Bogie delivery inspection system

Abstract

The utility model discloses a bogie delivery inspection system which comprises a portal frame, a six-axis robot and a pushing assembly. The geometric center of the portal frame and the center of the cross section of the trench are positioned on the same straight line; a top robot is arranged on a top beam of the portal frame and can move in the extending direction of the portal frame. A bottom robot is arranged in the trench and provided with a moving module, and the moving module can move in the extending direction of the trench and / or in the direction perpendicular to the extending direction of the trench; the six-axis robot comprises a fixed end, a movable end and a functional end; a camera module is fixed to the function end and used for shooting and recording the bogie. The pushing assembly is used for pushing the bogie to a preset shooting position. According to the bogie delivery inspection system provided by the utility model, manual work is replaced by the robot, the inspection efficiency can be improved, the omission ratio can be reduced, and the traceability can be improved.

Description

Technical Field

[0001] The utility model relates to the field of bogie inspection, in particular to a bogie inspection system. Background Art

[0002] Bogie inspection refers to the inspection and record of the assembly quality of the bogie assembled after maintenance. The current process is mostly manual recording and manual judgment. The current operation mode has the following pain points: the inspection of bogies is basically manual, and the inspection standards are difficult to unify; the quality of camera and flashlight photography varies greatly, and spot checks and traceability are difficult; manual work is intensive and the maintenance efficiency is low, which cannot meet future efficiency improvement requirements.

[0003] Currently, there is a method to achieve intelligent detection through a truss, but the top robot moves on the two-axis module on the truss, the base strength requirements are high, the truss needs to be made very large, and the space requirements are high. The equipment occupies a large area on the ground, especially the horizontal direction perpendicular to the track. Because the robot's movement range must be completely inside the truss, if there are parallel tracks next door, the bogie may interfere with the equipment's column and cannot pass through; the truss has poor portability because the equipment occupies a large space and cannot be installed in some EMU depots or needs to redo the infrastructure separately. The truss requires high installation accuracy across the trench. After the robot path is transplanted, it may be inaccurate due to positioning and other problems; the truss will cost more because it requires more actuators, more materials, and occupies a larger area, so it also requires higher processing costs. Utility Model Content

[0004] In view of this, the utility model provides a bogie inspection system, which uses robots to replace manual labor, improves inspection efficiency, reduces missed inspection rate, and improves traceability.

[0005] In order to solve the above technical problems, the utility model provides a bogie inspection system, comprising:

[0006] Gantry, six-axis robot and push assembly;

[0007] The gantry is erected on the trench, with its geometric center and the cross-sectional center of the trench located in the same straight line;

[0008] A top robot is arranged on the top beam of the gantry, and the top robot can move along the extension direction of the gantry; a bottom robot is arranged in the trench, and the bottom robot is provided with a moving module, and can move along the extension direction of the trench and / or perpendicular to the extension direction of the trench;

[0009] The six-axis robot includes a fixed end, a movable end and a functional end; the functional end is fixed with a camera module for photographing and recording the bogie;

[0010] The pushing component is used to push the bogie to a preset shooting position.

[0011] As an optional method, it also includes a movable track that cooperates with the pushing component, and the movable track is arranged on the side wall of the trench.

[0012] As an optional method, the gantry top beam is provided with a first track and a second track, and one end of the top robot can cooperate with the first track and / or the second track and move along the extension direction of any track; wherein the first track is parallel to the gantry top beam, and the second track is perpendicular to the gantry top beam.

[0013] As an optional manner, the movable end of the six-axis robot includes a first movable end, a second movable end, a third movable end and a fourth movable end connected in sequence; the first movable end is movably connected to the fixed end, and the fourth movable end is fixedly connected to the functional end.

[0014] As an optional manner, the fixed end is a rotating base, which is rotatably connected to one end of the first movable end and serves as a transmission mechanism of the first movable end;

[0015] The other end of the first movable end is rotatably connected to one end of the second movable end, serving as a transmission structure of the second movable end;

[0016] The other end of the second movable end is rotatably connected to one end of the third movable end, serving as a power transmission structure of the third movable end;

[0017] The other end of the third movable end is rotatably connected to one end of the fourth movable end, serving as a power transmission structure of the fourth movable end;

[0018] The other end of the fourth movable end is rotationally connected to the functional end to serve as a transmission structure of the functional end.

[0019] As an optional manner, the fixed end, the first movable end, the second movable end, the third movable end, the fourth movable end and the functional end are respectively connected with a power cable and a signal cable.

[0020] As an option, two top robots are provided and one bottom robot is provided.

[0021] The beneficial effects of the utility model are:

[0022] 1. The gantry-type top robot installation method is more reliable, the foundation is more solid, and the strength requirements for columns and beams are lower;

[0023] 2. Lower material and processing costs;

[0024] 3. Since the gantry on the ground part does not need to move along the track and does not require additional weighing, it can be made into a small-sized bracket. The overall equipment occupies a small ground area and has less impact on other equipment and people in the workshop. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the structure of a traffic inspection system provided by an embodiment of the utility model;

[0026] Figure 2 A front view of a traffic inspection system provided by an embodiment of the utility model;

[0027] Figure 3 A schematic diagram of the structure of a six-axis robot in one embodiment of the present utility model.

[0028] Reference numerals and their corresponding relationships:

[0029] 1-gantry, 2-moving track, 3-pushing component, 4-moving module, 51-top robot, 52-bottom robot, 61-first track, 62-second track, 71-fixed end, 721-first movable end, 722-second movable end, 723-third movable end, 724-fourth movable end, 73-functional end, 74-camera module. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0031] Example

[0032] See also Figure 1-3 This embodiment provides a bogie inspection system, including: a gantry 1, a six-axis robot and a push assembly 3; the gantry 1 is set up on the trench, and its geometric center is in the same straight line as the cross-sectional center of the trench, so as to ensure the overall stability and integrity of the structural system.

[0033] A top robot 51 is arranged on the top beam of the gantry 1, and the top robot 51 can move along the extension direction of the gantry 1; a bottom robot 52 is arranged in the trench, and the bottom robot 52 is provided with a moving module 4, which can move along the extension direction of the trench and / or perpendicular to the extension direction of the trench.

[0034] The six-axis robot includes a fixed end 71, a movable end and a functional end 73; the functional end 73 is fixed with a 3D camera and a 2D camera for photographing and recording the bogie; the pushing component 3 is used to push the bogie to a preset shooting position.

[0035] In this embodiment, in order to enable the bogie to be properly transported to a predetermined position by the pushing assembly 3 to facilitate the robot to shoot, it includes a moving track 2 that cooperates with the pushing assembly 3, and the moving track 2 is set on the side wall of the trench.

[0036] In addition, the top beam of the gantry 1 is provided with a first track 61 and a second track 62, and one end of the top robot 51 can cooperate with the first track 61 and / or the second track 62, and move along the extension direction of any track; wherein, the first track 61 is parallel to the top beam of the gantry 1, and the second track 62 is perpendicular to the top beam of the gantry 1. In this way, the top robot 51 can move in the horizontal and vertical directions, and can achieve all-round shooting of the bogie. Although in this embodiment, the top robot 51 can only move on the linear track of the top beam of the gantry 1 on the horizontal axis. However, since it is equipped with a six-axis robot, the camera module 74 can be driven by the movable end to move back and forth to achieve the required shooting angle.

[0037] Please refer again Figure 2 , two top robots 51 are provided, and one bottom robot 52 is provided. The shooting angle can be better guaranteed. The camera module 74 is preferably a 3D camera and a 2D camera in this embodiment.

[0038] Please refer again Figure 3 As an optional method, the movable end of the six-axis robot includes a first movable end 721, a second movable end 722, a third movable end 723 and a fourth movable end 724 connected in sequence; the first movable end 721 is movably connected to the fixed end 71, and the fourth movable end 724 is fixedly connected to the functional end 73. The fixed end 71 is a rotating base, which is rotatably connected to one end of the first movable end 721, serving as a transmission mechanism of the first movable end 721; the other end of the first movable end 721 is rotatably connected to one end of the second movable end 722, serving as a transmission structure of the second movable end 722; the other end of the second movable end 722 is rotatably connected to one end of the third movable end 723, serving as a power transmission structure of the third movable end 723; the other end of the third movable end 723 is rotatably connected to one end of the fourth movable end 724, serving as a power transmission structure of the fourth movable end 724; the other end of the fourth movable end 724 is rotatably connected to the functional end 73, serving as a transmission structure of the functional end 73.

[0039] The fixed end 71 , the first movable end 721 , the second movable end 722 , the third movable end 723 , the fourth movable end 724 and the functional end 73 are respectively connected with power cables and signal cables.

[0040] In this way, the functional end 73 of the top robot 51 has a 3D camera and a 2D camera, which can take photos and videos on the top, left, right, front and back of the bogie. The 6+2-axis robot is very flexible and can allow the camera to go to any narrow space that can pass through to take photos; the bottom robot 52 is installed in the ditch and has a left and right, up and down moving module 4 and a 6-axis robot that are perpendicular to the track direction. It can take photos and videos at any position on the bottom of the bogie and has high flexibility in a small space.

[0041] In this embodiment, in an implementable scenario, the inspection steps are as follows:

[0042] (1) The bogie is manually pushed to any location in the work area, the personnel leave the site, start the equipment, and the handheld device automatically identifies the bogie information through the QR code;

[0043] (2) Start the operation. The push component 3 automatically sends the bogie to the predetermined position. The top robot 51 and the bottom robot 52 run the predetermined path to take pictures and record each point, and upload them to the server;

[0044] (3) The server determines whether the item is qualified and provides feedback to the worker through the handheld device;

[0045] (4) If the product fails to meet the standards, the inspection worker will review it using a handheld device and manually determine whether it is qualified. The points that cannot be photographed by the machine will be manually recorded and determined;

[0046] (5) Push out the bogie and the operation is completed.

[0047] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A bogie inspection system, characterized in that: include: Gantry (1), six-axis robot and push assembly (3); The gantry (1) is erected on the trench, and its geometric center is located in the same straight line as the cross-sectional center of the trench; A top robot (51) is arranged on the top beam of the gantry (1), and the top robot (51) can move along the extension direction of the gantry (1); a bottom robot (52) is arranged in the trench, and the bottom robot (52) is provided with a moving module (4), and can move along the extension direction of the trench and / or perpendicular to the extension direction of the trench; The six-axis robot comprises a fixed end (71), a movable end and a functional end (73); the functional end (73) is fixed with a camera module (74) for photographing and recording the bogie; The pushing component (3) is used to push the bogie to a preset shooting position.

2. A bogie inspection system according to claim 1, characterized in that: It also comprises a movable track (2) cooperating with the pushing assembly (3), and the movable track (2) is arranged on the side wall of the trench.

3. A bogie inspection system according to claim 1, characterized in that: The top beam of the gantry (1) is provided with a first track (61) and a second track (62), and one end of the top robot (51) can cooperate with the first track (61) and / or the second track (62) to move along the extension direction of any track; wherein the first track (61) is parallel to the top beam of the gantry (1), and the second track (62) is perpendicular to the top beam of the gantry (1).

4. A bogie inspection system according to claim 1, characterized in that: The movable end of the six-axis robot comprises a first movable end (721), a second movable end (722), a third movable end (723) and a fourth movable end (724) which are connected in sequence; the first movable end (721) is movably connected to the fixed end (71), and the fourth movable end (724) is fixedly connected to the functional end (73).

5. A bogie inspection system according to claim 4, characterized in that: The fixed end (71) is a rotating base, which is rotatably connected to one end of the first movable end (721) and serves as a transmission mechanism of the first movable end (721); The other end of the first movable end (721) is rotatably connected to one end of the second movable end (722) to serve as a transmission structure of the second movable end (722); The other end of the second movable end (722) is rotatably connected to one end of the third movable end (723) to serve as a power transmission structure of the third movable end (723); The other end of the third movable end (723) is rotatably connected to one end of the fourth movable end (724) to serve as a power transmission structure of the fourth movable end (724); The other end of the fourth movable end (724) is rotationally connected to the functional end (73) to serve as a transmission structure of the functional end (73).

6. A bogie inspection system according to claim 5, characterized in that: The fixed end (71), the first movable end (721), the second movable end (722), the third movable end (723), the fourth movable end (724) and the functional end (73) are respectively connected to a power cable and a signal cable.

7. The bogie inspection system according to claim 1, characterized in that: Two top robots (51) are provided, and one bottom robot (52) is provided.

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