A track inspection robot running part capable of adaptively passing through a switch and a method for passing through a switch

Abstract

The present invention relates to the field of rail transit inspection. The purpose is to provide a track inspection robot running part that can adaptively pass the switch and a method for passing the switch, so as to solve the problem that the track inspection robot cannot adaptively pass the switch when passing the switch area, so that the track inspection robot can smoothly pass the switch area to complete the inspection plan without manual assistance or switch conversion coordination, thereby fundamentally improving the inspection efficiency. The technical solution is: a track inspection robot running part that can adaptively pass the switch, including a chassis, two pairs of running wheels arranged at the bottom of the chassis, and a power mechanism for driving the running wheels to rotate; it is characterized in that: an industrial computer, a structured light camera, a battery and a sensor are respectively arranged on the chassis, and guide wheels, a lifting mechanism for retracting and releasing the guide wheels, a translation mechanism for driving the guide wheels to move laterally, and a self-locking gas spring connecting the guide wheels and the lifting mechanism are respectively arranged on both sides of the chassis.

Description

Technical Field

[0001] The invention relates to the field of rail transit inspection, and in particular to a track inspection robot running part capable of adaptively passing switches and a switch passing method. Background Art

[0002] In the rail transit system, the track structure is the main structure that directly supports the trains above, and its stable and reliable service status is the key to ensuring the safety of the line. At present, in the daily maintenance and inspection of the track structure, most lines still require maintenance personnel to regularly patrol the track within the operating skylight. This manual patrol operation and maintenance method is restricted by many factors such as climate conditions, environmental factors, personnel quality and sense of responsibility. It also has disadvantages such as large workload, low degree of informatization, and high management costs.

[0003] At present, track inspection is developing towards the trend of intelligence and unmanned operation. Automated inspection equipment such as track inspection carts and track inspection robots have also appeared, and they are operated on the track by manual pushing or self-propelled operation, which can improve the inspection level to a certain extent. However, when the existing inspection equipment passes through the interval turnout section, its running part has limited passing capacity and cannot cooperate with the inspection plan to achieve adaptive and smooth turning. It usually requires manual assistance to pass smoothly, and in some cases, it may also require the cooperation of turnout conversion locks. When passing through the fixed heart rail switch, it may also fall off the track due to harmful space, which undoubtedly reduces the efficiency of interval inspection and makes unmanned and intelligent inspection impossible. Therefore, it is extremely necessary to promote the process of intelligent inspection of rail transit engineering and improve the adaptive turning capability of track inspection equipment, especially the running part of the track intelligent inspection robot. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and to provide a track inspection robot running part and a switch passing method that can adaptively pass switches, so as to solve the problem that the track inspection robot cannot adaptively pass switches when passing through the switch area, so that the track inspection robot can smoothly pass the switch area and complete the inspection plan without manual assistance or switch conversion coordination, thereby fundamentally improving the inspection efficiency.

[0005] The technical solution of the present invention is:

[0006] A track inspection robot running part capable of adaptively crossing a switch comprises a chassis, two pairs of running wheels arranged at the bottom of the chassis, and a power mechanism for driving the running wheels to rotate; the characteristics are: an industrial computer, a structured light camera, a battery and a sensor are respectively arranged on the chassis, and guide wheels, a lifting mechanism for retracting and releasing the guide wheels, a translation mechanism for driving the guide wheels to move laterally, and a self-locking gas spring connecting the guide wheels and the lifting mechanism are respectively arranged on both sides of the chassis;

[0007] The industrial computer is electrically connected to the power mechanism, structured light camera, lifting mechanism, translation mechanism, sensor, and self-locking gas spring respectively; the wheel back distance of each pair of running wheels is smaller than the distance between the point rail on one side and the basic rail on the other side, and the wheel back distance of each pair of running wheels is larger than the distance between the guard rail and the wing rail.

[0008] The translation mechanism comprises a sliding seat which can be horizontally slidably positioned on the chassis, a lead screw which can be rotatably positioned on the chassis, a nut which is meshed with the lead screw and fixed to the sliding seat, and a translation motor which drives the lead screw to rotate.

[0009] The lifting mechanism includes a four-rod mechanism consisting of a sliding seat, a front connecting rod, a rear connecting rod, a bracket plate, and a hydraulic cylinder driving the four-rod mechanism to move; the guide wheel can be rotatably positioned on the wheel frame, and the two ends of the self-locking gas spring are fixed to the wheel frame and the bracket plate; the guide wheel is arranged between the front and rear pairs of running wheels, and the lifting mechanism can drive the guide wheel to descend below the running wheel.

[0010] The sliding direction of the sliding seat, the axial direction of the screw rod, and the telescopic direction of the self-locking gas spring are all arranged horizontally and perpendicular to the moving direction of the running part; the axial direction of each hinge shaft of the lifting mechanism is parallel to the moving direction of the running part; and the axial direction of the guide wheel is arranged vertically.

[0011] The running wheel comprises a wheel body with a conical tread and a wheel rim arranged on the inner side of the wheel body.

[0012] The structured light camera comprises a structured light projector and a camera.

[0013] The sensor includes a traveling wheel camera and a guide wheel micro switch.

[0014] A method for adaptively passing a switch for a running part of a track inspection robot comprises the following steps:

[0015] 1) The guide wheel is at the initial position, the running gear moves along the track, the structured light camera captures the track image in front, and the industrial computer determines whether a switch area appears in front based on the image. If a switch area appears, it goes to step 2);

[0016] 2) The industrial computer determines the direction of the turnout opening. If the turnout opening direction is consistent with the inspection direction, proceed to step 3); if not, proceed to step 4);

[0017] 3) The industrial computer first controls the lifting mechanism to lower the guide wheel close to the unopened direction of the turnout. The industrial computer controls the guide wheel to perform rigid limit to push the running gear to move horizontally to the side of the turnout opening direction. When the sensor detects that the edge of the running wheel is against the basic rail, the industrial computer controls the guide wheel to return to the initial position and enter step 5):

[0018] 4) The industrial computer controls the lifting mechanism to lower the guide wheels on both sides. The industrial computer controls the guide wheel on the side close to the turnout opening direction to perform rigid limit and push the running gear to move horizontally to the side of the turnout not opening direction. When the sensor detects that the edge of the running wheel is against the basic rail, the industrial computer controls the rigid limit guide wheel to return to the alignment position;

[0019] After the guide wheel enters the point rail, the industrial computer controls the guide wheel at the alignment position to perform rigid limit, and the running gear is subjected to a reaction force pointing to the side of the unopened direction of the turnout, forcing the wheel flange of the running wheel on the unopened direction of the turnout to keep climbing up closely to the side of the point rail until the wheel flange rolls along the point rail, at which time the running gear is in an inclined state; at the same time, the industrial computer controls the translation mechanism to push the guide wheel on the unopened direction of the turnout to stick to the point rail; if the structured light camera and sensor detect that the running gear has fallen off the track, the industrial computer generates an alarm signal, and the running gear stops moving and waits for manual processing;

[0020] When the running gear enters the curved point rail, the front and rear running wheels with their flanges rolling on the point rail slide down naturally, and the treads of the running wheels return to the basic rail and roll again. If the flanges of the front and rear running wheels roll on the basic rail due to an accident and cannot slide down naturally, the industrial computer controls the rigid limit guide wheel to return to the initial position and the industrial computer controls the self-locking gas spring on the other side to lock, the running gear is squeezed by the track and moves sideways, forcibly pushing the running wheel to slide down so that the tread returns to the basic rail and rolls; at this time, the running gear returns to a horizontal state, the guide wheel returns to the initial position, and enters step 5); if the structured light camera and sensor detect that the running gear has fallen off the track, the industrial computer generates an alarm signal, and the running gear stops moving and waits for manual processing;

[0021] 5) After the running gear passes through the center rail, the guide wheels on both sides are rigidly limited to center the running gear.

[0022] The initial position includes the minimum horizontal distance between the guide wheel and the center of the chassis, and the guide wheel is located at the highest point; the alignment position includes the distance between the guide wheel and the base rail being equal to the distance between the inner side of the point rail and the base rail.

[0023] The rigid limit includes a translation mechanism that pushes the sliding seat to translate so that the guide wheel continuously pushes the side of the base rail or the point rail, and the self-locking gas spring is locked at the same time.

[0024] The beneficial effects of the present invention are:

[0025] The present invention can enable the running gear to pass the switch smoothly without using a switch switch. The overall structure of the running gear is simple and reasonable, the design is novel, and the force is clear. The special design of the running wheels and guide wheels prevents the running gear from falling off the track when passing the switch, and the built-in battery ensures the overall endurance of the running gear. In summary, the present invention realizes the adaptive switching of the running gear of the track inspection robot, greatly saves manpower, improves inspection efficiency, and has very broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0028] Figure 2 It is a right-side structural schematic diagram of the present invention.

[0029] Figure 3 It is a schematic diagram of the traffic state of the present invention (the translation mechanism and the lifting mechanism are not started).

[0030] Figure 4 It is a schematic diagram of the crossing state of the present invention (the translation mechanism and the lifting mechanism are activated).

[0031] Figure 5 yes Figure 3 Schematic diagram of the main structure.

[0032] Figure 6 yes Figure 4 Schematic diagram of the main structure.

[0033] Figure 7 It is one of the three-dimensional schematic diagrams of the lifting mechanism of the present invention (lifting mechanism started).

[0034] Figure 8 This is the second three-dimensional schematic diagram of the lifting mechanism of the present invention (the lifting mechanism is not started).

[0035] Fig. 9 It is a schematic diagram of a running wheel of the present invention.

[0036] Fig.10 This is one of the schematic diagrams of the working states of the running wheel and the guide wheel of the present invention.

[0037] Fig.11 This is the second schematic diagram of the working state of the running wheel and the guide wheel of the present invention.

[0038] Fig.12 This is the third schematic diagram of the working state of the running wheel and the guide wheel of the present invention.

[0039] Fig.13 It is a schematic diagram of embodiment 1 of the present invention.

[0040] Fig.14It is a schematic diagram of Example 2 of the present invention.

[0041] Fig.15 It is a schematic diagram of Example 3 of the present invention.

[0042] Fig.16 It is a schematic diagram of Example 4 of the present invention. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that certain words indicating orientation or positional relationships are only for the purpose of facilitating the description of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0045] In the description of the present invention, it should be noted that "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0047] The invention is applicable to the adaptive crossing of a single turnout, the main line of the single turnout is a straight line and the side line of the single turnout branches off from the main line to the left or right.

[0048] like Figure 1 As shown, the present invention provides a track inspection robot running part capable of adaptively crossing switches, including a chassis 1, running wheels 2, an industrial computer 3, a structured light camera 4, a battery 5, a guide wheel 6, a translation mechanism, a lifting mechanism, and a self-locking gas spring 7.

[0049] Two pairs of running wheels arranged front and back are provided under the chassis, and each pair of running wheels is rotatably connected to the chassis through an axle. The power mechanism is used to drive the running wheels to rotate so that the running part moves on the rails. The power mechanism (omitted in the figure) includes a driving motor and a transmission mechanism for transmitting the power of the driving motor. The chassis is also provided with a braking mechanism (omitted in the figure) for decelerating and stopping.

[0050] The running wheel comprises a wheel body 2.1 with a conical tread and a wheel rim 2.2 arranged inside the wheel body (the side facing the other running wheel). The tread of the wheel body is covered with an outer layer, which is made of insulating wear-resistant material, such as silicon nitride or polyurethane, which not only enhances the wear resistance but also facilitates replacement.

[0051] In the running wheel, the radius of the wheel body is 120mm to 150mm, the tread width is at least 120mm, and the tread slope is 1:10, which can avoid violent jumping when the running part turns sharply. The rim height (the radius difference between the rim and the wheel body) is 25mm, and the rim width is 15mm, which ensures that the running part can smoothly pass through the harmful space without falling off the track. The wheel back distance of each pair of running wheels (the distance between the rims of the two running wheels) is less than the distance between the point rail on one side and the basic rail on the other side, and the wheel back distance of each pair of running wheels is greater than the distance between the guard rail and the wing rail, and the wheel back distance is 1350mm to 1380mm. The size setting of the running wheel can avoid falling off the track when passing through the harmful space.

[0052] The structured light camera is arranged on the top surface and the front of the chassis and is fixed on the chassis through a pan / tilt (omitted in the figure). The structured light camera includes a structured light projector and a camera. The structured light camera is used to detect the track conditions within a distance of 5m in front of the chassis. The pan / tilt is used to drive the structured light camera to rotate left and right to adjust the detection angle within a range of 180° in the forward direction. The structured light camera can also be used to monitor foreign body intrusion and limit intrusion. The structured light camera can be directly modified using the existing machine vision sensor for monitoring foreign body intrusion on the track, and the cost is controllable.

[0053] A guide wheel is arranged on each side of the chassis, the guide wheel is arranged between the two pairs of front and rear running wheels, and each guide wheel is equipped with a translation mechanism, a lifting mechanism and a self-locking gas spring.

[0054] The translation mechanism is used to make the guide wheel move laterally (perpendicular to the forward direction of the chassis), and plays a guiding and limiting role in the process of crossing the switch through the rolling contact between the guide wheel and the side of the point rail and the side of the head of the base rail. The lifting mechanism is used to release the guide wheel when crossing the switch, and store the guide wheel under the chassis when not crossing the switch to avoid collision between the guide wheel and the rail and other auxiliary line structures. The self-locking gas spring is used to cooperate with the translation mechanism and the lifting mechanism for guidance and limiting when crossing the switch.

[0055] The translation mechanism includes a sliding seat 8, a screw 9, a translation motor 11, and a nut 10. The sliding seat can be horizontally slidably positioned on the chassis, and both sides of the chassis are provided with a slide groove 1.1 to guide the movement of the sliding seat. The sliding seat is provided with a slider (omitted in the figure) that slides with the slide groove. The screw is horizontally rotatably positioned on the base, the translation motor is fixed to the chassis, and the output shaft of the translation motor is coaxially connected to the screw, and the nut is meshed with the screw and fixed to the sliding seat. The length direction of the slide groove and the sliding direction of the sliding seat are both arranged horizontally and perpendicular to the moving direction of the running part.

[0056] The lifting mechanism includes a front connecting rod 12, a rear connecting rod 13, a bracket plate 14 and a hydraulic cylinder 15. The sliding seat and the front connecting rod, the rear connecting rod and the bracket plate form a four-bar mechanism. In the four-bar mechanism, the bracket plate is arranged below the sliding seat, and both ends of the two front connecting rods and the two rear connecting rods can be rotatably hinged on the bracket plate and the sliding seat. Both ends of the hydraulic cylinder can also be rotatably hinged on the bracket plate and the sliding seat. The axis of the hinge shaft of the hydraulic cylinder and the sliding seat and the axis of the hinge shaft of the front connecting rod and the sliding seat are coaxially arranged, and the axis of the hinge shaft of the hydraulic cylinder and the bracket plate and the axis of the hinge shaft of the rear connecting rod and the bracket plate are coaxially arranged. The direction of the axis of the hinge shaft of the front connecting rod and the rear connecting rod is parallel to the moving direction of the running part.

[0057] The guide wheel is rotatably positioned on the wheel frame 16, and both ends of the self-locking gas spring are fixed to the wheel frame and the bracket plate. The expansion and contraction direction of the self-locking gas spring is parallel to the sliding direction of the sliding seat and perpendicular to the moving direction of the running part. When the self-locking gas spring is locked, the guide wheel is rigidly connected to the bracket plate, and when the self-locking gas spring is unlocked, the guide wheel is elastically connected to the bracket plate. The guide wheel is used to horizontally push the rail head side or the side of the point rail of the base rail.

[0058] When adaptively crossing, the lifting mechanism is activated, and the hydraulic cylinder contracts to move the four-bar mechanism from the folded state ( Figure 8 ) to the open state ( Figure 7 ) The guide wheel is lowered to the bottom of the running wheel, and the guide wheel is aligned with the side of the rail head 20 of the basic rail 21 in the horizontal direction. Then the translation mechanism is started to push the sliding seat to move sideways so that the guide wheel supports the rail head. At the same time, the self-locking gas spring decides to lock or unlock according to the situation to achieve guiding and limiting functions.

[0059] The chassis is also equipped with sensors (omitted in the figure) to meet inspection needs, including a running wheel camera and a guide wheel micro switch. The running wheel camera is used to monitor the track climbing, track derailment, and centering status of the front and rear running wheels, and can also monitor various track diseases (broken spring bars of the track fastener device, rubber pads coming out). The guide wheel micro switch is used to monitor whether the guide wheel is in contact with the rail.

[0060] The industrial computer is arranged on the top and rear of the chassis, and is used to receive and process data and control the movement of each mechanism to achieve adaptive crossing. The industrial computer is electrically connected to the power mechanism, brake mechanism, structured light camera, translation motor, hydraulic cylinder, self-locking gas spring, and sensor. The battery is arranged on the top of the chassis to supply power and ensure the normal operation of the running gear.

[0061] The above components are all existing technologies and can be purchased from outside.

[0062] The present invention also provides a method for adaptively passing a switch for a running part of a track inspection robot, comprising the following steps:

[0063] 1) The guide wheel is at the initial position (the translation mechanism is not started, the horizontal distance between the guide wheel and the center of the chassis is the smallest, the lifting mechanism is not started, and the guide wheel is at the highest point), the running gear moves along the track, the structured light camera captures the track image in front, and the industrial computer determines whether there is a turnout area in front based on the image. If there is a turnout area, go to step 2);

[0064] 2) The industrial computer determines the direction of the turnout opening. If the turnout opening direction is consistent with the inspection direction, proceed to step 3). If the turnout opening direction is inconsistent with the inspection direction, proceed to step 4). The inspection plan needs to be input into the industrial computer in advance.

[0065] 3) The industrial computer controls the lifting mechanism to lower the guide wheel close to the unopened side of the turnout (the side where the point rail 22 and the base rail 21 are in close contact), and the industrial computer controls the guide wheel to perform rigid limit (the translation mechanism pushes the guide wheel to move toward the base rail and the self-locking gas spring is locked, and the guide wheel pushes the side of the rail head of the base rail so that the running gear is subjected to a reaction force. Fig.10 As shown), the running gear moves sideways to the side of the turnout opening direction (the side where the point rail 22 is separated from the stock rail 21). When the sensor (guide wheel micro switch, running wheel camera) detects that the edge of the running wheel is against the head of the stock rail, the industrial computer controls the guide wheel to return to the initial position (to avoid collision with the rail and other auxiliary line structures), and enters step 5):

[0066] 4) The industrial computer controls the lifting mechanism to lower the guide wheels on both sides, and the industrial computer controls the guide wheel on the side close to the turnout opening direction (the side where the point rail 22 and the base rail 21 are separated) to perform rigid limiting (the translation mechanism pushes the guide wheel to move toward the base rail and the self-locking gas spring is locked, and the guide wheel pushes the side of the rail head of the base rail so that the running gear is subjected to a reaction force, Fig.10 The running gear moves horizontally to the side of the turnout that is not open (the side where the point rail is in close contact with the base rail). When the sensor detects that the edge of the running wheel is in close contact with the base rail, the industrial computer controls the rigidly limited guide wheel to return to the alignment position (the distance between the guide wheel and the base rail is equal to the distance between the inner side of the point rail and the base rail, to avoid collision between the guide wheel and the point rail).

[0067] After the guide wheel enters the point rail, the industrial computer controls the guide wheel in the alignment position to perform rigid limiting (the translation mechanism pushes the guide wheel to move toward the point rail and the self-locking gas spring is locked, the guide wheel pushes the side of the rail head of the point rail so that the running gear is subjected to a reaction force). The running gear is subjected to a reaction force directed to the unopened side of the turnout (the side where the point rail is tightly attached to the base rail), forcing the wheel flange of the running wheel on this side (the unopened side of the turnout) to cling to the side of the point rail and continuously climb upwards ( Fig.11 until it reaches the top of the pointed rail ( Fig.12 As shown), the running gear is in an inclined state; at the same time, the industrial computer controls the translation mechanism to push the guide wheel on the unopened side of the turnout to stick to the point rail ( Fig.11 As shown in the figure, the self-locking gas spring on that side is unlocked. As the running gear moves laterally, the self-locking gas spring is continuously compressed to prevent the running gear from derailing. If the structured light camera and sensor detect that the running gear has fallen off the track, the industrial computer will generate an alarm signal, and the running gear will stop moving and wait for manual processing.

[0068] After the running gear enters the curved point rail 23 (the hollow area 30 between the point rail and the base rail), the front and rear running wheels with their wheel flanges rolling on the point rail naturally slide down, the treads of the running wheels return to the base rail and roll again, and the running gear returns to a horizontal state; if the structured light camera and the sensor detect that the front and rear running wheels deviate from the base rail (the wheel flanges of the front and rear running wheels roll on the base rail and cannot slide down naturally), the industrial computer controls the rigid limit guide wheel to return to the initial position and the industrial computer controls the self-locking gas spring on the other side to lock, the running gear is squeezed by the track and moves laterally to correct the deviation, and the running wheels are forced to slide down so that the treads return to the base rail, so that the running gear returns to a horizontal state;

[0069] After the running gear returns to the horizontal state, it moves along the basic rail, and the industrial computer controls the guide wheel to return to the initial position (to avoid collision with the rail and other auxiliary line structures), and enters step 5); if the structured light camera and sensor detect that the running gear has fallen off the track, the industrial computer generates an alarm signal, and the running gear stops moving and waits for manual processing;

[0070] 5) After the running gear passes through the center rail 25, the industrial computer controls the guide wheels on both sides to perform rigid limiting at the same time, so that the running gear is centered and the switch is completed.

[0071] Example 1

[0072] like Fig.13 As shown, in this embodiment, the single-opening turnout is a right-opening turnout and the opening direction is the main line. The track inspection robot needs to pass along the main line, and the passage direction of the turnout is consistent with the inspection plan (arrow direction).

[0073] The crossing method of the running unit is as follows:

[0074] 1) A turnout area appears ahead (the position of the running gear is shown as A in the figure);

[0075] 2) The industrial computer determines that the direction of turnout opening is consistent with the inspection direction;

[0076] 3) The lifting mechanism lowers the guide wheel on the right side, the translation mechanism extends the guide wheel, the self-locking gas spring is locked, the running gear moves to the left side (the position of the running gear is shown in B in the figure), and the guide wheel on the right side is retracted;

[0077] 4) Enter the turnout area (the running gear position is shown as C in the figure);

[0078] 5) After passing the center rail, the guide wheels on both sides are rigidly limited to ensure that the running gear is centered (the position of the running gear is shown as D in the figure).

[0079] Example 2

[0080] like Fig.14 As shown, in this embodiment, the single-opening turnout is a right-opening turnout and the opening direction is the siding. The track inspection robot needs to pass along the siding, and the passage direction of the turnout is consistent with the inspection plan (arrow direction).

[0081] The crossing method of the running unit is as follows:

[0082] 1) A turnout area appears ahead (the position of the running gear is shown as A in the figure);

[0083] 2) The industrial computer determines that the direction of turnout opening is consistent with the inspection direction;

[0084] 3) The lifting mechanism lowers the guide wheel on the left, the translation mechanism extends the guide wheel, the self-locking gas spring is locked, the running gear moves to the right (the position of the running gear is shown in B in the figure), and the guide wheel on the left is retracted;

[0085] 4) Enter the turnout area (the running gear position is shown as C in the figure);

[0086] 5) After passing the center rail, the guide wheels on both sides are rigidly limited to ensure that the running gear is centered (the position of the running gear is shown as D in the figure).

[0087] Example 3

[0088] like Fig.15 As shown, in this embodiment, the single-opening turnout is a right-opening turnout and the opening direction is the main line. The track inspection robot needs to pass along the side line (in the direction of the arrow), and the passage direction of the turnout is inconsistent with the inspection plan.

[0089] The crossing method of the running unit is as follows:

[0090] 1) A turnout area appears ahead (the position of the running gear is shown as A in the figure);

[0091] 2) The industrial computer determines that the direction of turnout opening is inconsistent with the inspection direction;

[0092] 3) The lifting mechanism lowers the guide wheels on both sides, the translation mechanism extends the left guide wheel, the self-locking gas spring is locked, the running gear moves to the right (the running gear position is shown in B in the figure), and the left guide wheel returns to the alignment position (the running gear position is shown in C in the figure);

[0093] After the guide wheel enters the pointed rail, the guide wheel on the left is rigidly limited, the guide wheel on the right presses against the pointed rail, and the self-locking gas spring on the right is unlocked (the position of the running gear is shown as D in the figure); the running wheel on the right continuously climbs along the pointed rail (the position of the running gear is shown as E in the figure) until it reaches the top surface of the pointed rail, and the self-locking gas spring on the right is compressed;

[0094] After the front and rear running wheels enter the curved rail, the right running wheel returns to the basic rail and the guide wheels on both sides are retracted; or, the left guide wheel is retracted, and the right guide wheel is used to correct the deviation, so that the right running wheel returns to the basic rail (the position of the running part is shown as F in the figure), and then the right guide wheel is retracted;

[0095] 4) After passing the center rail, the guide wheels on both sides are rigidly limited to ensure that the running gear is centered (the position of the running gear is shown as G in the figure).

[0096] Example 4

[0097] like Fig.16 As shown, in this embodiment, the single-opening turnout is a right-opening turnout and the opening direction is the side line. The track inspection robot needs to pass along the main line (in the direction of the arrow), and the passage direction of the turnout is inconsistent with the inspection plan.

[0098] The crossing method of the running unit is as follows:

[0099] 1) A turnout area appears ahead (the position of the running gear is shown as A in the figure);

[0100] 2) The industrial computer determines that the direction of turnout opening is inconsistent with the inspection direction;

[0101] 3) The lifting mechanism lowers the guide wheels on both sides, the translation mechanism extends the right guide wheel, the self-locking gas spring is locked, the running gear moves to the left (the running gear position is shown in B in the figure), and the right guide wheel returns to the alignment position (the running gear position is shown in C in the figure);

[0102] After the guide wheel enters the pointed rail, the guide wheel on the right is rigidly limited, the guide wheel on the left supports the pointed rail, and the self-locking gas spring on the left is unlocked (the position of the running part is shown as D in the figure); the running wheel on the left continuously climbs along the pointed rail (the position of the running part is shown as E in the figure) until it reaches the top surface of the pointed rail, and the self-locking gas spring on the left is compressed;

[0103] After the front and rear running wheels enter the curved rail, the left running wheel returns to the basic rail and the guide wheels on both sides are retracted; or, the right guide wheel is retracted, and the left guide wheel is used to correct the deviation, so that the left running wheel returns to the basic rail (the running part position is shown as F in the figure), and then the left guide wheel is retracted;

[0104] 4) After passing the center rail, the guide wheels on both sides are rigidly limited to ensure that the running gear is centered (the position of the running gear is shown as G in the figure).

[0105] Embodiments 1-4 are all right-opening turnouts. If it is necessary to pass through a left-opening turnout, the method of passing the turnout is similar and will not be described in detail here.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track inspection robot running part capable of adaptively crossing a switch, comprising a chassis (1), two pairs of running wheels (2) arranged at the bottom of the chassis, and a power mechanism for driving the running wheels to rotate; characterized in that: An industrial computer (3), a structured light camera (4), a battery (5) and a sensor are respectively arranged on the chassis, and guide wheels (6), a lifting mechanism for retracting and extending the guide wheels, a translation mechanism for driving the guide wheels to move laterally, and a self-locking gas spring (7) connecting the guide wheels and the lifting mechanism are respectively arranged on both sides of the chassis; The running wheel comprises a wheel body (2.1) with a conical tread and a wheel rim (2.2) arranged inside the wheel body; The industrial computer is electrically connected to the power mechanism, the structured light camera, the lifting mechanism, the translation mechanism, the sensor, and the self-locking gas spring respectively; the wheel back distance of each pair of running wheels is less than the distance between the point rail on one side and the basic rail on the other side, and the wheel back distance of each pair of running wheels is greater than the distance between the guard rail and the wing rail; The method for passing a switch of the running gear comprises the following steps: 1) The guide wheel is at the initial position, the running gear moves along the track, the structured light camera captures the track image ahead, and the industrial computer determines whether a switch area appears ahead based on the image. If a switch area appears, proceed to step 2); 2) The industrial computer determines the direction of the turnout opening. If the turnout opening direction is consistent with the inspection direction, proceed to step 3. If not, proceed to step 4); 3) The industrial computer first controls the lifting mechanism to lower the guide wheel close to the unopened direction of the turnout. The industrial computer controls the guide wheel to perform rigid limit to push the running gear to move horizontally to the side of the turnout opening direction. When the sensor detects that the wheel rim of the running wheel is against the basic rail, the industrial computer controls the guide wheel to return to the initial position and enter step 5): 4) The industrial computer controls the lifting mechanism to lower the guide wheels on both sides. The industrial computer controls the guide wheel on the side close to the turnout opening direction to perform rigid limit to push the running gear to move horizontally to the side of the turnout not opening direction. When the sensor detects that the wheel rim of the running wheel is against the basic rail, the industrial computer controls the rigid limit guide wheel to return to the alignment position; After the guide wheel enters the point rail, the industrial computer controls the guide wheel at the alignment position to perform rigid limit, and the running gear is subjected to a reaction force pointing to the side of the unopened direction of the turnout, forcing the wheel flange of the running wheel on the unopened direction of the turnout to keep climbing up closely to the side of the point rail until the wheel flange rolls along the point rail, at which time the running gear is in an inclined state; at the same time, the industrial computer controls the translation mechanism to push the guide wheel on the unopened direction of the turnout to stick to the point rail; if the structured light camera and sensor detect that the running gear has fallen off the track, the industrial computer generates an alarm signal, and the running gear stops moving and waits for manual processing; When the running gear enters the curved point rail, the front and rear running wheels with their flanges rolling on the point rail slide down naturally, and the treads of the running wheels return to the basic rail and roll again. If the flanges of the front and rear running wheels roll on the basic rail due to an accident and cannot slide down naturally, the industrial computer controls the rigid limit guide wheel to return to the initial position and the industrial computer controls the self-locking gas spring on the other side to lock. The running gear is squeezed by the track and moves sideways, forcibly pushing the running wheel to slide down so that the tread returns to the basic rail and rolls; at this time, the running gear returns to a horizontal state, the guide wheel returns to the initial position, and enters step 5); if the structured light camera and sensor detect that the running gear has fallen off the track, the industrial computer generates an alarm signal, and the running gear stops moving and waits for manual processing; 5) After the running gear passes through the center rail, the guide wheels on both sides are rigidly limited to center the running gear; The initial position is when the horizontal distance between the guide wheel and the center of the chassis is the smallest and the guide wheel is at the highest point; the alignment position is when the distance between the guide wheel and the base rail is equal to the distance between the inner side of the point rail and the base rail.

2. The track inspection robot running part capable of adaptively crossing a switch according to claim 1, characterized in that: The translation mechanism comprises a sliding seat (8) positioned horizontally slidably on a chassis, a screw rod (9) positioned rotatably on the chassis, a nut (10) meshed with the screw rod and fixed to the sliding seat, and a translation motor (11) driving the screw rod to rotate.

3. The track inspection robot running part capable of adaptively crossing a switch according to claim 2, characterized in that: The lifting mechanism comprises a four-bar mechanism consisting of a sliding seat, a front connecting rod (12), a rear connecting rod (13), a bracket plate (14), and a hydraulic cylinder (15) for driving the four-bar mechanism to move; the guide wheel is rotatably positioned on a wheel frame (16), and both ends of a self-locking gas spring are fixed to the wheel frame and the bracket plate; the guide wheel is arranged between the front and rear pairs of running wheels, and the lifting mechanism can drive the guide wheel to descend below the running wheels.

4. The track inspection robot running part capable of adaptively crossing a switch according to claim 3 is characterized in that: The sliding direction of the sliding seat, the axial direction of the screw rod, and the telescopic direction of the self-locking gas spring are all arranged horizontally and perpendicular to the moving direction of the running part; the axial direction of each hinge shaft of the lifting mechanism is parallel to the moving direction of the running part; and the axial direction of the guide wheel is arranged vertically.

5. The track inspection robot running part capable of adaptively crossing a switch according to claim 4, characterized in that: The structured light camera comprises a structured light projector and a camera.

6. The track inspection robot running part capable of adaptively crossing a switch according to claim 5, characterized in that: The sensor includes a traveling wheel camera and a guide wheel micro switch.

7. The track inspection robot running part capable of adaptively crossing a switch according to claim 6, characterized in that: The rigid limit is that the translation mechanism pushes the sliding seat to translate so that the guide wheel continuously pushes the side of the base rail or the point rail, and the self-locking gas spring is locked at the same time.

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