A triangular wheel inspection robot used in subway vehicle inspection depot

Abstract

The present invention discloses a triangular wheel inspection robot used in a subway vehicle inspection depot, comprising a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a support mechanism, two sets of driving mechanisms and four sets of running mechanisms, one end of the six-degree-of-freedom mechanical arm is mounted on the main control box and the other end is mounted on the image acquisition module; for each set of the driving mechanisms, each includes a driving motor, a driving shaft, a first bevel gear mechanism and two second bevel gear mechanisms installed together on the main control box; for each running mechanism, each includes a support frame and an intermediate rotating shaft, a wheel shaft, a support frame, a sun gear, a planetary gear and a wheel installed together on the support frame; the support mechanism includes an electric push rod for lifting the two sets of running mechanisms at the front end of the main control box or the two sets of running mechanisms at the rear end. The present invention is small in size, flexible in movement and can be automatically inspected in the upper and lower trenches.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and more specifically, relates to an inspection robot. Background Art

[0002] At present, the daily maintenance of urban rail subway vehicles in my country is complicated and repetitive, and mainly adopts manual visual inspection with simple tools. There are problems such as night shift maintenance, fatigue of operators, misdetection and missed inspection, low maintenance efficiency, strong dependence on experience, many repetitive maintenance items, high labor intensity, and large demand for operators. Therefore, there is a real need for robots to replace manual labor in the daily inspection and maintenance of urban rail subway vehicles, which is very necessary to reduce the impact of human factors on quality control, improve work efficiency and reduce personnel costs.

[0003] At present, no similar products have been found to be used in urban rail transit subway vehicle bases. Similar products are unable to adapt to the complex environment of urban rail transit subway vehicle bases with narrow trenches and steps in the parking and inspection warehouses, as well as the needs for flexible and convenient transfer between maintenance trenches. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a triangular wheel inspection robot used in a subway vehicle inspection depot, which is small in size, flexible in movement and can automatically inspect upper and lower trenches.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present invention, a triangular wheel inspection robot for use in a subway vehicle inspection depot is provided, characterized in that it comprises a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a support mechanism, two sets of drive mechanisms and four sets of running mechanisms, wherein:

[0006] One end of the six-degree-of-freedom robotic arm is mounted on the main control box and the other end is mounted on the image acquisition module;

[0007] For each set of the driving mechanism, each of them comprises a driving motor, a driving shaft, a first bevel gear mechanism and two second bevel gear mechanisms which are installed together on the main control box, the driving motor is connected to the driving shaft through the first bevel gear mechanism, the driving shaft is arranged horizontally and its axis extends in the front-to-back direction, and the front and rear ends of the driving shaft are respectively provided with one of the second bevel gear mechanisms;

[0008] Each of the second bevel gear mechanisms is respectively connected to one of the running mechanisms;

[0009] For each running mechanism, each of them includes a support frame and an intermediate shaft, a wheel shaft, a support frame, a sun gear, a planetary gear and a wheel installed together on the support frame. The intermediate shaft is horizontally arranged and perpendicular to the drive shaft. The intermediate shaft is installed on the main control box through a bearing. One end of the intermediate shaft is connected to the second bevel gear mechanism and the other end is installed on the support frame through a bearing. The sun gear is fixedly installed on the intermediate shaft. The number of the planetary gears is three and they are arranged in a triangle. Each of the planetary gears is respectively meshed with the sun gear and is respectively fixedly installed with one of the wheel shafts. Each of the wheel shafts is respectively installed on the support frame through a bearing. Each of the wheel shafts is respectively fixedly installed with one of the wheels.

[0010] The supporting mechanism comprises an electric push rod for lifting two sets of running mechanisms at the front end of the main control box or two sets of running mechanisms at the rear end of the main control box.

[0011] Preferably, the main control box includes a box shell and a robot mainboard, acquisition system hardware, motor driver and main controller installed in the box shell. The main controller is connected to the robot mainboard, acquisition system hardware and motor driver respectively to coordinate the operations among the running mechanisms, the six-degree-of-freedom robotic arm and the image acquisition module, and to enable the inspection robot to accurately locate the parking position of the inspected subway vehicle. The main controller is connected to the comprehensive data detection service platform to transmit the image data to the comprehensive data detection service platform in real time for analysis and processing.

[0012] Preferably, the comprehensive data detection service platform analyzes and identifies the image data transmitted from the main controller, identifies the abnormal conditions of the target components under and on the sides of the vehicle through pattern recognition, feature matching and deep learning, thereby generating a maintenance report and a corresponding work plan, and arranges relevant operating personnel or inspection robots to perform re-inspection tasks according to the work plan, and finally writes the maintenance report into the subway vehicle file management system of the comprehensive data detection service platform for record.

[0013] Preferably, the image acquisition module comprises an image collector, and the image collector comprises a two-dimensional image collector and / or a three-dimensional image collector.

[0014] Preferably, the image acquisition module also includes a searchlight.

[0015] Preferably, the three planetary gears of each set of the running mechanism are arranged in an equilateral triangle.

[0016] Preferably, the support mechanism also includes a pin shaft, a fixing buckle, a connecting frame and a support wheel. The electric push rod is installed on the main control box through the fixing buckle, the connecting frame is connected to the electric push rod through the pin shaft, and the supporting wheel is connected to the connecting frame.

[0017] Preferably, it also includes a panoramic scanning camera, which is installed on the main control box to cooperate with the main control box to locate the position of the train and control the movement of the running mechanism to avoid obstacles and go up and down the ditch through the running mechanism.

[0018] Preferably, after completing image acquisition of one train, the inspection robot receives the maintenance task for the next train from the comprehensive data detection service platform, and the main control box generates the shortest route for transferring the trench. Through the panoramic scanning camera, it determines the nearest maintenance column and reaches the maintenance column. The inspection robot turns on the spot, climbs up the steps next to the maintenance column through the running mechanism, passes through the aisle between the two maintenance lines, and goes down from the steps of the other maintenance line into the other trench to start the maintenance task of the trench.

[0019] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0020] 1) The inspection robot receives the maintenance tasks of the comprehensive detection service platform. Without human intervention, it can automatically move, accurately locate, and automatically detect in the subway vehicle maintenance trench. It can also cross the maintenance trench, realize autonomous transportation between different trenches, and detect deformation, looseness, foreign matter, missing and other faults of target components on the bottom and side of the vehicle, and send images and fault data to the maintenance task of the comprehensive detection service platform for analysis and processing.

[0021] 2) The robot can move flexibly up and down the trench steps and between trenches. The robot runs in the trench, and uses a six-degree-of-freedom robotic arm and an image acquisition module to detect target parts on the bottom and side of the vehicle in units of carriages, and wirelessly transmits the detection data to the comprehensive data detection service platform for analysis and processing.

[0022] 3) Compared with traditional manual operations, the inspection robot reduces the missed detection rate, improves the efficiency and quality of detection, and saves labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a front view of the running mechanism in the present invention;

[0025] Figure 3 It is an exploded view of a part of the structure of the running mechanism in the present invention;

[0026] Figure 4 It is a structural schematic diagram of the support mechanism in the present invention;

[0027] Figure 5 is an exploded schematic diagram of the support mechanism in the present invention;

[0028] Figure 6 It is a schematic diagram of the arrangement of the driving mechanism and the traveling mechanism on the main control box in the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0030] like Figure 1 to Figure 6 As shown, a triangular wheel inspection robot used in a subway vehicle inspection depot comprises a main control box 1, a six-degree-of-freedom mechanical arm 3, an image acquisition module 5, a support mechanism 4, two sets of driving mechanisms and four sets of running mechanisms 2, wherein:

[0031] One end of the six-degree-of-freedom mechanical arm 3 (i.e., the base of the six-degree-of-freedom mechanical arm 3) is installed on the main control box 1, and the other end (i.e., the end of the six-degree-of-freedom mechanical arm 3) is installed with the image acquisition module 5. The six-degree-of-freedom mechanical arm 3 can adjust the posture of the image acquisition module 5 through the swing and rotation of each joint to ensure that the inspection robot can perform a full range of inspections on the target components on the bottom and side of the subway vehicle;

[0032] For each set of the driving mechanism, each of them includes a driving motor 20, a driving shaft 19, a first bevel gear mechanism 18 and two second bevel gear mechanisms 21 which are installed together on the main control box 1. The driving motor 20 is preferably a driving motor 20 and is connected to the driving shaft 19 through the first bevel gear mechanism 18. The driving shaft 19 is horizontally arranged and its axis extends in the front-to-back direction. The front and rear ends of the driving shaft 19 are respectively provided with a second bevel gear mechanism 21;

[0033] Each of the second bevel gear mechanisms 21 is respectively connected to one of the running mechanisms 2;

[0034] For each running mechanism 2, each of them includes a support frame 8 and an intermediate shaft 12, a wheel shaft 11, a support frame 8, a sun gear, a planetary gear 10 and a wheel 9 installed together on the support frame 8. The intermediate shaft 12 is horizontally arranged and perpendicular to the drive shaft 19. The intermediate shaft 12 is installed on the main control box 1 through a bearing 7. One end of the intermediate shaft 12 is connected to the second bevel gear mechanism 21 and the other end is installed on the support frame 8 through a bearing 7. The sun gear is fixedly mounted on the intermediate shaft 12. The number of the planetary gears 10 is three and they are arranged in a triangle. Preferably, each set of the running mechanism The three planetary gears 10 of the mechanism 2 are arranged in an equilateral triangle, each of the planetary gears 10 is respectively meshed with the sun gear and is respectively fixedly installed with a wheel axle 11, each of the wheel axles 11 is respectively installed on the support frame 8 through a bearing 7, and each of the wheel axles 11 is respectively fixedly installed with a wheel 9; the sun gear is driven by the driving force from the intermediate rotating shaft 12, and the sun gear in turn drives the planetary gears 10 meshing with it, so that each wheel 9 can be rotated separately, and when encountering a step, the entire running mechanism 2 can rotate around the axis of the intermediate rotating shaft 12 to go up and down the steps, thereby realizing the flexible transportation of the inspection robot between trenches.

[0035] The drive motor 20 of the present invention cooperates with the first bevel gear mechanism 18 and the second bevel gear mechanism 21 to achieve the output of different speeds and torques of the drive shaft 19. When driving on flat ground, the robot can be driven forward, backward, turn on the spot, and go up and down stairs. The transmission ratio of the first bevel gear mechanism 18 and the second bevel gear mechanism 21 can be selected according to actual needs.

[0036] The supporting mechanism 4 includes an electric push rod 13 for lifting the two sets of running mechanisms 2 at the front end of the main control box 1 or the two sets of running mechanisms 2 at the rear end of the main control box 1 .

[0037] Furthermore, the main control box 1 includes a box shell and a robot mainboard, acquisition system hardware, motor driver and main controller installed in the box shell. The main controller is connected to the robot mainboard, acquisition system hardware and motor driver respectively, so as to coordinate the operations between each running mechanism 2, the six-degree-of-freedom mechanical arm 3 and the image acquisition module 5, and enable the inspection robot to accurately locate the parking position of the inspected subway vehicle. The main controller is connected to the comprehensive data detection service platform to transmit the image data to the comprehensive data detection service platform in real time for analysis and processing. The comprehensive data detection service platform analyzes and identifies the image data transmitted by the main controller, and identifies the abnormal status of the target components under the vehicle and on the side of the vehicle through pattern recognition, feature matching and deep learning, thereby generating a maintenance report and a corresponding operation plan, arranging relevant operators or inspection robots to implement re-inspection tasks according to the operation plan, and finally writing the maintenance report into the subway vehicle archive management system of the comprehensive data detection service platform for record.

[0038] Furthermore, the image acquisition module 5 includes an image acquisition device and a searchlight, and the image acquisition device includes a two-dimensional image acquisition device and / or a three-dimensional image acquisition device. The image acquisition module 5 is preferably installed on the six-degree-of-freedom mechanical arm 3 through the image acquisition module 5 mounting seat. The two-dimensional image acquisition device and the three-dimensional image acquisition device can respectively obtain the two-dimensional and three-dimensional images of the set target components, and perform state recognition, parameter measurement and other tasks on the target components based on the two-dimensional and three-dimensional images, and can identify the deformation, looseness, foreign matter, missing and other faults of the designated components under the vehicle. The detection of the visible key components of the subway vehicle, such as the traction device, wheelset, motor end cover, car body frame, car end connection part, bogie, brake, gear box, etc., greatly reduces the manual labor and improves the detection efficiency.

[0039] Furthermore, the support mechanism 4 further includes a pin 14, a fixing buckle 15, a connecting frame 16 and a supporting wheel 17. The electric push rod 13 is installed on the main control box 1 through the fixing buckle 15. The connecting frame 16 is connected to the electric push rod 13 through the pin 14, and the connecting frame 16 is connected to the supporting wheel 17. The supporting wheel 17 can be moved up and down by the drive of the electric push rod 13. When the supporting wheel 17 moves downward to support one end of the robot, two sets of running mechanisms 2 will be suspended in the air. The driving motors 20 on the left and right sides provide rotation speeds in different directions, so that the wheels 9 of the running mechanisms 2 on the left and right sides can obtain driving forces in opposite directions, and cooperate with the supporting wheel 17 to realize the on-site turning of the inspection robot.

[0040] Furthermore, the present invention also includes a panoramic scanning camera 6, which is installed on the main control box 1, and is used to cooperate with the main control box 1 to locate the position of the train and control the running mechanism 2 to move to avoid obstacles and go up and down the ditch through the running mechanism 2. After receiving the inspection task, the inspection robot leaves the parking space, and locates the subway vehicle and moves to avoid obstacles through the panoramic scanning camera 6 and the main controller; goes down the ditch through the running mechanism 2; and through the action of the six-degree-of-freedom manipulator 3, the image acquisition module 5 collects image data of target components on the bottom and side of the subway vehicle to detect faults on the bottom and side of the vehicle.

[0041] Furthermore, after completing the image acquisition of one train, the inspection robot receives the maintenance task for the next train from the comprehensive data detection service platform. The main control box 1 generates the shortest route for transferring the trench, determines the nearest maintenance column through the panoramic scanning camera and reaches the maintenance column. The inspection robot turns on the spot, climbs up the steps next to the maintenance column through the running mechanism 2, passes through the aisle between the two maintenance lines, and goes down from the steps of the other maintenance line into the other trench to start the maintenance task of the trench.

[0042] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. For example, the terms "front", "back", "left", and "right" of the present invention are based on the positions or positional relationships shown in the drawings. Figure 1 The position of the inspection robot when it moves forward and backward is used to indicate this.

[0043] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A triangular wheel inspection robot used in a subway vehicle inspection depot, characterized in that: It includes a main control box, a six-degree-of-freedom robotic arm, an image acquisition module, a support mechanism, two sets of drive mechanisms and four sets of travel mechanisms, among which: One end of the six-degree-of-freedom robotic arm is mounted on the main control box and the other end is mounted on the image acquisition module; For each set of the driving mechanism, each of them comprises a driving motor, a driving shaft, a first bevel gear mechanism and two second bevel gear mechanisms which are installed together on the main control box, the driving motor is connected to the driving shaft through the first bevel gear mechanism, the driving shaft is arranged horizontally and its axis extends in the front-to-back direction, and the front and rear ends of the driving shaft are respectively provided with one of the second bevel gear mechanisms; Each of the second bevel gear mechanisms is respectively connected to one of the running mechanisms; For each running mechanism, each of them includes a support frame and an intermediate shaft, a wheel shaft, a support frame, a sun gear, a planetary gear and a wheel installed together on the support frame. The intermediate shaft is horizontally arranged and perpendicular to the drive shaft. The intermediate shaft is installed on the main control box through a bearing. One end of the intermediate shaft is connected to the second bevel gear mechanism and the other end is installed on the support frame through a bearing. The sun gear is fixedly installed on the intermediate shaft. The number of the planetary gears is three and they are arranged in a triangle. Each of the planetary gears is respectively meshed with the sun gear and is respectively fixedly installed with one of the wheel shafts. Each of the wheel shafts is respectively installed on the support frame through a bearing. Each of the wheel shafts is respectively fixedly installed with one of the wheels. The support mechanism includes an electric push rod for lifting two sets of running mechanisms at the front end of the main control box or two sets of running mechanisms at the rear end of the main control box; and the support mechanism also includes a pin shaft, a fixing buckle, a connecting frame and a supporting wheel, the electric push rod is installed on the main control box through the fixing buckle, the connecting frame is connected to the electric push rod through the pin shaft, and the supporting wheel is connected to the connecting frame; The main control box includes a box shell and a robot mainboard, acquisition system hardware, motor driver and main controller installed in the box shell. The main controller is connected to the robot mainboard, acquisition system hardware and motor driver respectively to coordinate the operation between each running mechanism, the six-degree-of-freedom mechanical arm and the image acquisition module, and to enable the inspection robot to accurately locate the parking position of the inspected subway vehicle. The main controller is connected to the comprehensive data detection service platform to transmit the image data to the comprehensive data detection service platform in real time for analysis and processing; The comprehensive data detection service platform analyzes and identifies the image data transmitted from the main controller, and identifies the abnormal status of the target components under and on the side of the vehicle through pattern recognition, feature matching and deep learning, thereby generating a maintenance report and a corresponding work plan, and arranging relevant operating personnel or inspection robots to perform re-inspection tasks according to the work plan, and finally writing the maintenance report into the subway vehicle file management system of the comprehensive data detection service platform for record.

2. The triangular wheel inspection robot used in a subway vehicle inspection depot according to claim 1 is characterized in that: The image acquisition module includes an image collector, and the image collector includes a two-dimensional image collector and / or a three-dimensional image collector.

3. The triangular wheel inspection robot used in a subway vehicle inspection depot according to claim 2 is characterized in that: The image acquisition module also includes a searchlight.

4. The triangular wheel inspection robot used in a subway vehicle inspection depot according to claim 1, characterized in that: The three planetary gears of each set of the running mechanism are arranged in an equilateral triangle.

5. The triangular wheel inspection robot used in a subway vehicle inspection depot according to claim 1 is characterized in that: It also includes a panoramic scanning camera, which is installed on the main control box to cooperate with the main control box to locate the position of the train and control the movement of the running mechanism to avoid obstacles and go up and down the ditch through the running mechanism.

6. The triangular wheel inspection robot used in a subway vehicle inspection depot according to claim 5, characterized in that: After completing image acquisition for one train, the inspection robot receives the inspection task for the next train from the comprehensive data detection service platform. The main control box generates the shortest route for the transfer trench, determines the nearest inspection column through the panoramic scanning camera and reaches the inspection column. The inspection robot turns on the spot, climbs up the steps next to the inspection column through the running mechanism, passes through the aisle between the two inspection lines, and goes down from the steps of the other inspection line into the other trench to start the inspection task of that trench.

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