Bottom inspection robot for motor train unit

Abstract

A motor train unit bottom inspection robot is used for motor train unit bottom detection. The robot comprises a robot main body part, two groups of vertical tower type lifting mechanisms, two groups of automatic detection mechanical arms, two groups of depth cameras, two groups of high-precision positioning cameras, two groups of monitoring cameras, a linear array imaging device, two groups of position laser devices, two groups of obstacle avoidance devices, two groups of communication devices and two groups of track long-stroke equipment positioning devices. The two sets of track long-stroke equipment positioning devices are arranged on the two sides of the robot body part correspondingly and are in transmission connection with the corresponding steel rails on the two sides of the track correspondingly. According to the utility model, double positioning devices are designed on the two sides of the inspection robot, so that the inspection robot can realize more accurate detection and positioning, thereby avoiding the problem that the inspection robot affects the detection result due to inaccurate positioning; the utility model has the advantages of strong practicability and strong popularization significance.

Description

Technical Field

[0001] This utility model relates to the field of train track technology, and in particular to a robot for inspecting the undercarriage of high-speed trains. Background Technology

[0002] During long-term operation, high-speed trains often require regular inspection and maintenance, especially the undercarriage. Current undercarriage inspection methods typically involve manual labor or robotic arms, utilizing track-mounted inspection robots for efficient and accurate testing. Manual inspection is often time-consuming and labor-intensive, and the reliability of the results is insufficient, easily leading to missed inspections. While inspection robots can employ semi-automatic or automatic methods, significantly improving efficiency and reliability, the robots' positioning on the track can also be inaccurate, affecting the reliability of the results. Utility Model Content

[0003] Therefore, it is necessary to provide a high-speed train undercarriage inspection robot to address the shortcomings of existing technologies.

[0004] A high-speed train undercarriage inspection robot, used for inspecting the undercarriage of high-speed trains, includes a robot body, two sets of vertical tower lifting mechanisms, two sets of automatic inspection robotic arms, two sets of depth cameras, two sets of high-precision positioning cameras, two sets of monitoring cameras, a linear array imaging device, two sets of position laser devices, two sets of obstacle avoidance devices, two sets of communication devices, and two sets of long-stroke track positioning devices. The robot body is mounted on the track, and its interior has an upward-opening mounting cavity. The two sets of vertical tower lifting mechanisms are installed within the mounting cavity and can be vertically raised and lowered. The two sets of automatic inspection robotic arms are respectively mounted on the upper ends of the two sets of vertical tower lifting mechanisms. The two sets of depth cameras, obstacle avoidance devices, and communication devices are respectively mounted at the front and rear ends of the robot body. The two sets of high-precision positioning cameras and position laser devices are both mounted on the upper end of the robot body and located outside the two sets of automatic inspection robotic arms. The two sets of monitoring cameras and linear array imaging devices are both mounted on the upper end of the robot body and located between the two sets of automatic inspection robotic arms. The two sets of track long-stroke equipment positioning devices are respectively installed on both sides of the robot body and are respectively connected to the corresponding steel rails on both sides of the track.

[0005] Furthermore, the vertical tower lifting mechanism includes an outer frame, a lifting tower, and a drive device. The outer frame has a shaft structure design with an upper opening for lifting space on its inner side. The lifting tower is fitted into the lifting space and can be lifted vertically. The drive device is poweredly connected to the lifting tower.

[0006] Furthermore, the outer frame includes two sets of longitudinal frames, several connecting rods, and lifting slide rails. The two sets of longitudinal frames are arranged facing each other from left to right, the two ends of the several connecting rods are respectively connected to the two sets of longitudinal frames, and the several lifting slide rails are respectively vertically installed on the inner side of the two sets of longitudinal frames.

[0007] Furthermore, the lifting tower includes a lifting frame, several lifting sliders, a transmission rack, and a loading platform. The lifting frame has a hollow frame design and is located inside the lifting space. Several lifting sliders are respectively installed on the outside of the lifting frame and engaged with the lifting rails. The transmission rack is vertically installed on one side of the lifting frame and is poweredly connected to the drive device. The loading platform is installed at the top of the lifting frame.

[0008] Furthermore, the driving device includes a drive motor, a reducer, and a transmission gear, which are sequentially connected in power. The reducer is fixedly mounted on one side of the outer frame, and the transmission gear meshes with a transmission rack. The teeth of both the transmission rack and the transmission gear are designed with an inclined profile.

[0009] Furthermore, the automated inspection robotic arm includes a multi-axis robotic arm and a binocular camera. The multi-axis robotic arm is mounted on a loading platform, and the binocular camera is mounted on the upper end of the multi-axis robotic arm.

[0010] Furthermore, the long-stroke track positioning device includes a mounting base, a rocker arm, a meshing gear, an encoding device, and a retaining spring. A meshing rack is provided on the track. The mounting base is located on one side of the track and also has a sliding guide rail. One end of the rocker arm is axially connected to the mounting base and can rotate movably. The other end of the rocker arm is engaged with the sliding guide rail and can slide along it. The meshing gear and the encoding device are both mounted on the rocker arm. The meshing gear is also meshed with the meshing rack, and the encoding device is connected to the meshing gear via a belt drive. The retaining spring is horizontally positioned, and its two ends are respectively abutted against the mounting base and the rocker arm. The long-stroke track positioning device also includes a positioning terminal, which is mounted on the robot body and signal-connected to the encoding device.

[0011] Furthermore, the rocker arm includes a main arm, a swing shaft, a sliding seat, and a deflection shaft. The main arm is located above the mounting base, and the swing shaft is vertically inserted through the right end of the main arm. The lower end of the swing shaft is also fixedly mounted on the mounting base, and the main arm can rotate movably along the swing shaft. The sliding seat is engaged with and can slide along the sliding guide rail. The deflection shaft is fixedly mounted on the upper end of the sliding seat and is also axially connected to the bottom left end of the main arm, allowing the main arm to deflect movably along the deflection shaft.

[0012] In summary, the beneficial effects of this utility model of a high-speed train undercarriage inspection robot are as follows: By designing dual positioning devices on both sides of the inspection robot, the robot can achieve more accurate detection and positioning, thus avoiding the problem of inaccurate positioning affecting the inspection results; by designing different cameras and imaging, positioning, obstacle avoidance, and communication devices, the inspection robot has more comprehensive visual positioning and visual inspection functions, as well as flexible obstacle avoidance and efficient communication capabilities; the positioning device, through the structural combination of motor, gear, and encoder, can effectively ensure the positioning accuracy of the positioning device itself, effectively preventing inaccurate positioning due to slippage or track wear; the core detection structure of the inspection robot adopts a vertical tower lifting design combined with a multi-axis robotic arm and a binocular camera, which can ensure the stability of the camera during the inspection process and enable the camera to more flexibly inspect every corner of the high-speed train undercarriage; this utility model is highly practical and has strong promotional significance. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of a high-speed train undercarriage inspection robot according to the present invention;

[0014] Figure 2 for Figure 1 A schematic diagram of a vertical tower lifting mechanism;

[0015] Figure 3 for Figure 1 A schematic diagram of the positioning device for long-stroke equipment on medium-speed rail. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the utility model.

[0017] like Figures 1 to 3 As shown, this is the first embodiment of a high-speed train undercarriage inspection robot 100 of this utility model, used for high-speed train undercarriage inspection. It includes a robot body 10, two sets of vertical tower lifting mechanisms 20, two sets of automatic inspection robotic arms 30, two sets of depth cameras 40, two sets of high-precision positioning cameras 50, two sets of monitoring cameras 60, a linear array imaging device 70, two sets of position laser devices 80, two sets of obstacle avoidance devices 90, two sets of communication devices A0, and two sets of long-stroke track equipment positioning devices B0.

[0018] The robot body 10 is mounted on a track (not shown). The robot body 10 also has an upward-opening mounting cavity (not shown). Both sets of vertical tower lifting mechanisms 20 are installed within the mounting cavity and can be vertically raised and lowered. Two sets of automatic detection robotic arms 30 are respectively mounted on the upper ends of the two sets of vertical tower lifting mechanisms 20. Two sets of long-stroke track positioning devices B0 are respectively installed on both sides of the robot body 10 and are respectively connected to the corresponding rails on both sides of the track.

[0019] The long-stroke track positioning devices B0, installed on both sides of the robot's main body 10 and connected to the rails on both sides, can independently achieve precise positioning of the inspection robot. Operators can cross-check the two sets of independent positioning data to further analyze and judge the positioning accuracy of the two devices. If the difference between the positioning data from the two devices is within the allowable accuracy range, the robot's positioning can be considered accurate. If the difference is outside the allowable accuracy range, a height error is detected, and recalibration is required.

[0020] The two sets of depth cameras 40, obstacle avoidance devices 90, and communication devices A0 are respectively installed at the front and rear ends of the robot body 10. The two sets of high-precision positioning cameras 50 and position laser devices 80 are installed at the upper end of the robot body 10 and are respectively located outside the two sets of automatic detection robotic arms 30. The two sets of monitoring cameras 60 and linear array imaging devices 70 are installed at the upper end of the robot body 10 and are located between the two sets of automatic detection robotic arms 30.

[0021] The depth camera 40, paired with the obstacle avoidance device 90, can promptly determine whether there are obstacles at the front and rear ends of the inspection robot, and quickly alert the robot to brake and avoid them when encountering obstacles, preventing collisions between the robot and other equipment or vehicles on the track during the inspection process. A high-precision positioning camera is used to image the undercarriage components of the EMU above, and then, in conjunction with the long-stroke track positioning device B0, determines the robot's position, further achieving precise positioning. The position laser device 80 can perform a comprehensive scan around the inspection robot, thereby determining the relative position of the robot's chassis to surrounding objects, such as pillars and walls. The monitoring camera 60 can monitor the operating status of the automatic inspection robotic arm 30 in real time, allowing operators to understand the inspection status and progress of the automatic inspection robotic arm 30 without climbing the inspection robot. The linear array imaging device 70 is used to scan the undercarriage of the EMU to obtain high-resolution images, which are then used by software algorithms to analyze whether there are any abnormalities in the train components, thereby achieving comprehensive and integrated inspection of the undercarriage of the EMU.

[0022] The vertical tower lifting mechanism 20 includes an outer frame 21, a lifting tower 22, and a drive unit 23. The outer frame 21 has a shaft structure design with an upper-opening lifting space 211 on its inner side. The lifting tower 22 is fitted into the lifting space 211 and can be vertically lifted and lowered. The drive unit 23 is poweredly connected to the lifting tower 22. This vertically lifting tower lifting mechanism allows the automatically inspecting robotic arm 30 mounted on it to be lifted more stably, effectively reducing the swaying problem of the robotic arm 30 during movement, ultimately making the inspection of the train's undercarriage by the robotic arm 30 more accurate and reliable.

[0023] The outer frame 21 includes two sets of longitudinal frames 212, several connecting rods 213, and lifting slide rails 214. The two sets of longitudinal frames 212 are arranged facing each other from left to right. The two ends of the several connecting rods 213 are respectively connected to the two sets of longitudinal frames 212, and the several lifting slide rails 214 are respectively vertically installed on the inner side of the two sets of longitudinal frames 212. The installation structure of the outer frame 21, formed by the combination of longitudinal frames 212, connecting rods 213, and lifting slide rails 214, is easy to assemble and disassemble, making the maintenance of the lifting mechanism easier and simpler.

[0024] The lifting tower 22 includes a lifting frame 221, several lifting sliders 222, a transmission rack 223, and a loading platform 224. The lifting frame 221 has a hollow frame design and is located inside the lifting space 211. Several lifting sliders 222 are respectively installed on the outside of the lifting frame 221 and engaged with lifting rails 214. The transmission rack 223 is vertically installed on one side of the lifting frame 221 and is poweredly connected to the drive device 23. The loading platform 224 is installed at the top of the lifting frame 221. The hollow design of the lifting frame 221 reduces weight, thereby reducing the burden on the drive device 23. The multiple sets of lifting sliders 222, combined with multiple sets of lifting rails 214, ensure more stable and reliable vertical lifting of the lifting frame 221, avoiding tilting during lifting.

[0025] The drive device 23 includes a drive motor 231, a reducer 232, and a transmission gear (not shown). The drive motor 231, reducer 232, and transmission gear are sequentially connected, and the reducer 232 is fixedly mounted on one side of the outer frame 21. The transmission gear meshes with the transmission rack 223. Specifically, in this embodiment, the teeth of both the transmission rack 223 and the transmission gear are designed with an inclined profile. The inclined tooth profile increases the transmission force between the transmission rack 223 and the transmission gear, and also makes the transmission effect smoother, making the lifting mechanism more stable and precise in lifting and lowering large-mass detection devices.

[0026] The automatic inspection robotic arm 30 includes a multi-axis robotic arm 31 and a binocular camera 32. The multi-axis robotic arm 31 is mounted on a loading platform 224, and the binocular camera 32 is mounted on the upper end of the multi-axis robotic arm 31. The multi-axis robotic arm can extend or retract in any direction, allowing the binocular camera 32 to more flexibly inspect every corner of the train's undercarriage.

[0027] The long-stroke track positioning device B0 includes a mounting base B1, a rocker arm B2, a meshing gear B3, an encoding device B4, and a retaining spring B5. A meshing rack is provided on the track. The mounting base B1 is located on one side of the track and also has a sliding guide rail B11. One end of the rocker arm B2 is axially connected to the mounting base B1 and can rotate movably. The other end of the rocker arm B2 is engaged with the sliding guide rail B11 and can slide along the sliding guide rail B11. The meshing gear B3 and the encoding device B4 are both mounted on the rocker arm B2. The meshing gear B3 is also meshed with the meshing rack, and the encoding device B4 is belt-driven connected to the meshing gear B3. The retaining spring B5 is horizontally positioned, and its two ends are respectively abutted against the mounting base B1 and the rocker arm B2. The long-stroke track positioning device B0 also includes a positioning terminal (not shown), which is mounted on the robot body 10 and signal-connected to the encoding device B4. Specifically, in this embodiment, the positioning terminal includes two sets of encoder positioning modules (not shown in the figure), and the encoding device B4 of the two sets of track long-stroke equipment positioning devices B0 is respectively connected to the two sets of encoder positioning modules of the positioning terminal.

[0028] As the inspection robot travels along the track for inspection, the long-stroke positioning device B0 mounted on the robot activates. Whenever the robot moves along the track, the meshing gear B3 rotates relative to the meshing rack. The meshing gear B3, connected to the rack, accurately and clearly records the robot's travel distance on the track, preventing errors caused by slippage of the rubber wheels. This travel distance is then further precisely calculated by the encoding device B4, enabling the long-stroke positioning device B0 to accurately locate the robot's position. The encoding device B4 offers significantly higher positioning accuracy than a conventional motor.

[0029] The rocker arm B2 includes a main arm B21, a swing shaft B22, a sliding seat B23, and a deflection shaft B24. The main arm B21 is located above the mounting base B1. The swing shaft B22 is vertically inserted through the right end of the main arm B21, and its lower end is also fixedly mounted on the mounting base B1. The main arm B21 can rotate movably along the swing shaft B22. The sliding seat B23 is engaged with and can slide along the sliding guide rail B11. The deflection shaft B24 is fixedly mounted on the upper end of the sliding seat B23 and is also axially connected to the bottom left end of the main arm B21. The main arm B21 can deflect movably along the deflection shaft B24.

[0030] After an inspection robot travels on a track for an extended period, the track itself is prone to slight misalignment. Conventional positioning devices employ a fixed structure, and the steel wheels, rubber wheels, gears, etc., originally connected to the track drive, can easily detach from the track, causing the normal positioning function to fail. However, the multi-joint rocker arm B2 structure designed in this application, in conjunction with a retaining spring B5, enables the meshing gear B3 mounted on the rocker arm B2 to have dynamic elastic adjustment capability. Even if the position between the track and the meshing gear B3 changes, the retaining spring B5 will use its elasticity to adjust the rocker arm B2, thereby keeping the meshing gear B3 always pressed against the meshing rack of the track, preventing separation and ensuring proper positioning.

[0031] In addition, this utility model also provides a second embodiment of a high-speed train undercarriage inspection robot 100 for high-speed train undercarriage inspection. This embodiment is basically the same as the first embodiment, except that the positioning terminal further includes a data verification module (not shown) and an alarm module (not shown). The data verification module is connected to the two sets of encoder positioning modules of the positioning terminal, and the alarm module is connected to the data verification module.

[0032] Once the two encoder positioning modules acquire the encoded signals from their respective encoding devices B4, they convert them into positioning coordinate data and output them to the data verification module. The data verification module, upon acquiring the two sets of positioning coordinate data, automatically verifies and compares them. If the difference between the two sets of data is within the allowable accuracy range, the data verification module will issue a signal, prompting the alarm module to issue a precise positioning audible and visual signal (such as a green light and a short beep). If the difference between the two sets of data is outside the allowable accuracy range, the data verification module will issue a signal, prompting the alarm module to issue an inaccurate positioning alarm signal (such as a red flash and a continuous long beep), thus promptly and clearly reminding the operator that the positioning is inaccurate.

[0033] In summary, the beneficial effects of this utility model of a high-speed train undercarriage inspection robot 100 are as follows: By designing dual positioning devices on both sides of the inspection robot, the robot can achieve more accurate detection and positioning, thereby avoiding the problem of inaccurate positioning affecting the detection results; by designing different cameras and imaging, positioning, obstacle avoidance, and communication devices, the inspection robot has more comprehensive visual positioning and visual detection functions, and also has the ability to flexibly avoid obstacles and communicate efficiently; the positioning device, through the structural combination of motor, gear, and encoder, can effectively ensure the positioning accuracy of the positioning device itself, effectively preventing inaccurate positioning due to slippage or track wear; the core detection structure of the inspection robot adopts a vertical tower lifting design combined with a multi-axis robotic arm 31 and a binocular camera 32, which can ensure the stability of the camera during the inspection process and enable the camera to more flexibly inspect every corner of the high-speed train undercarriage; this utility model is highly practical and has strong promotional significance.

[0034] The embodiments described above illustrate only one implementation of the utility model, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be determined by the appended claims.

Claims

1. A high-speed train undercarriage inspection robot, used for inspecting the undercarriage of high-speed trains, characterized in that: The system includes a robot body, two sets of vertical tower lifting mechanisms, two sets of automatic detection robotic arms, two sets of depth cameras, two sets of high-precision positioning cameras, two sets of monitoring cameras, a linear array imaging device, two sets of position laser devices, two sets of obstacle avoidance devices, two sets of communication devices, and two sets of long-stroke track positioning devices. The robot body is mounted on a track, and its interior includes an upward-opening mounting cavity. The two sets of vertical tower lifting mechanisms are installed within the mounting cavity and can be vertically lifted and lowered. The two sets of automatic detection robotic arms are respectively mounted on the two sets of vertical tower lifting mechanisms. The upper end of the lifting mechanism; the two sets of depth cameras, obstacle avoidance devices and communication devices are respectively installed at the front and rear ends of the robot body; the two sets of high-precision positioning cameras and position laser devices are all installed at the upper end of the robot body and are respectively located on the outside of the two sets of automatic detection robotic arms; the two sets of monitoring cameras and linear array imaging devices are all installed at the upper end of the robot body and are both located between the two sets of automatic detection robotic arms; the two sets of long-stroke track positioning devices are respectively installed on both sides of the robot body and are respectively connected to the corresponding steel rails on both sides of the track.

2. The high-speed train undercarriage inspection robot as described in claim 1, characterized in that: The vertical tower lifting mechanism includes an outer frame, a lifting tower, and a drive device; the outer frame is designed as a vertical shaft structure with an upper opening lifting space on its inner side; the lifting tower is fitted into the lifting space and can be lifted vertically; and the drive device is poweredly connected to the lifting tower.

3. The high-speed train undercarriage inspection robot as described in claim 2, characterized in that: The outer frame includes two sets of longitudinal frames, several connecting rods, and lifting slide rails; the two sets of longitudinal frames are arranged opposite each other to the left and right, the two ends of the several connecting rods are respectively connected to the two sets of longitudinal frames, and the several lifting slide rails are respectively vertically installed on the inner side of the two sets of longitudinal frames.

4. The high-speed train undercarriage inspection robot as described in claim 3, characterized in that: The lifting tower includes a lifting frame, several lifting sliders, a transmission rack, and a loading platform. The lifting frame has a hollow frame design and is located inside the lifting space. Several lifting sliders are respectively installed on the outside of the lifting frame and engaged with the lifting slide rail. The transmission rack is vertically installed on one side of the lifting frame and is powered by the drive device. The loading platform is installed on the top of the lifting frame.

5. The high-speed train undercarriage inspection robot as described in claim 4, characterized in that: The driving device includes a drive motor, a reducer, and a transmission gear. The drive motor, reducer, and transmission gear are connected in sequence, and the reducer is fixedly mounted on one side of the outer frame. The transmission gear is meshed with a transmission rack. The tooth profiles of the transmission rack and the transmission gear are both designed to be inclined.

6. The EMU undercarriage inspection robot as described in claim 4, characterized in that: The automatic detection robotic arm includes a multi-axis robotic arm and a binocular camera; the multi-axis robotic arm is mounted on a loading platform, and the binocular camera is mounted on the upper end of the multi-axis robotic arm.

7. The high-speed train undercarriage inspection robot as described in claim 1, characterized in that: The long-stroke track positioning device includes a mounting base, a rocker arm, a meshing gear, an encoding device, and a retaining spring. A meshing rack is provided on the track. The mounting base is located on one side of the track and also has a sliding guide rail. One end of the rocker arm is axially connected to the mounting base and can rotate. The other end of the rocker arm is engaged with the sliding guide rail and can slide along it. The meshing gear and the encoding device are both mounted on the rocker arm. The meshing gear is also meshed with the meshing rack, and the encoding device is connected to the meshing gear via a belt drive. The retaining spring is horizontally positioned, and its two ends are respectively abutted against the mounting base and the rocker arm. The long-stroke track positioning device also includes a positioning terminal, which is mounted on the robot body and signal-connected to the encoding device.

8. The EMU undercarriage inspection robot as described in claim 7, characterized in that: The rocker arm includes a main arm, a rocker shaft, a sliding seat, and a deflection shaft. The main arm is located above the mounting base. The rocker shaft is vertically inserted through the right end of the main arm, and its lower end is also fixedly mounted on the mounting base. The main arm can rotate along the rocker shaft. The sliding seat is engaged with the sliding guide rail and can slide along the sliding guide rail. The deflection shaft is fixedly mounted on the upper end of the sliding seat and is also axially connected to the bottom left end of the main arm. The main arm can deflect along the deflection shaft.

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