CN206125056U - Well low -speed maglev F rail fault detecting robot - Google Patents
Well low -speed maglev F rail fault detecting robot Download PDFInfo
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- CN206125056U CN206125056U CN201621020316.8U CN201621020316U CN206125056U CN 206125056 U CN206125056 U CN 206125056U CN 201621020316 U CN201621020316 U CN 201621020316U CN 206125056 U CN206125056 U CN 206125056U
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- rails
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- flaw detection
- wheel
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Abstract
The utility model discloses a well low -speed maglev F rail fault detecting robot, including frame, folding folding mechanism, detection moving mechanism, the frame is spaned and is being waited between two the F rails of well low -speed maglev that detect, folding folding mechanism is equipped with two sets ofly altogether, and the both ends of frame are located to its branch to be located the top of F rail, all be provided with walking wheel pair and screens wheel pair on the folding folding mechanism of every group, detect moving mechanism include the F rail detect a flaw sensor, distance measuring sensor, take the photograph camera, the F rail is detected a flaw the sensor and is established on folding folding mechanism, distance measuring sensor establishes in the frame to be located between two F rails, take the photograph camera and install the top in the frame. The utility model has the advantages of detect a flaw efficient, the precision is high.
Description
Technical field
This utility model belongs to magnetic suspension F rail detection field, detects a flaw more particularly, to a kind of middle low speed magnetic suspension F rails
Robot.
Background technology
Magnetic suspension traffic is a kind of carbon-free traffic of low noise, is one of important directions of future city transport development.In it is low
Fast electromagnetic suspension technology is mutually to constitute magnetic field closed magnetic circuit by the electric magnet on car body and F types track, by air gap sense
Answer the exciting current of device device regulating magnet, adjust suction between electric magnet and track (make the floating gap of magnetic be maintained at 8～
10mm), to keep electric magnet stable with the distance between track, train stable suspersion is realized.Because medium-and low-speed maglev is static or
During failure support wheel is fallen to carrying out low speed walking on F rails, therefore, in actual use, easily there are various damages, because
This needs to carry out carrying out flaw detection to F rails in the maintenance process of track circuit.
The F types rail of middle low speed magnetic suspension special cross-section shape is different from traditional wheel track " work " font track, and its section is peculiar
Geometric shape cause existing dynamic rail inspection equipment cannot tackle F type rails it is various it is special damage and parameter measurement.Existing wheel track rail
Road dynamic detecting equipment can only be measured to general T type orbit geometry parameter state, and it is special to be not used to middle low speed magnetic suspension
The measurement and detection of some F types rails.Middle low speed magnetic suspension F types cross sectional shape is also differed with the track of high-speed maglev train, high
Speed magnetic suspension train levitation gap face is tooth slot structure, and the levitation gap face of medium-and low-speed maglev train F type rails is plane, another high speed
Magnetic-levitation train track outer face is vertical width flat board, and the outer face of medium-and low-speed maglev train F type rails is clinoplain, thus existing
Some high-speed maglev train rail inspection equipment cannot also be applied to the detection and flaw detection of medium-and low-speed maglev train rail.Therefore, it is badly in need of
A kind of simple structure, the easy to operate defect-detecting equipment suitable for middle low speed magnetic suspension F rails are designed, to complete middle low speed magnetic suspension F
The flaw detection of rail and detection.
Utility model content
For the disadvantages described above or Improvement requirement of prior art, this utility model provides a kind of flaw detection robot, wherein
With reference in the characteristics of low speed magnetic suspension F rails itself, respective design suitable for middle low speed magnetic suspension F rails failure detector, it is and right
Its key component such as frame, folding bending mechanism, the structure of detection travel mechanism and its concrete set-up mode are studied and set
Meter, accordingly can the existing detection means of effectively solving be not suitable for medium-and low-speed maglev train F rails flaw detection problem, with flaw detection effect
The advantages of rate height, flaw detection high precision.
For achieving the above object, the utility model proposes a kind of middle low speed magnetic suspension F rail flaw detection robots, including machine
Frame, folding bending mechanism, detection travel mechanism, wherein：
The frame is used to install the folding bending mechanism and detection travel mechanism, and it is across in middle low speed to be detected
Between two F rails of magnetic suspension；
The folding bending mechanism is provided with altogether two groups, and it is divided into the two ends of the frame, and positioned at the top of F rails, often
Road wheel pair and screens wheel pair are provided with the group folding bending mechanism, wherein the upper surface of road wheel pair and the F rails
Contact, and the upper surface along F rails moves, two screens wheels of the screens wheel pair respectively with the lateral surface of the F rails and under
Surface contacts, and the lateral surface and lower surface along F rails is moved；
The detection travel mechanism includes F rail flaw detection sensors, distance measuring sensor, video camera, the F rails flaw detection sensor
It is located on the folding bending mechanism, the distance measuring sensor is located in the frame, and between two F rails, it is described to take the photograph
Camera is arranged on the top of the frame.
As it is further preferred that per group of described folding be provided with two groups of road wheels pair and two groups of screens on bending mechanism
Wheel is right, and two groups of road wheels arrange that two groups of screens wheels are to equally along the extension of the F rails to the bearing of trend along the F rails
Direction is arranged, and contacts with the lateral surface and lower surface of F rails.
It is described as it is further preferred that the folding bending mechanism includes road wheel installing plate and screens wheel folded sheet
Road wheel installing plate is vertically arranged and in the frame, and the road wheel is under the road wheel installing plate
Side, the screens wheel folded sheet is arranged on the side of the road wheel installing plate by screens wheel connecting bracket, and is coated on F rails
Periphery, the screens wheel contacts on the screens wheel folded sheet with the lateral surface and lower surface of the F rails.
Used as it is further preferred that the distance measuring sensor is specially ultrasound wave or infrared distance sensor, it is arranged in
Side before and after the frame.
As it is further preferred that the video camera is arranged on the top of the frame by expansion link.
As it is further preferred that being additionally provided with external interface in the frame.
As it is further preferred that the flaw detection robot is additionally provided with autonomous cruise module, the autonomous cruise module
Installed in the lower section of the frame.
In general, by the contemplated above technical scheme of this utility model possess compared with prior art, mainly with
Under technological merit：
1. this utility model can complete the flaw detection operation to F rails, with small volume, structure it is light, it is easy to carry the characteristics of, together
When also there is detect a flaw high precision, efficiency high, operating location can be reached with car and falling to used by rail, can be effectively used for
The F rails of medium-and low-speed maglev are safeguarded and safe operation.
2. folding bending mechanism of the present utility model is provided with altogether two groups, is divided into the two ends of frame, screens wheel folding when using
Lamination can be opened to clasp the side edge of F rails downwards when track falls rail, and is moved along F rails, after use, can when it leaves track
Be folded up, to reduce the overall volume of robot, with the easy to carry, rail that falls by work the characteristics of.
3. the road wheel folded on bending mechanism of the present utility model can effectively prevent robot to being designed to Double-wheel structure
Produce during the bolt being connected with sleeper by F rails and jolt, make flaw detection more accurate, screens wheel by the way of holding card to being installed on
On F rails, can effectively prevent robot from derailing.
4. video camera is provided with above frame of the present utility model, the video camera is capable of achieving track and track figure along the line
As collection, and its is liftable in frame, is capable of achieving multi-faceted, multi-angle image taking.
5. this utility model flaw detection robot before and after be provided with distance measuring sensor, by range finding can make flaw detection robot
Automatic stopping when meeting obstacle, realizes the collision prevention function of robot；This utility model is additionally provided with can communicate connection with remote console
The external interface of system, to realize the remote interaction of data.
Description of the drawings
Fig. 1 is the structural representation of the middle low speed magnetic suspension F rail flaw detection robots of this utility model embodiment；
Fig. 2 is the rearview of the middle low speed magnetic suspension F rail flaw detection robots of this utility model embodiment；
Fig. 3 is the left view of the middle low speed magnetic suspension F rail flaw detection robots of this utility model embodiment.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.Additionally, institute in this utility model disclosed below each embodiment
As long as the technical characteristic being related to does not constitute each other conflict and just can be mutually combined.
As shown in figure 1, a kind of middle low speed magnetic suspension F rail flaw detection robots that this utility model embodiment is provided, its is main
Including frame 11, bending mechanism, detection travel mechanism are folded, wherein, frame 11 is folded as supporting mechanism for fixedly mounting
Bending mechanism and detection travel mechanism, the folding bending mechanism is used to install takes turns right, to realize flaw detection robot on F rails 4
Movement, the detection travel mechanism is used to detect a flaw F rails, and for the motion of Autonomous Control robot.By above-mentioned
Each mechanism cooperates, and is capable of achieving robot and F rails are independently detected a flaw, and has the advantages that detect a flaw high precision, efficiency high.
Each mechanism and part will be described and described in detail below.
As shown in figure 1, support member of the frame 11 as miscellaneous part, it is horizontally disposed with, and across to be detected
Between two F rails of middle low speed magnetic suspension, its arranged direction is vertical with the bearing of trend of F rails.
As Figure 1-3, fold bending mechanism and be provided with two groups altogether, it is divided into the two ends of the frame, and and frame
It is folding to be connected.When unused, two groups of folding bending mechanisms are folded up, and to reduce the overall volume of flaw detection robot, make
Used time, two groups of folding bending mechanisms are opened, and are placed exactly in the top of two F rails.Specifically, on per group of folding bending mechanism
Road wheel is provided with to 5 and screens wheel pair.Wherein, road wheel includes a pair of road wheels, its upper surface with the F rails to 5
Contact, and along the upper surface movement of F rails, it is drivewheel that one of them is follower one, and drivewheel is to being motor wheel.The row
Wheelset design is walked into Double-wheel structure, is produced during the bolt that can effectively prevent robot to be connected with sleeper by F rails and is jolted, make flaw detection
As a result it is more accurate.The screens wheel includes a pair of screens wheels to 2, two screens wheels respectively with the lateral surface of the F rails and under
Surface contacts, and the lateral surface and lower surface along F rails is moved, and the screens wheel pair can ensure robot along track travel, and
And can provide differential function in corner.Screens wheel is do not have dynamic follower to 2, plays screens, spacing and derailment-proof
Effect.
Further, two groups of road wheels are provided with to 5 on per group of folding bending mechanism in embodiment of the present utility model
With two groups of screens wheels to 2, thus two groups of road wheels are arranged to four road wheels in 5 along the bearing of trend of the F rails, and can
Move along F rails, the movement to flaw detection robot is reliably oriented to, and two groups of screens wheels in 2 with F rail contacts side surfaces
Screens wheel arrange that and the lateral surface along F rails moves along the bearing of trend of the F rails, two groups of screens wheels are in 2 and F
The screens wheel of rail lower surface contact is arranged along the bearing of trend of the F rails, and the lower surface along F rails is moved, and can be had with this
Effect ensures the reliability of flaw detection robot movement.
Specifically, folding bending mechanism includes road wheel installing plate 12 and screens wheel folded sheet 3, wherein road wheel installing plate
12 are vertically arranged and in the frame, and the road wheel is to installed in the lower section of road wheel installing plate 12, the screens
Wheel folded sheet 3 passes through screens wheel connecting bracket installed in the side of the road wheel installing plate, and is coated on the periphery of F rails, so
Afterwards by screens wheel to being arranged on screens wheel folded sheet 3, so that one of screens wheel is contacted with the lateral surface of F rails, another
Screens wheel is contacted with the lower surface of F rails, with this screens wheel to being installed on F rails using holding card mode, can effectively prevent rescue
Robot derails.When folding bending mechanism is not used, two groups of screens wheel folded sheets are folded up, to reduce the entirety of running gear
Volume, when using, two groups of screens wheel folded sheets are opened, and make screens wheel be installed on the lateral surface and lower surface of F rails, realize outside cover
Rail and interior rail is embraced on the side.
The detection travel mechanism includes F rails flaw detection sensor 1, distance measuring sensor 6, the and of video camera 10, the F rails flaw detection
Sensor 1 is located on the folding bending mechanism, is arranged in array fashion, and sensor array includes ultrasound and vortex, laser
Detection sensor, the comb close difference of transducer arrangements different according to the fine pattern of operation, by using vortex, ultrasound, laser
Various ways are detected a flaw, and realize crackle, fracture and the ride comfort of F rail aluminum tablets, the crackle of F rail steel structures, fracture wound
Detection.The distance measuring sensor 6 is located in the frame, and between two F rails, it is specially ultrasound wave or infrared survey
Away from sensor, and arrange in array fashion, before and after flaw detection robot the distance measuring sensor is arranged.Specifically, in safety
In distance range, detecting travel line has obstacle, and robot controls automatically controlled driver element brake, according to the different set of speed
Safe distance is different, and speed is faster, and safe distance is more remote.Automatic safety parking when flaw detection robot can be made to meet obstacle, realizes machine
The collision prevention function of device people.The video camera 10 is arranged on the top of the frame, and it is used for carrying out along the line to track and track
Image acquisition, can to foreign body intrusion, invade situations such as limit is crossed the border and be observed, image carries out real-time Transmission or storage is local, shooting
Machine type concretely 2D or 3D video cameras, it is arranged on the top of frame especially by expansion link 9, is capable of achieving the liter of video camera
Drop, realizes the shooting of Multi-orientation multi-angle.
In order to realize freely controlling and autonomous for robot, robot is additionally provided with autonomous cruise module 7, independently patrols
Model plane block 7 is similar to car autopilot, is the brain of robot, and the controllable road wheel of drive control part of module 7 is to 5
Drivewheel motion can drive robot motion, be moved along F rails with driven machine people, realize the autonomous control of robot
System, the autonomous cruise module 7 is arranged on the lower section of the frame.Autonomous cruise module 7 can real-time reception F rail flaw detection sensors
1st, the detection data of distance measuring sensor 6 and video camera 10, and detection data is analyzed, the F rails flaw detection data needed for obtaining.
Navigation system is provided with autonomous cruise module 7, robot can be walked and be detected according to the planning of navigation, its mainly with
Based on GPS and inertial navigation, with the navigation system that mileage is demarcated as aiding in.In order to realize the F rails flaw detection for measuring in robot
Data are timely transmitted and preservation, are easy to remotely control of the operator to robot, are additionally provided with the frame
External interface 13, to realize writing to each other for robot and remote console, realizes the remote interaction of data.In the frame also
The battery 8 that promising autonomous cruise module 7 provides power supply is set, but autonomous cruise module 7 also can be by cable and external power source
It is connected, by external power source the power needed for cruise module cruise is provided.Certainly, rescue robot of the present utility model can also
Using other controls and type of drive, such as by manually operating, or be connected with remote control center by cable, realize remotely controlling
System etc..
As it will be easily appreciated by one skilled in the art that preferred embodiment of the present utility model is the foregoing is only, not
To limit this utility model, all any modifications made within spirit of the present utility model and principle, equivalent and change
Enter, should be included within protection domain of the present utility model.
Claims (7)
1. a kind of middle low speed magnetic suspension F rail flaw detection robots, it is characterised in that including frame (11), fold bending mechanism, detection
Travel mechanism, wherein：
The frame is used to install the folding bending mechanism and detection travel mechanism, and it is across in middle low speed magnetcisuspension to be detected
Float between two F rails；
The folding bending mechanism is provided with altogether two groups, and it is divided into the two ends of the frame, and positioned at the top of F rails, per group of institute
State and be provided with road wheel to (5) and screens wheel to (2) on folding bending mechanism, wherein road wheel is upper with the F rails to (5)
Surface contacts, and the upper surface along F rails is moved, the screens wheel to two screens wheels of (2) respectively with the outside of the F rails
Face and lower surface are contacted, and the lateral surface and lower surface along F rails is moved；
The detection travel mechanism includes F rail flaw detection sensors (1), distance measuring sensor (6) and video camera (10), and the F rails are visited
Hinder sensor (1) to be located on the folding bending mechanism, the distance measuring sensor (6) is located in the frame, and positioned at two F
Between rail, the video camera (10) is installed in the top of the frame.
2. low speed magnetic suspension F rail flaw detection robots in as claimed in claim 1, it is characterised in that per group described to fold bending
Two groups of road wheels are provided with mechanism to (5) and two groups of screens wheels to (2), two groups of road wheels prolong to (5) along the F rails
Stretch direction arrangement, two groups of screens wheels bearing of trend along the F rails same to (2) is arranged, and with the lateral surface and following table of F rails
Face contacts.
3. low speed magnetic suspension F rail flaw detection robots in as claimed in claim 2, it is characterised in that the folding bending mechanism
Including road wheel installing plate (12) and screens wheel folded sheet (3), the road wheel installing plate is vertically arranged and installed in the machine
On frame, to (5) installed in the lower section of the road wheel installing plate, the screens wheel folded sheet (3) is by screens for the road wheel
Wheel connecting bracket is arranged on the side of the road wheel installing plate, and the screens wheel is to (2) installed in the screens wheel folded sheet
(3) on, and contact with the lateral surface and lower surface of the F rails.
4. low speed magnetic suspension F rail flaw detection robots in as claimed in claim 3, it is characterised in that the distance measuring sensor (6)
Specially ultrasound wave or infrared distance sensor, its be arranged in the frame before and after side.
5. low speed magnetic suspension F rail flaw detection robots in as claimed in claim 4, it is characterised in that the video camera (10) is led to
Expansion link (9) is crossed installed in the top of the frame.
6. low speed magnetic suspension F rail flaw detection robots in as claimed in claim 5, it is characterised in that also set up in the frame
There is external interface (13).
7. low speed magnetic suspension F rail flaw detection robots in as claimed in claim 6, it is characterised in that the flaw detection robot is also
Autonomous cruise module (7) is provided with, the autonomous cruise module (7) is installed in the lower section of the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621020316.8U CN206125056U (en) | 2016-08-31 | 2016-08-31 | Well low -speed maglev F rail fault detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621020316.8U CN206125056U (en) | 2016-08-31 | 2016-08-31 | Well low -speed maglev F rail fault detecting robot |
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| Publication Number | Publication Date |
|---|---|
| CN206125056U true CN206125056U (en) | 2017-04-26 |
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ID=58568104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621020316.8U Active CN206125056U (en) | 2016-08-31 | 2016-08-31 | Well low -speed maglev F rail fault detecting robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108061225A (en) * | 2017-12-13 | 2018-05-22 | 北京京天威科技发展有限公司 | A kind of rail side is imaged caliberating device |
| CN108146456A (en) * | 2018-02-10 | 2018-06-12 | 深圳信通环球科技有限公司 | A kind of rail polling car |
| CN108466633A (en) * | 2018-02-08 | 2018-08-31 | 深圳市睿灵创新科技开发有限公司 | Track detecting robot |
| CN108860214A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of medium-and low-speed maglev F type track detector with positioning function |
| CN108860213A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of band remotely monitors and the rail of wireless data transmission function examines instrument |
| CN110044260A (en) * | 2019-04-13 | 2019-07-23 | 西南交通大学 | A kind of tracks of permanent magnetism irregularity detection device |
| CN112109765A (en) * | 2019-06-21 | 2020-12-22 | 江西理工大学 | Suspension type magnetic suspension track space structural member data acquisition system and judgment method |
| CN117719554A (en) * | 2024-02-18 | 2024-03-19 | 成都磁速科技有限公司 | High-temperature superconductive magnetic levitation track inspection early warning system |
-
2016
- 2016-08-31 CN CN201621020316.8U patent/CN206125056U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108061225A (en) * | 2017-12-13 | 2018-05-22 | 北京京天威科技发展有限公司 | A kind of rail side is imaged caliberating device |
| CN108466633A (en) * | 2018-02-08 | 2018-08-31 | 深圳市睿灵创新科技开发有限公司 | Track detecting robot |
| CN108466633B (en) * | 2018-02-08 | 2019-09-24 | 深圳市睿灵创新科技开发有限公司 | Track detecting robot |
| CN108146456A (en) * | 2018-02-10 | 2018-06-12 | 深圳信通环球科技有限公司 | A kind of rail polling car |
| CN108860214A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of medium-and low-speed maglev F type track detector with positioning function |
| CN108860213A (en) * | 2018-07-12 | 2018-11-23 | 肖力 | A kind of band remotely monitors and the rail of wireless data transmission function examines instrument |
| CN110044260A (en) * | 2019-04-13 | 2019-07-23 | 西南交通大学 | A kind of tracks of permanent magnetism irregularity detection device |
| CN110044260B (en) * | 2019-04-13 | 2024-04-02 | 西南交通大学 | Permanent magnet track irregularity detection equipment |
| CN112109765A (en) * | 2019-06-21 | 2020-12-22 | 江西理工大学 | Suspension type magnetic suspension track space structural member data acquisition system and judgment method |
| CN112109765B (en) * | 2019-06-21 | 2021-11-30 | 江西理工大学 | Suspension type magnetic suspension track space structure data acquisition system |
| CN117719554A (en) * | 2024-02-18 | 2024-03-19 | 成都磁速科技有限公司 | High-temperature superconductive magnetic levitation track inspection early warning system |
| CN117719554B (en) * | 2024-02-18 | 2024-04-26 | 成都磁速科技有限公司 | High-temperature superconductive magnetic levitation track inspection early warning system |
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