Intelligent submission inspection method and system for subway bogie

Abstract

The invention discloses an intelligent submission inspection method and system for a subway bogie. The system comprises a control mechanism, and an upper visual acquisition module, a first collaborative robot, a truss manipulator, a riding wheel transportation device, a seventh-axis robot, a second collaborative robot and a lower visual acquisition module which are connected with the control mechanism; the riding wheel transportation device carries wheels and accurately transfers the bogie; a first collaborative robot is arranged on a truss manipulator above the ground, and the first collaborative robot is connected with an upper visual module and is used for photographing the upper part, front, back, left and right parts of the bogie to collect images; a second collaborative robot is arranged on a seventh-axis robot in a pit below the ground level, and a visual module is arranged on the second collaborative robot and used for photographing the bottom of the bogie to collect images. Feeding and robot photographing are combined on one set of mechanism, the problem that a single feeding mechanism can occupy the photographing space is solved, the cost of the feeding mechanism is greatly reduced, the visual detection range is expanded, and mutual operation does not interfere with each other.

Description

Technical Field

[0001] The present invention relates to a bogie maintenance device and method, and in particular to an intelligent inspection method and system for a subway bogie. Background Art

[0002] Railway freight car maintenance often involves inspection of bogies after assembly.

[0003] The bogie acceptance inspection station is the last step before delivery. The bogies are manually transported to the inspection station for visual inspection, with paper records kept throughout the process. Inspections include loose and missing bolts, component deformation, oil leaks, foreign matter, paint peeling, cracks, and temperature stickers. Bolt inspection alone covers at least 200 points (varies across different bogie models).

[0004] At present, the inspection of bogies has the following problems: (1) The inspection work is all done by manual visual inspection, which involves many repetitive operations and easily causes visual fatigue of the operators. There are many uncontrollable factors in the process and the inspection results are uncontrollable. (2) The inspection information of the staff needs to be filled out in paper form. The inspection process is difficult to trace without image records and lacks information technology. (3) The bogies in the operation area are all moved by manual pushing. The bogies are heavy. Some inspection items need to be checked while being pushed, which is labor-intensive. When the production line has a large workload, manual feeding also poses certain safety hazards. (4) The existing automatic bogie conveying device is relatively bulky or difficult to implement, which takes up inspection space and reduces the shooting rate of items. (5) The efficiency is low. Since the subway bogies need to be inspected for a lot of content, if manual inspection is used, the bogies are across the tracks. People either have to inspect in the pit below the bogie, and then go up the pit ladder to inspect the front, back, left, and right sides of the bogie, and then go to inspect above it. With so many spaces and multi-directional inspections, the inspection work is relatively cumbersome and inefficient. Summary of the Invention

[0005] The current difficulties that need to be solved in the inspection work include high labor intensity, low inspection efficiency, fatigue of manual visual work, safety hazards, inability to electronically trace the inspection history, too much inspection content, inconvenient inspection space, inconvenient observation on the lower and upper sides of the bogie, and the contradiction between the inspection space and the space occupied by the automation mechanism, which is not conducive to automation realization.

[0006] In view of the shortcomings and deficiencies in the above-mentioned prior art, the object of the present invention is to provide a method and system for intelligent inspection of subway bogies.

[0007] The technical solution adopted in the present invention is: An intelligent inspection system for subway bogies includes a control mechanism and an upper visual acquisition module, a first collaborative robot, a truss manipulator, a roller transport device, a seventh-axis robot, a second collaborative robot and a lower visual acquisition module connected to the control mechanism; a first collaborative robot is arranged on the truss manipulator above the ground, the first collaborative robot is connected to the upper visual acquisition module, and takes photos and collects images of the top, front, rear, left and right of the bogie; a second collaborative robot is arranged on the seventh-axis robot in a pit below the ground, and the second collaborative robot is provided with a lower visual acquisition module, and takes photos and collects images of the bottom of the bogie; the roller transport device includes an existing track, a fork slide arranged on the track and integrated with the track, and the fork slide lifts the wheels of the bogie for precise transfer.

[0008] Furthermore, a guide rail and a transmission rack are provided on the inner side of the track; the fork slide includes a slide plate and a power mechanism, a supporting roller mechanism and a clamping mechanism arranged on the slide plate; the power mechanism includes a second servo motor, a second servo reducer and a transmission gear connected in sequence, and the transmission gear is meshed with the transmission rack; the clamping mechanism includes a first servo motor, a first servo reducer, a first sprocket, a transmission chain, a second sprocket, a symmetrical nut trapezoidal screw, a small slide plate and a second ball guide rail connected in sequence; the second ball guide rails are fixed on both sides of the inner wall of the slide plate, and the two small slide plates slide on the second ball guide rails; the two nuts of the symmetrical nut trapezoidal screw are fixed on the opposite sides of the two small slide plates, the screws of the symmetrical nut trapezoidal screw are connected to the second sprocket, and the symmetrical nut trapezoidal screw is fixed on the transmission bracket on the inner side of the slide plate; the supporting roller mechanism is fixed outward on the small slide plate, and the supporting roller mechanism is retractable.

[0009] Furthermore, the fork slide also includes a damping mechanism symmetrically fixed on the inner side of the slide plate, the damping mechanism includes a damping bracket, a damper, an adjusting block, a blocking bracket and a blocker; a first ball guide is fixed on the upper inner side of the slide plate, and the slider of the first ball guide is fixedly connected to the bottom of the transmission bracket, and a symmetrically arranged middle block plate is fixed on the side of the transmission bracket; the two sides of the middle block plate contact the end faces of the two blockers, and the blocker is fixed on the blocking bracket; the back of the blocking bracket is tightened by the adjusting block and the screw nut on the adjusting block, and the bottom of the adjusting block is locked on the damping bracket by the fixing screw; the tail end of the damper is also fixed on the damping bracket, and the rod end of the damper contacts the tail ends on both sides of the middle block plate; the blocker is made of reset material.

[0010] Furthermore, the supporting roller mechanism includes a telescopic shaft, a roller, a guide sleeve, a fixed plate and a cylinder; a guide sleeve is fixed on the fixed plate, a telescopic shaft is arranged in the first guide sleeve, the inner end of the telescopic shaft is connected to the telescopic end of the cylinder, the fixed end of the cylinder is fixed on the fixed plate, and a roller is provided at the outer end of the telescopic shaft.

[0011] Furthermore, the wheel transport device is provided with only one fork material slide, which is located inside one track and only drags one wheel of the bogie.

[0012] Furthermore, the truss manipulator includes a column, a Z-axis manipulator, a Y-axis manipulator, and an X-axis manipulator. The column is upright and fixed on the ground. The X-axis manipulator is horizontally arranged on the column. The two X-axis manipulators are arranged in parallel and are respectively located on both sides of the civil engineering. The Y-axis manipulator is vertically arranged between the two X-axis manipulators. Two Z-axis manipulators are upright on the Y-axis manipulator. The ends of the two Z-axis manipulators are respectively connected to the first collaborative robot, so that the first collaborative robot moves linearly in the three directions of X, Y, and Z axes.

[0013] Furthermore, a seventh-axis robot is set in the pit below the civil engineering, the seventh-axis robot is set along the moving direction of the bogie and the seventh-axis robot is only set at the detection position; the upper visual acquisition module and the lower visual acquisition module use 3D vision modules.

[0014] Furthermore, the system also includes detection switches, one group of detection switches is located outside the detection position; the distance between the other group of detection switches and the one group of detection switches is the distance between the front and rear wheel pairs of the bogie, that is, the two groups of detection switches correspond to the front and rear wheel pairs of the bogie respectively, and jointly detect whether the bogie is in place.

[0015] A subway bogie intelligent inspection method, characterized in that the method comprises: (1) Manually push the bogie to the edge of the track; (2) The fork slide on the track starts to drag the bogie accurately to the detection position: when the first servo motor drives the symmetrical nut trapezoidal screw to operate through the first servo reducer, two sprockets, and transmission chain, the two nuts on the symmetrical nut trapezoidal screw respectively drive the first small slide plate and the second small slide plate to operate symmetrically; at the same time, the supporting wheel mechanism on the first small slide plate and the second small slide plate is driven to extend and firmly clamp the wheel rims on both sides of the wheel; the second servo motor is operated, which drives the transmission gear and transmission rack to move in turn, thereby accurately moving the bogie to the detection position; (3) Simultaneously test the switches to verify whether all wheels of the bogie trigger signals; (4) The truss robot carries two sets of first collaborative robots and the upper visual acquisition module to the upper part of the bogie and to the front, back, left, and right to take photos; at the same time, the seventh-axis robot carries the second collaborative robot and the lower visual acquisition module to the lower part of the bogie to take photos, and after completion, each returns to the initial waiting position; (5) The fork slide drags the bogie to the manual review position for manual re-measurement; (6) The detection data is transmitted to the background for data analysis, and the relevant processing results will be fed back to the display screen of the operation console.

[0016] Furthermore, since the bogie is heavy and has a large inertia at the moment of starting, the overall mechanism on the transmission bracket transmits the kinetic energy to the first damper and the second damper fixed on the slide plate and the configured first blocker and the second blocker through the middle baffle. When the inertia disappears, the first blocker and the second blocker will reset to ensure that the transmission bracket returns to its original position on the first ball guide rail. The inertial kinetic energy is also consumed when stopping to ensure that the structure is not subject to large impact force and the fork slide operates stably and reliably.

[0017] Based on the characteristics of user visual inspection, the present invention gives priority to 3D vision to replace manual work, calculates the collected images through the system, and achieves the purpose of manual inspection. At the same time, by entering a large amount of sample data, different inspection programs are matched with different bogie models. Taking into account that there are many items such as bolts that need to be collected on the upper side and the cycle takes a long time, it is given priority to use a robot below to carry a group of vision modules, and the two robots on the upper side each carry a group of vision modules to replace manual image collection, taking into account the photography of the top, front, back, left and right of the bogie; the lower robot carries a vision module to take into account the photography of the bottom of the bogie.

[0018] Specifically, the advantages of the present invention are as follows: (1) By using the bogie inspection system and inspection method of the present invention, material feeding (transferring the bogie) and robot photography are combined into one set of mechanisms, which solves the problem that a separate feeding mechanism would occupy the photography space. The visual inspection range is expanded while taking into account the function of pushing the bogie. The two systems do not interfere with each other during operation, and the cost of the material feeding mechanism (weighing about 10 tons) is greatly reduced.

[0019] (2) The present invention uses three groups of robots to work synchronously to complete the collection requirements in various directions such as up, down, left, right, front and back of the bogie. The robot working space utilization rate is high, which greatly improves the collection efficiency. Among them, two robots are set above the bogie to work independently from both sides synchronously, which is more efficient.

[0020] (3) The bogie wheel transport device in the inspection system of the present invention cleverly combines the fork slide and the track into one by using an overhead track, which almost eliminates the problem of equipment obstruction and maximizes the space for taking photos.

[0021] (4) The bogie wheel transport device in the inspection system of the present invention has low energy consumption: it adopts a non-full derailment method, avoiding the overall lifting and consignment method in the prior art. The kinetic energy consumption is mainly for horizontal movement, and the energy consumption is reasonable and the utilization rate is high; (5) The bogie wheel transport device in the inspection system of the present invention can ensure high precision: the use of a dedicated servo drive can ensure relatively high precision and meet most automation requirements; (6) The bogie roller transport device in the inspection system of the present invention can reduce inertia damage: the servo motor selects a suitable acceleration and deceleration device, and adopts a damper and other mechanisms to reduce inertia damage; at the same time, the bottom is transported by dragging a single wheel. When encountering an emergency, due to the operating characteristics of the bottom of the roller, the center of gravity of the wheel is higher than the limit position of the roller. After its forward direction is blocked, the impact force will be directed upward, which has excellent unloading capacity and outstanding safety protection function.

[0022] (7) In the intelligent inspection method and system for subway bogies of the present invention, the seventh-axis robot is only used to move the second collaborative robot to take photos of the bottom, and there is no need to move the bogie. Therefore, the seventh-axis robot in the pit is only set at the inspection station and does not occupy the manual review station. The design is more reasonable and the power consumption is lower.

[0023] (8) The intelligent inspection method and system for subway bogies of the present invention can replace the manual inspection method, solve the problems of visual fatigue caused by manual visual inspection of a large number of inspection points, and provide more accurate inspection results.

[0024] (9) The subway bogie intelligent inspection method and system of the present invention replaces the existing manual paper recording inspection data method, and the real results can be traced by retrieving the collected pictures.

[0025] (10) By utilizing the intelligent inspection method and system for subway bogies of the present invention, an automated bogie roller transport device is adopted to replace manual dragging of the bogie, thereby greatly ensuring the safety of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a three-dimensional diagram of the subway bogie intelligent inspection system of the present invention; Figure 2 This is a side view of the intelligent handover inspection system for subway bogies of the present invention; Figure 3 This is a top view of the intelligent handover inspection system for subway bogies of the present invention; Figure 4 This is a schematic diagram of a truss robot + collaborative robot + 3D vision; Figure 5 This is the overall schematic diagram of the roller transport device in the inspection system; Figure 6 for Figure 5 Magnified image of; Figure 7 For Figure 6 A partial enlarged view from the inside (two rollers clamping a single wheel of the bogie); Figure 8 This is a schematic diagram of the fork slide on the track; Figure 9 Schematic diagram of the interior of the fork slide Figure 1 ; Figure 10 Schematic diagram of the interior of the fork slide Figure 2 ( Figure 9 Rotate 180° counterclockwise); Figure 11 Schematic diagram of the interior of the fork slide Figure 3 ( Figure 9 Rotate 90° counterclockwise); Among them, 1-protective fence, 2-electrical cabinet, 3-truss robot, 4-first collaborative robot, 5-first 3D vision module, 6-gate, 7-operating table, 8-civil engineering, 9-track support column, 11-seventh axis robot, 12-second 3D vision module, 13. Second collaborative robot, 14-ladder guardrail, 15-bogie, 16-middle aisle ladder, 17-drainage trough, 18-detection switch, 19-robot controller, 20-side ladder, 21-dedicated track, 22-I-track, 23-first Z-axis robotic arm, 24-second Z-axis robotic arm, 25-Y-axis robotic arm, 26-first X-axis robotic arm, 27-second X-axis robotic arm, 28-pillar; 101-fork slide, 108-guide rail, 1010-transmission rack, 1011-drag chain, 1012-drag chain slot, 1013-drag chain slot bracket, 1014-supporting roller mechanism, 1015-transmission gear; 1020-slide plate, 1021-first damping bracket, 1022-first damper, 1023-first adjustment block, 1024-first blocking bracket, 1025-first blocker; 1026-first alarm light, 10 27-first cylinder, 1028-first servo motor, 1029-first servo reducer, 1030-transmission bracket, 1031-transmission chain, 1032-second cylinder, 1033-second blocker, 1034-second blocking bracket, 1035-second adjustment block, 1036-second damping bracket, 1037-second damper; 1038-first warning light bracket, 1039-first motor adjustment plate, 1040-second servo Reducer, 1041-second servo motor; 1042-first telescopic shaft, 1043-first roller, 1044-first guide sleeve, 1045-first fixed plate; 1046-symmetric nut trapezoidal screw, 1047-first ball guide rail, 1048-first sprocket; 1049-second fixed plate, 1050-second guide sleeve; 1051-second ball guide rail, 1052-second alarm light, 1053-second alarm light bracket, 1054-drag chain connecting plate; 1055-second roller, 1056-second telescopic shaft; 1057-first limit block, 1058-second limit block, 1059-middle baffle, 1060-first bearing, 1061-retaining ring for the first shaft, 1062-second motor adjustment plate, 1063-retaining ring for the second shaft, 1064-second bearing, 1065-first small slide plate, 1066-second small slide plate, 1067-second sprocket. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] Reference Figures 1 to 5 As shown, the subway bogie intelligent inspection system of this embodiment includes a control mechanism, a truss robot 3, a first collaborative robot 4, a first 3D vision module 5, a civil engineering 8, a track support column 9, a fork slide 101, a seventh-axis robot 11, a second 3D vision module 12, a second collaborative robot 13, a detection switch 18, a dedicated track 21, and an I-rail 22; the control mechanism is respectively communicated with the truss robot 3, the first collaborative robot 4, the first 3D vision module 5, the fork slide 101, the seventh-axis robot 11, the second 3D vision module 12, the second collaborative robot 13, and the detection switch 18.

[0029] Among them, considering that the size of the bogie 15 is relatively large and the camera is relatively light, it is preferred to use a collaborative robot with a smaller body, more flexible movements for taking pictures, and more friendly interactions. The upper part of the bogie 15 is detected by a collaborative robot in combination with a truss robot 3. The truss robot 3 adopts a four-column type. The servo transfer method can be used in the X-axis direction of the track to accurately control the moving position. The servo transfer method is used in the Y-axis vertical direction of the track. Two sets of Z-axis robotic arms are arranged on the Y-axis, and the servo transfer method is used. The ends of the two sets of Z-axis robotic arms carry collaborative robots + 3D vision modules respectively, which can realize taking pictures with a larger detection range in the horizontal direction, and can realize taking pictures with a larger detection range in the height direction.

[0030] Therefore, a truss robot 3 is installed above the civil engineering 8, a first collaborative robot 4 is installed on the truss robot 3, and a first 3D vision module 5 is installed on the first collaborative robot 4. The first 3D vision module 5 takes photos of the bogie 15 from above and in front, behind, left and right.

[0031] Specifically, such as Figure 4 As shown, columns 28 are positioned on either side of the civil engineering structure 8. Mounted on these columns are a first X-axis robotic arm 26 and a second X-axis robotic arm 27. These are arranged parallel to each other and positioned on either side of the civil engineering structure 8. A Y-axis robotic arm 25 is positioned perpendicularly between the first and second X-axis robotic arms 26 and 27. The Y-axis robotic arm 25 can slide along the X-axis on these arms, with servo control for accuracy. Vertically positioned above the Y-axis robotic arm 25 are a first Z-axis robotic arm 23 and a second Z-axis robotic arm 24. These two arms (the first and second Z-axis robotic arms 23 and 24 are parallel to each other) and can independently move along the Z-axis (up and down) on the Y-axis robotic arm 25, with servo control for accuracy. Each Z-axis robotic arm 23 and the second Z-axis robotic arm 24 are equipped with a first collaborative robot 4 and a first 3D vision module 5 to perform visual acquisition tasks above the bogie 15. The lower end of the first Z-axis robot arm 23 or the second Z-axis robot arm 24 is connected to the first collaborative robot 4, and the first collaborative robot 4 is connected to the first 3D vision module 5, so that the first collaborative robot 4 can move linearly in the three directions of X, Y and Z axes. Figures 1 to 3 As shown, the two sets of first collaborative robots 4 and the first 3D vision module 5 on the left and right above the civil engineering 8 are responsible for taking photos of the top, front, back, left and right of the photographing bogie 15 respectively.

[0032] In this embodiment, the first collaborative robot 4 and the first 3D vision module 5 both adopt existing technologies.

[0033] Among them, a collaborative robot + 3D module is installed on the seventh-axis robot 11 below the truss robot 3 to achieve all-round photo detection in the track direction. The robot on the lower side can extend its robotic arm to the outside of the track to photograph the lower points of the bogie. Specifically, the civil engineering 8 excavates an area to form a pit foundation. The seventh-axis robot 11 is installed on the pit foundation floor (corresponding to the inspection and testing position). The seventh-axis robot 11 is set along the extension direction of the above-mentioned dedicated track 21 and I-rail 22 and is only located at the inspection position to reduce energy consumption. The seventh-axis robot 11 is equipped with a second collaborative robot 13, and the second collaborative robot 13 is equipped with a second 3D vision module 12. The second 3D vision module 12 takes photos and collects data from below the bogie 15.

[0034] In this embodiment, the second collaborative robot 13 and the second 3D vision module 12 both adopt existing technologies.

[0035] Within the foundation of civil engineering 8, multiple track support columns 9 are installed. Two parallel tracks are mounted on these support columns 9: an overhead dedicated track 21 and an I-shaped track 22. The bogie 15, awaiting inspection, travels on these dedicated and I-shaped tracks. The wheels on both sides of the bogie 15 land on the tracks simultaneously, allowing for forward and backward movement. A roller transport system, including a forklift slide 101 mounted on the dedicated track 21 and mounted on the track, is used to lift one wheel of the bogie 15 and transport it from the loading position to the desired location (inspection position) as needed. This system eliminates the need for camera space, enabling comprehensive photo collection.

[0036] like Figure 5 and Figure 6 As shown in FIG, it is a schematic diagram of the roller transport device carrying out roller transport and transfer of the bogie 15. Figure 8 As shown, parallel guide rails 108 are installed along the inner wall of the dedicated track 21. A slider is installed on the upper guide rail 108, which can slide relative to the upper guide rail 108 and is fixed to the bottom of the slide plate 1020 of the forklift slide 101. A transmission rack 1010 is installed on the lower guide rail 108, which meshes with the transmission gear 1015 of the forklift slide 101 for power transmission. A drag chain slot bracket 1013 is fixed to the bottom of the inner side of the dedicated track 21 beam. A drag chain slot 1012 is fixed to the drag chain slot bracket 1013, and a drag chain 1011 is placed in the drag chain slot 1012. The drag chain slot 1012 is provided along the dedicated track 21 to support and hold the drag chain 1011. The fork material slide 101 moves along the dedicated track 21. The side of the fork material slide 101 is equipped with two retractable wheel mechanisms 1014. When the fork material slide 101 moves to the position just below the wheel of the bogie 15 (such as Figure 7 ), the supporting wheel mechanism 1014 extends out just to clamp the wheels from both sides.

[0037] like Figures 9 to 11 As shown, the fork slide 101 includes a vertically arranged slide plate 1020 and a power mechanism, a supporting wheel mechanism 1014, a clamping mechanism and a damping mechanism arranged on the slide plate 1020.

[0038] Regarding the power mechanism, such as Figure 10 and Figure 11 As shown, it includes a first motor adjustment plate 1039, a second servo reducer 1040, a second servo motor 1041 and a transmission gear 1015; the first motor adjustment plate 1039 is configured on the inner side of the slide plate 1020, and the second servo reducer 1040 is fixedly configured on the inner side of the first motor adjustment plate 1039. The input end of the second servo reducer 1040 is connected to the second servo motor 1041, and the output end of the second servo reducer 1040 is connected to the transmission gear 1015. The transmission gear 1015 and the transmission rack 1010 are engaged for power transmission. Preferably, a first limit block 1057 and a second limit block 1058 are set on both sides of the first motor adjustment plate 1039. The first limit block 1057 and the second limit block 1058 can adjust and limit the position of the first motor adjustment plate 1039 by configuring corresponding screws and nuts, thereby ensuring that the meshing of the transmission gear 1015 and the transmission rack 1010 reaches a reasonable contact surface requirement for easy adjustment, and prevent the contact surface changes from affecting the service life.

[0039] Regarding the supporting wheel mechanism 1014, Figure 9 As shown, one of the supporting roller mechanisms 1014 is used as an example for explanation, and the other supporting roller mechanism 1014, which is symmetrical to it, will not be described in detail: a first guide sleeve 1044 is fixed to a first fixed plate 1045, and a first telescopic shaft 1042 is disposed within the first guide sleeve 1044. The inner end of the first telescopic shaft 1042 is connected to the telescopic end of the first cylinder 1027. The fixed end of the first cylinder 1027 is fixed to the first fixed plate 1045, and a first roller 1043 is disposed at the outer end of the first telescopic shaft 1042. The movement of the first cylinder 1027 drives the first telescopic shaft 1042 within the first guide sleeve 1044 to move forward, and the first roller 1043 on the first telescopic shaft 1042 extends. The synchronized second cylinder 1032 drives the second telescopic shaft 1056 within the second guide sleeve 1050 to move forward, and the second roller 1055 on the second telescopic shaft 1056 extends. The two rollers reach under the wheel of the bogie 15 and support the wheel.

[0040] Regarding the clamping mechanism, Figures 9 to 11As shown, it includes a first servo motor 1028, a first servo reducer 1029, a first sprocket 1048, a transmission chain 1031, a second sprocket 1067, a symmetrical nut trapezoidal screw 1046, a second ball guide rail 1051, a first small slide plate 1065 and a second small slide plate 1066; the second ball guide rails 1051 are arranged on both sides of the inner side of the slide plate 1020, and the first small slide plate 1065 or the second small slide plate 1066 is arranged on the second ball guide rail 1051, that is, the first small slide plate 1065 and the second small slide plate 1066 are located on both sides of the inner side of the slide plate 1020, and the first small slide plate 1065 or the second small slide plate 1066 can slide on the second ball guide rail 1051. The first small slide plate 1065 and the second small slide plate 1066 are fixed with the supporting roller mechanism 1014 (specifically, the first guide sleeve 1044, the first fixing plate 1045 and other structures, and the second guide sleeve 1050, the second fixing plate 1049 and other structures). The other sides (two opposite sides) of the first small slide plate 1065 and the second small slide plate 1066 are respectively connected to the two pairs of nuts of the symmetrical nut trapezoidal screw 1046. The middle of the symmetrical nut trapezoidal screw 1046 is fixed in the upper groove of the transmission bracket 1030 via the second shaft retaining ring 1063 and the second bearing 1064. The tail end of the symmetrical nut trapezoidal screw 1046 is fixed to the protruding tail end of the transmission bracket 1030 via the first bearing 1060 and the first shaft retaining ring 1061. A second sprocket 1068 is installed on the symmetrical nut trapezoidal screw 1046 and is located on the inner side of the first bearing 1060 end. 1031 is installed on the second sprocket 1068. The other end of the transmission chain 1031 is connected to the first sprocket 1048. The first sprocket 1048 is fixed on the output shaft of the first servo reducer 1029. The input end of the first servo reducer 1029 is fixed with a first servo motor 1028 to realize power output, ensuring that the rotation of the motor screw drives the two sprockets to rotate, and then drives the symmetrical nut trapezoidal screw 1046 to rotate, and finally drives the two pairs of nuts on the symmetrical nut trapezoidal screw 1046 to move synchronously and symmetrically, ensuring that the two small slide plates on both sides and the supporting wheel mechanism 1014 on the small slide plates move synchronously and symmetrically, thereby realizing the wheels of the bogie 15 being clamped from both sides. Preferably, the first servo reducer 1029 is fixed to the transmission bracket 1030 through the second motor adjustment plate 1062. The second motor adjustment plate 1062 is equipped with a waist-shaped hole to adjust the tightness of the chain to ensure normal transmission. The bottom is tightened and limited by screws and then fixed and locked by screws.

[0041] Regarding the damping mechanism, such as Figure 10As shown, it includes a first damping bracket 1021, a first damper 1022, a first adjusting block 1023, a first blocking bracket 1024, a first blocker 1025, a first ball guide 1047, a middle baffle 1059, a second blocker 1033, a second blocking bracket 1034, a second adjusting block 1035, a second damping bracket 1036, and a second damper 1037; as shown Figure 9 As shown, a first ball guide rail 1047 is fixed on the upper inner side of the slide plate 1020, and the slider of the first ball guide rail 1047 is fixedly connected to the bottom of the transmission bracket 1030. Figure 10 and Figure 11 As shown, the transmission bracket 1030 is fixed on the side of the middle block plate 1059 (the middle block plate 1059 is symmetrically arranged), and the two sides of the middle block plate 1059 contact the end faces of the first blocker 1025 and the second blocker 1033. The first blocker 1025 and the second blocker 1033 are respectively fixed on the first blocking bracket 1024 and the second blocking bracket 1034. The backs of the first blocking bracket 1024 and the second blocking bracket 1034 are adjusted and limited by the first adjusting block 1023 and the second adjusting block 1035 in conjunction with the screws and nuts above: the first adjusting block 1023 and the second adjusting block 1035 are set as inverted T-shaped parts, as shown Figure 9 As shown, the bottom of the inverted T-shaped part is fixed and locked to the first damping bracket 1021 and the second damping bracket 1036 with two fixing screws respectively; the middle of the inverted T-shaped part is installed with screws horizontally, and the position of the screws can be adjusted forward and backward to tighten the first blocking bracket 1024 and the second blocking bracket 1034 to adjust and prevent displacement. The tail ends of the first damper 1022 and the second damper 1037 are also fixed on the first damping bracket 1021 and the second damping bracket 1036 respectively. The rod ends of the first damper 1022 and the second damper 1037 contact the tail ends on both sides of the middle block plate 1059. When the slider of the first ball guide rail 1047 swings left and right due to inertia, the kinetic energy will be transferred to the damper (the first damper 1022 and the second damper 1037), consuming the inertial kinetic energy, and when it hits the blocker (the first blocker 1025 and the second blocker 1033), the blocker will return to the center position because it is made of reset material (high elastic material, such as rubber, spring, etc.).

[0042] In addition, a detection switch 18 is installed at one side of the civil engineering 8. When the detection switch 18 detects that the bogie 18 is in place, it transmits communication to the upper and lower 3D vision modules for image capture. One set of detection switches 18 is located outside the detection position; the other set of detection switches 18 is located at a distance equal to the distance between the front and rear wheels of the bogie 15. In other words, the two sets of detection switches 18 correspond to the front and rear wheels of the bogie 15, and together detect whether the bogie 15 is in place.

[0043] The structure of the detection switch 1 of this embodiment adopts the existing technology.

[0044] Furthermore, a protective fence 1 is installed on the civil engineering 8 to provide safety protection on both sides of the pit foundation. An electrical cabinet 2 is also installed on the civil engineering 8 to accommodate the equipment. A gate 6 is also installed on the civil engineering 8 to provide safety protection at the front and back of the pit foundation. An operating console 7 (with built-in control mechanisms) is also installed on the civil engineering 8.

[0045] In addition, side ladders 20 are provided on the front and rear sides of the civil engineering 8 for convenient manual entry into the tunnel and for manual re-inspection operations.

[0046] In addition, an intermediate aisle ladder 16 is provided in the middle of the rear side of the civil engineering 8 for personnel to enter the tunnel and inspect the bottom of the bogie 15 .

[0047] In addition, drainage troughs 17 are provided in the civil engineering 8 tunnel for drainage of leakage.

[0048] This embodiment also provides a robot controller 19, which includes a control mainboard, a chip, etc., and is connected to communicate with each of the above-mentioned robots to control each robot; the robot controller 19 is further connected to communicate with the control mechanism.

[0049] The method for performing intelligent inspection on the bogie 15 using the subway bogie intelligent inspection system of this embodiment is as follows: (1) Manually push the bogie 15 to the edge of the track (before it is officially on the two tracks), and start the system of this embodiment through the operating console 7; (2) The fork slide 101 on the dedicated track 21 starts and accurately drags the bogie 15 to the detection position: When the first servo motor 1028 drives the symmetrical nut trapezoidal screw 1046 to operate through the first servo reducer 1029, two sprockets, and the transmission chain 1031, the two nuts on the symmetrical nut trapezoidal screw 1046 respectively drive the first small slide plate 1065 and the second small slide plate 1066 to operate symmetrically; by driving the first telescopic shaft 1042 and the second telescopic shaft 1056 on the first small slide plate 1065 and the second small slide plate 1066 to extend, the wheel rims on both sides (such as Figure 7 As shown, due to the use of a trapezoidal screw, the clamping mechanism is in a self-locking state, ensuring a safe and reliable clamping action. The second servo motor 1041 runs, driving the transmission gear 1015 to rotate, realizing the transmission rack 1010, driving the bogie 15 to reach the detection position.

[0050] (Since the bogie 15 is heavy and has a large inertia at the moment of starting, the overall mechanism on the transmission bracket 1030 transmits the kinetic energy to the first damper 1022 and the second damper 1037 fixed on the slide plate 1020 and the configured first blocker 1025 and the second blocker 1033 through the middle baffle 1059. When the inertia disappears, the first blocker 1025 and the second blocker 1033 will reset to ensure that the transmission bracket 1030 returns to its original position on the first ball guide rail 1047. The inertial kinetic energy is also consumed when stopping to ensure that the structure is not subject to large impact force and the fork slide 101 operates stably and reliably).

[0051] (3) At the same time, the detection switch 18 detects and verifies whether the wheels of the bogie 15 have all triggered signals; (4) The truss robot 3 carries two sets of first collaborative robots 4 and the first 3D vision module 5 to the upper part of the bogie 15 and the front, back, left, and right sides to take photos; at the same time, the seventh-axis robot 11 carries the second collaborative robot 13 and the second 3D vision module 12 to the lower part of the bogie 15 where photos need to be taken. After completion, each robot returns to its initial waiting position; (5) The fork slide 101 drags the bogie 15 to the manual review position (such as Figure 2 The position of the left bogie 15 shown is the manual review position, and the position of the right bogie 15 is the inspection position. The person enters from the right position and exits from the left position for manual re-inspection (this is because if the visual inspection detects that an item is unqualified or the screw is not tightened (one of the situations), a work station is required for manual tightening operation); (6) The test data is transmitted to the background for data analysis, and the relevant processing results are fed back to the display screen of the operation console 7 for workers to process the test results.

[0052] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. An intelligent inspection system for subway bogies, characterized in that: The system includes a control mechanism and an upper vision acquisition module, a first collaborative robot, a truss manipulator, a roller transport device, a seventh-axis robot, a second collaborative robot and a lower vision acquisition module connected to the control mechanism; a first collaborative robot is arranged on the truss manipulator above the ground, and the first collaborative robot is connected to the upper vision acquisition module to take pictures and collect images of the top, front, back, left and right of the bogie; a second collaborative robot is arranged on the seventh-axis robot in the pit below the ground, and the second collaborative robot is provided with a lower vision acquisition module to take pictures and collect images of the bottom of the bogie; the roller transport device includes an existing track, a fork slide arranged on the track and integrated with the track, and the fork slide lifts the wheels of the bogie for precise transfer.

2. The subway bogie intelligent inspection system according to claim 1, characterized in that: A guide rail and a transmission rack are arranged on the inner side of the track; the fork slide includes a slide plate and a power mechanism, a supporting roller mechanism and a clamping mechanism arranged on the slide plate; the power mechanism includes a second servo motor, a second servo reducer and a transmission gear connected in sequence, and the transmission gear is meshed with the transmission rack; the clamping mechanism includes a first servo motor, a first servo reducer, a first sprocket, a transmission chain, a second sprocket, a symmetrical nut trapezoidal screw, a small slide plate and a second ball guide rail connected in sequence; the second ball guide rails are fixed on both sides of the inner wall of the slide plate, and the two small slide plates slide on the second ball guide rails; the two nuts of the symmetrical nut trapezoidal screw are fixed on the opposite sides of the two small slide plates, the screw of the symmetrical nut trapezoidal screw is connected to the second sprocket, and the symmetrical nut trapezoidal screw is fixed on the transmission bracket on the inner side of the slide plate; the supporting roller mechanism is fixed outward on the small slide plate, and the supporting roller mechanism is telescopically arranged.

3. The subway bogie intelligent inspection system according to claim 2, characterized in that: The fork slide also includes a damping mechanism symmetrically fixed on the inner side of the slide plate, and the damping mechanism includes a damping bracket, a damper, an adjusting block, a blocking bracket and a blocker; a first ball guide is fixed on the upper inner side of the slide plate, and the slider of the first ball guide is fixedly connected to the bottom of the transmission bracket, and a symmetrically arranged middle block plate is fixed on the side of the transmission bracket; both sides of the middle block plate contact the end faces of the two blockers, and the blocker is fixed on the blocking bracket; the back of the blocking bracket is tightened by the adjusting block and the screw nut on the adjusting block, and the bottom of the adjusting block is locked on the damping bracket by a fixing screw; the tail end of the damper is also fixed on the damping bracket, and the rod end of the damper contacts the tail ends on both sides of the middle block plate; the blocker is made of reset material.

4. The subway bogie intelligent inspection system according to claim 2, characterized in that: The supporting roller mechanism includes a telescopic shaft, a roller, a guide sleeve, a fixed plate and a cylinder; a guide sleeve is fixed on the fixed plate, a telescopic shaft is arranged in the first guide sleeve, the inner end of the telescopic shaft is connected to the telescopic end of the cylinder, the fixed end of the cylinder is fixed on the fixed plate, and a roller is provided at the outer end of the telescopic shaft.

5. The intelligent inspection system for subway bogies according to claim 2, characterized in that: The roller transport device is provided with only one fork material slide, which is located inside one track and only drags one wheel of the bogie.

6. The subway bogie intelligent inspection system according to any one of claims 1 to 5, characterized in that: The truss manipulator includes a column, a Z-axis manipulator, a Y-axis manipulator, and an X-axis manipulator. The column is upright and fixed on the ground. The X-axis manipulator is horizontally arranged on the column. The two X-axis manipulators are arranged in parallel and are respectively located on both sides of the civil engineering. The Y-axis manipulator is vertically arranged between the two X-axis manipulators. Two Z-axis manipulators are upright on the Y-axis manipulator. The ends of the two Z-axis manipulators are respectively connected to the first collaborative robot, so that the first collaborative robot moves linearly in the three directions of X, Y, and Z axes.

7. The subway bogie intelligent inspection system according to any one of claims 1 to 5, characterized in that: A seventh-axis robot is set in the pit below the civil engineering. The seventh-axis robot is set along the moving direction of the bogie and is only set at the detection position; the upper visual acquisition module and the lower visual acquisition module use 3D vision modules.

8. The subway bogie intelligent inspection system according to any one of claims 1 to 5, characterized in that: The system also includes detection switches, one group of detection switches is located outside the detection position; the distance between the other group of detection switches and the one group of detection switches is the distance between the front and rear wheel pairs of the bogie, that is, the two groups of detection switches correspond to the front and rear wheel pairs of the bogie respectively, and jointly detect whether the bogie is in place.

9. A subway bogie intelligent inspection method, characterized in that: The method comprises: (1) Manually push the bogie to the edge of the track; (2) The fork slide on the track starts to drag the bogie accurately to the detection position: when the first servo motor drives the symmetrical nut trapezoidal screw to operate through the first servo reducer, two sprockets, and transmission chain, the two nuts on the symmetrical nut trapezoidal screw respectively drive the first small slide plate and the second small slide plate to operate symmetrically; at the same time, the supporting wheel mechanism on the first small slide plate and the second small slide plate is driven to extend and firmly clamp the wheel rims on both sides of the wheel; the second servo motor is operated, which drives the transmission gear and transmission rack to move in turn, thereby accurately moving the bogie to the detection position; (3) Simultaneously test the switches to verify whether all wheels of the bogie trigger signals; (4) The truss robot carries two sets of first collaborative robots and the upper visual acquisition module to the upper part of the bogie and to the front, back, left, and right to take photos; at the same time, the seventh-axis robot carries the second collaborative robot and the lower visual acquisition module to the lower part of the bogie to take photos, and after completion, each returns to the initial waiting position; (5) The fork slide drags the bogie to the manual review position for manual re-measurement; (6) The detection data is transmitted to the background for data analysis, and the relevant processing results will be fed back to the display screen of the operation console.

10. The method according to claim 9, wherein Since the bogie is heavy and has a large inertia at the moment of starting, the overall mechanism on the transmission bracket transmits the kinetic energy to the first damper and the second damper fixed on the slide plate and the configured first blocker and the second blocker through the middle baffle. When the inertia disappears, the first blocker and the second blocker will reset to ensure that the transmission bracket returns to its original position on the first ball guide rail. The inertial kinetic energy is also consumed when stopping to ensure that the structure is not subject to large impact force and the fork slide operates stably and reliably.

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