113450475A (en) * | 2021-06-25 | 2021-09-28 | 北京铁道工程机电技术研究所股份有限公司 | Inspection robot system and rail transit vehicle bottom detection method |
-
2022
- 2022-03-29 CN CN202210317321.9A patent/CN114838964A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103754080A (en) * | 2014-01-15 | 2014-04-30 | 国网四川省电力公司电力科学研究院 | Substation inspection robot vehicle chassis |
| CN109291946A (en) * | 2018-10-23 | 2019-02-01 | 深圳市朗驰欣创科技股份有限公司 | A kind of rail traction station crusing robot |
| CN109623839A (en) * | 2018-12-24 | 2019-04-16 | 西南交通大学 | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting |
| CN111409720A (en) * | 2019-12-27 | 2020-07-14 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Power distribution inspection robot |
| CN113092494A (en) * | 2021-03-25 | 2021-07-09 | 中车青岛四方车辆研究所有限公司 | Inspection robot and intelligent detection method for train tunnel structure diseases |
| CN113450475A (en) * | 2021-06-25 | 2021-09-28 | 北京铁道工程机电技术研究所股份有限公司 | Inspection robot system and rail transit vehicle bottom detection method |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220802 |
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| RJ01 | Rejection of invention patent application after publication |