An automated inspection device for the beam body of a high-speed maglev turnout

Abstract

The present invention relates to the technical field of large steel beam structure detection, and specifically to an automatic detection device for the beam body of a high-speed maglev turnout, which includes a bottom plate, a head beam body tooling, a beam body support tooling, a tail beam body tooling, an automatic detection trolley and a data processing system arranged on the bottom plate; the beam body support tooling is arranged between the head beam body tooling and the tail beam body tooling and is used to support and position the beam body to be measured, so that the center of the beam body to be measured is consistent with the centers of the head beam body tooling and the tail beam body tooling; the head beam body tooling and the tail beam body tooling are used for the parking, starting and detection data calibration of the automatic detection trolley; the automatic detection trolley can move along the length direction of the beam body to be measured to detect the cross-sectional linear dimensions and geometric tolerances of the beam body to be measured, and transmit the detected data to the data processing system. The present invention uses an automatic detection trolley to measure the beam body to be measured, realizes the automatic detection of the cross-sectional linear dimensions and geometric tolerances of the high-speed maglev turnout beam body, and improves the detection accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of large steel beam structure detection, and specifically to an automatic detection device for the turnout beam body of high-speed maglev. Background Art

[0002] As a new type of rail transit tool, the high-speed maglev train has technical advantages such as high efficiency, speed, safety, reliability, strong transport capacity, and environmental friendliness. It is mainly used for high-speed commuting traffic within urban agglomerations, integrated traffic between core cities, and corridor traffic for efficient long-distance connections.

[0003] The high-speed maglev turnout beam, as an important infrastructure in the maglev transportation system, is a turnout tool for maglev trains to change lines. The structural quality of the turnout beam body will directly affect the safety, smoothness of train operation, and the comfort of passengers.

[0004] The high-speed maglev turnout consists of a turnout beam, a bogie, locking, driving, a turnout foundation, and a control system; the total length of the turnout beam is about 78m, the longest single section is about 26m, and it weighs about 53t. Within the full length, the skid surface, guiding surface, and π-shaped plate all need to be processed, and the overall geometric tolerance and dimensional tolerance requirements are extremely high. At present, the manual measurement method has a long detection cycle, low detection accuracy, and there are cases of misdetection and missed detection. At the same time, for the inspection of the full-length beam body, only sampling inspection can be used, which cannot reflect the overall quality status of the beam body. Therefore, a complete measurement device is urgently needed.

[0005] The single section of the high-speed maglev turnout beam is about 26m long, and the overall structure is in a "T" shape. It consists of parts such as a π-shaped plate, a functional part connecting plate, a lateral rib plate, a sliding panel, a side guiding plate, a bogie mounting plate, a web, and a connecting rib plate, and is an important component of the high-speed maglev line. To ensure the high-speed and smooth operation of the maglev train, the manufacturing requirements of the beam body are high. The parallelism requirement between the top slide plate and the bogie mounting surface within the full length is within 0.5mm, the parallelism requirement of the side guiding surface is within 0.2mm, the distance tolerance requirement is within ±1mm, and the accuracy requirement of the long stator installation slots on both sides is within 0.3mm. The specific structure is shown in the appendix Figure 1 as shown.

[0006] At present, the inspection of the processed beam body on site is mainly carried out by combining manual measurement with machine tool dial indicator, but some dimensions still cannot be directly measured, such as the geometric tolerance of the π-shaped plates on both sides of the beam body. At the same time, the number of long stator installation key slots is large. For a 26m long single-section beam body, the number of key slots reaches 300. Manual inspection can only be sampling inspection and cannot reflect the overall quality status. The current solution has the following disadvantages:

[0007] 1. The key large machine tools occupy a long time and have high costs;

[0008] 2. Manual inspection is time-consuming, laborious, with low detection efficiency and low detection accuracy, and it is impossible to achieve full inspection. Summary of the Invention

[0009] (1) Technical problems to be solved

[0010] In view of the above-mentioned disadvantages and deficiencies of the prior art, the present invention provides an automated detection device for high-speed maglev turnout beam bodies, which improves the detection efficiency and detection accuracy and realizes the automated detection of high-speed maglev turnout beam bodies.

[0011] (2) Technical solutions

[0012] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0013] An embodiment of the present invention provides an automated detection device for high-speed maglev turnout beam bodies, including a bottom plate, a head beam body tooling, a beam body support tooling, and a tail beam body tooling arranged on the bottom plate, as well as an automatic detection trolley and a data processing system; the beam body support tooling is arranged between the head beam body tooling and the tail beam body tooling for supporting and positioning the beam body to be measured, so that the center of the beam body to be measured is consistent with the centers of the head beam body tooling and the tail beam body tooling; the head beam body tooling and the tail beam body tooling are used for the parking, starting, and detection data calibration of the automatic detection trolley; the automatic detection trolley can move along the length direction of the beam body to be measured to detect the cross-sectional linear dimensions and geometric tolerances of the beam body to be measured, and transmit the detected data to the data processing system.

[0014] Further, the cross-sectional structures of the head beam body tooling and the tail beam body tooling are both consistent with the cross-sectional structure of the beam body to be measured; the central axes of the head beam body tooling, the tail beam body tooling, and the beam body support tooling are consistent; the head beam body tooling and the tail beam body tooling can jointly form a continuous automatic detection trolley walking channel with the beam body to be measured installed on the beam body support tooling.

[0015] Further, the head beam body tooling includes a head beam body main body, a head car stop, a head laser tracker target ball seat, and a head beam body anti-collision component. The head beam body main body is installed on the upper side of one end of the bottom plate. The head car stop is arranged at the free end of the head beam body main body to prevent the automatic detection trolley from rushing out of the head beam body tooling; the head laser tracker target ball seat is arranged on the central axis of the top surface of the head beam body main body for receiving the laser emitted by the laser tracker arranged on the tail beam body tooling. The center coordinates of the laser tracker target ball on the head laser tracker target ball seat are used as the reference coordinate system of the turnout beam body measurement system; the head beam body anti-collision component is arranged on the side where the head beam body tooling is docked with the beam body to be measured.

[0016] Furthermore, the end head laser tracker target ball seat includes a support body, a laser tracker target ball, a support upper cover, and a support adjustment pad. The support body is installed on the main body of the end head beam through a rabbet and a key at the bottom of the support body. The support upper cover is connected to the support body. The laser tracker target ball is installed between the support upper cover and the support body, and the distance between the support upper cover and the top surface of the support body is adjusted through the support adjustment pad.

[0017] Furthermore, the end head beam anti-collision assembly includes a base block, a spring, and a retractable support pin. The base block is arranged on one side of the main body of the end head beam facing the beam to be measured. A step portion is provided on the contact side of the base block with the beam to be measured. The retractable support pin is arranged on the vertical surface of the step portion, and a spring is arranged between the retractable support pin and the base block.

[0018] Furthermore, the automatic detection trolley includes a vehicle frame main body, a guide surface traveling wheel set, a skid surface traveling wheel set, a turnout function part line laser detection module, a beam body point laser detection module, a trolley laser tracker target ball seat, and a control panel. The vehicle frame main body includes a main frame, a wheel set cross beam, a wheel set vertical beam, a sensor cross beam, and a sensor vertical beam. The two sides of the front end and the rear end of the main frame are respectively connected to one end of the four wheel set cross beams. The other end of the wheel set cross beam is connected to one end of the wheel set vertical beam. The other end of the wheel set vertical beam is connected to the end of the sensor cross beam. The middle of the sensor cross beam is connected to the sensor vertical beam. The guide surface traveling wheel set is arranged on both sides of the wheel set vertical beam, so that the guide surface traveling wheel set of the automatic detection trolley closely adheres to both sides of the guide surface of the beam to be measured, and further enables the automatic detection trolley to travel along the line type of the beam to be measured. The skid surface traveling wheel set is arranged below the wheel set cross beam and corresponds to the skid surface of the beam to be measured to drive the automatic detection trolley to travel along the skid surface of the beam to be measured. The turnout function part line laser detection module is symmetrically arranged on both sides of the sensor cross beam and is directly opposite to the long stator installation groove of the function part, so that the turnout function part line laser detection module scans and acquires the long stator installation groove. The beam body point laser detection module is symmetrically arranged on both sides of the sensor vertical beam and is directly opposite to the guide surface of the beam to be measured to obtain the line type and the distance from the guide surface of the guide surface of the beam to be measured. The trolley laser tracker target ball seat is arranged at the front end and the rear end of the vehicle frame main body and is located on the central axis of the main frame, and receives the laser emitted by the laser tracker on the tail beam tooling in real time, and feeds back the current coordinates of the automatic detection trolley, so as to obtain the deformation condition of the beam to be measured corresponding to the current position of the automatic detection trolley through coordinate calculation. The control panel is arranged above the main frame, and the control panel communicates with the data processing system and is used to control the travel of the automatic detection trolley and the acquisition of detection data.

[0019] Further, the beam body support tooling includes a first support base, a second support base, a third support base, a fixed base, a first trolley moving module, and a second trolley moving module. The fixed base, the first trolley moving module, and the second trolley moving module are all fixed on the bottom plate. The first support base is arranged on the fixed base on the side close to the end beam body tooling. The second support base is arranged on the first trolley moving module and can move along the length direction of the bottom plate. The third support base is arranged on the second trolley moving module on the side close to the tail beam body tooling and can move along the length direction of the bottom plate. The distances from the top surfaces of the first support base, the second support base, and the third support base to the running surfaces of the end beam body tooling and the tail beam body tooling are the same and equal to the distance from the trolley surface of the beam body to be measured to the skid surface.

[0020] Further, the tail beam body tooling includes a tail beam body main body, a tail car stop, a tail laser tracker, and a tail beam body anti-collision component. The tail beam body main body is installed on the upper side of the other end of the bottom plate. The tail car stop is arranged at the free end of the tail beam body main body to prevent the automatic detection trolley from rushing out of the tail beam body tooling. The tail laser tracker is arranged on the central axis of the top surface of the tail beam body main body. The tail beam body anti-collision component is arranged on the side where the tail beam body tooling is docked with the beam body to be measured.

[0021] Further, a beam body moving module is provided at the bottom of the end beam body tooling or the tail beam body tooling. The beam body moving module is fixed on the bottom plate and is used to drive the end beam body tooling or the tail beam body tooling to move along the length direction of the bottom plate to adapt to the beam bodies to be measured with different lengths.

[0022] Further, the beam body moving module includes a servo motor, a transmission lead screw, and a sliding guide rail. The servo motor is fixed at one end of the bottom plate. The power end of the servo motor is connected to one end of the transmission lead screw. The other end of the transmission lead screw is rotatably connected to the other end of the bottom plate. The end beam body tooling or the tail beam body tooling is connected to the transmission lead screw, and the end beam body tooling or the tail beam body tooling is connected to the bottom plate through the sliding guide rail.

[0023] (III) Beneficial effects

[0024] The beneficial effects of the present invention are as follows: The present invention provides an automatic detection device for high-speed maglev turnout beam bodies. By using an automatic detection trolley in combination with the end beam body tooling and the tail beam body tooling to measure the beam body to be measured, it realizes the automatic detection of the cross-sectional linear dimensions and form and position tolerances of high-speed maglev turnout beam bodies, improves the detection accuracy; reduces the dependence on large machine tools for the detection of high-speed maglev turnout beam bodies and reduces the processing cost; the detection process is fully automatic without manual operation, reducing the labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of an existing high-speed maglev turnout beam body;

[0026] Figure 2 is a schematic overall structural diagram of an automatic detection device for high-speed maglev turnout beam bodies according to the present invention;

[0027] Figure 3 is a schematic partial structural diagram of an automatic detection device for high-speed maglev turnout beam bodies according to the present invention;

[0028] Figure 4 is a side view of an automatic detection device for high-speed maglev turnout beam bodies according to the present invention;

[0029] Figure 5 is a schematic diagram of the detection state of an automatic detection device for high-speed maglev turnout beam bodies according to the present invention;

[0030] Figure 6 is a schematic structural diagram of the end beam body tooling according to the present invention;

[0031] Figure 7 is an exploded view of the end laser tracker target ball support according to the present invention;

[0032] Figure 8 is a schematic structural diagram of the end beam body anti-collision component according to the present invention;

[0033] Figure 9 is a schematic structural diagram of an automatic detection trolley according to the present invention;

[0034] Figure 10 is another schematic structural diagram of an automatic detection trolley according to the present invention;

[0035] Figure 11 is a schematic bottom structural diagram of an automatic detection trolley according to the present invention;

[0036] Figure 12 is a schematic structural diagram of the beam body support tooling according to the present invention;

[0037] Figure 13 is a schematic structural diagram of the tail beam body tooling according to the present invention;

[0038] Figure 14 It is a detection flow chart of the automatic detection method for the high-speed maglev turnout beam body of the present invention;

[0039] Figure 15 It is a schematic diagram for detecting the beam body width and the parallelism of the guiding surface of the present invention;

[0040] Figure 16 It is a schematic diagram for detecting the beam body height and the parallelism of the skid surface of the present invention;

[0041] Figure 17 It is a schematic diagram for calculating the detection time of the beam body length of the present invention;

[0042] Figure 18 It is a schematic diagram for detecting the beam body line type of the present invention.

[0043]

Explanation of the attached drawing reference numerals

[0044] 1. End beam body tooling; 11. End beam body main body; 12. End car bumper; 13. End laser tracker target ball support; 14. End beam body anti-collision component; 131. Support body; 132. Laser tracker target ball; 133. Support upper cover; 134. Support adjustment pad; 141. Base block; 142. Spring; 143. Retraction support pin;

[0045] 2. Automatic detection trolley; 21. Frame main body; 22. Guiding surface traveling wheel set; 23. Skid surface traveling wheel set; 24. Turnout function part line laser detection module; 25. Beam body point laser detection module; 26. Trolley laser tracker target ball seat; 27. Control panel; 211. Main frame; 212. Wheel set cross beam; 213. Wheel set vertical beam; 214. Sensor cross beam; 215. Sensor vertical beam; 221. Flexible wheel set; 222. Rigid wheel set; 231. Driving wheel set; 232. Encoder wheel set; 233. Non-powered wheel set; 241. Line laser sensor; 242. Installation bracket; 251. Point laser sensor; 252. Installation plate;

[0046] 3. Beam body support tooling; 31. First support seat; 32. Second support seat; 33. Third support seat; 34. Fixed base; 35. First trolley moving module; 36. Second trolley moving module; 37. Cylindrical positioning pin; 38. Rhombic positioning pin; 311. Support base; 312. Support positioning plate;

[0047] 4. Tail beam body tooling; 41. Tail beam body main body; 42. Tail car bumper; 43. Tail laser tracker; 44. Tail beam body anti-collision component;

[0048] 5. Bottom plate;

[0049] 6. Beam body moving module; 61. Servo motor; 62. Transmission lead screw; 63. Sliding guide rail;

[0050] 7. Beam to be measured Specific implementation manner

[0051] To better understand the above technical solution, the exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art. Among them, the orientation nouns such as "upper" and "lower" mentioned herein are referenced with Figure 2 the defined orientation.

[0052] In the first specific implementation manner, the present invention provides an automatic detection device for high-speed maglev turnout beam. Refer to Figure 2 and Figure 3 (The arrow direction in the figure indicates the advancing direction of the automatic detection trolley 2), the automatic detection device for high-speed maglev turnout beam includes: a bottom plate 5, a head beam tooling 1, a beam support tooling 3, and a tail beam tooling 4 arranged on the bottom plate 5, as well as an automatic detection trolley 2 and a data processing system. The beam support tooling 3 is arranged between the head beam tooling 1 and the tail beam tooling 4 for supporting and positioning the beam to be measured 7. The cross-sectional structures of the head beam tooling 1 and the tail beam tooling 4 are the same as that of the beam to be measured 7, which are used for parking and starting the automatic detection trolley 2, and the centers of the head beam tooling 1, the tail beam tooling 4, and the beam support tooling 3 are strictly aligned. A variety of sensors are arranged on the automatic detection trolley 2, which can automatically travel along the head beam tooling 1, the beam to be measured 7, and the tail beam tooling 4 at a preset speed V to automatically measure the cross-sectional linear dimensions and geometric tolerances of the beam to be measured 7. The data processing system is used to receive the detection data of the automatic detection trolley 2 and the detection data of the laser tracker on the tail beam tooling 4 and process them to generate detection results.

[0053] Specifically, referring to Figures 6 to 8 , the head beam tooling 1 includes a head beam main body 11, a head car stop 12, a head laser tracker target ball support 13, and a head beam anti-collision mechanism 14. Among them, the cross-sectional structure size and the π-shaped plate size of the head beam main body 11 are Figure 1 the same as those of the theoretical standard turnout beam, which are obtained by machining after welding and are strictly detected by a coordinate measuring machine to be qualified, and are used for parking, starting, and calibration of detection data of the automatic detection trolley. The head beam main body 11 is arranged on the upper side of one end of the bottom plate 5. The head car stop 12 is arranged at the free end of the head beam main body 11 as a safety protection to prevent the automatic detection trolley 2 from rushing out of the head beam tooling 1. The head laser tracker target ball support 13 is arranged on the central axis of the top surface of the head beam main body 11. Refer toFigure 7 The end laser tracker target ball support 13 includes a support body 131, a laser tracker target ball 132, a support upper cover 133, and a support adjusting pad 134. The support body 131 is installed on the end beam body main body 11 through a spigot and a key in a machined and inspected qualified notch, and is installed and clamped by bolts. The laser tracker target ball 132 is used to receive the laser emitted by the laser tracker arranged on the tail beam body tooling 4, and the center coordinate of the laser tracker target ball 132 serves as the reference coordinate system of the turnout beam body measurement system. See Figure 8 The end beam body anti-collision mechanism 14 is arranged on the side where the end beam body tooling 1 is docked with the beam body to be measured 7, and is composed of a base block 141, a spring 142, and a retractable support pin 143. It is used to contact the beam body to be measured 7 to prevent the beam body to be measured 7 from directly hitting the end face of the end beam body tooling 1. At the same time, the distance from the outer side surface of the base blocks 141 on both sides to the guiding surface of the end beam body tooling 1 is ensured by machining and is a known parameter, which is used for distance measurement calibration by the beam body point laser ranging detection module 25 on the automatic detection trolley 2.

[0054] Specifically, see Figures 9 to 11 The automatic detection trolley 2 includes a frame main body 21, a guiding surface traveling wheel set 22, a skid surface traveling wheel set 23, a turnout function part line laser detection module 24, a beam body point laser detection module 25, a trolley laser tracker target ball seat 26, and a control panel 27. Among them, the guiding surface traveling wheel set 22 is arranged on the frame main body 21 and can drive the frame main body 21 to travel along the guiding surface of the beam body to be measured 7. The skid surface traveling wheel set 23 is arranged on the frame main body 21 and can drive the frame main body 21 to travel along the skid surface of the beam body to be measured 7.

[0055] Specifically, the frame main body 21 includes a main frame 211, a wheel set cross beam 212, a wheel set vertical beam 213, a sensor cross beam 214, and a sensor vertical beam 215. The frame main body 21 is the structural main body for the support, travel, and installation of accessories such as the power supply, control system, and motor of the automatic detection trolley 2.

[0056] The guiding surface traveling wheel set 22 is arranged on both sides of the wheel set vertical beam 213 and is composed of two groups of flexible wheel sets 221 and two groups of rigid wheel sets 222. The two groups of flexible wheel sets 221 are arranged on the same side. By adjusting the adjusting handle on the flexible wheel set 221, the spring is compressed to drive the guiding surface traveling wheel set 22 of the automatic detection trolley 2 to closely adhere to both sides of the guiding surface of the beam body to be measured 7, so that the automatic detection trolley 2 travels along the linear shape of the beam body to be measured 7.

[0057] The skid surface traveling wheel set 23 is arranged below the wheel set cross beam 212 and corresponds to the skid surface of the beam to be measured 7. It is composed of a set of driving wheel sets 231, a set of encoder wheel sets 232, and two sets of non-powered wheel sets 233, driving the automatic detection trolley 2 to travel along the sliding surface of the beam to be measured 7. The driving wheel set 231 is driven by a servo motor to provide the traveling power for the automatic detection trolley 2, and the encoder wheel set 232 is combined to achieve precise control of the traveling speed V and mileage of the automatic detection trolley 2.

[0058] The turnout functional part line laser detection module 24 is composed of a line laser sensor 241 and a mounting bracket 242. It is arranged on both sides of the sensor cross beam 214, facing the long stator mounting groove of the functional part, so that the line laser sensor 241 can scan and obtain the long stator mounting groove.

[0059] The beam body point laser detection module 25 is composed of a point laser sensor 251 and a mounting plate 252. It is symmetrically arranged along both sides of the sensor vertical beam 215 and faces the guiding surface of the beam to be measured 7. During the detection process, the distance from the guiding surface of the beam to be measured 7 can be obtained in real time. By comparing the distance data of the point laser sensors 251 on both sides, the linear type and the distance from the guiding surface of the beam to be measured 7 can be obtained.

[0060] The trolley laser tracker target ball seat 26 has the same structure as the end laser tracker target ball support 13, including a support body 131, a laser tracker target ball 132, a support upper cover 133, and a support adjustment pad 134. The trolley laser tracker target ball seat 26 is arranged at the front and rear ends of the frame main body 21 and is located on the central axis of the frame main body 21, receiving the laser of the laser tracker on the tail beam tooling 4 in real time, and feeding back the current coordinates of the automatic detection trolley 2, so as to obtain the deformation condition of the beam to be measured 7 corresponding to the current position of the automatic detection trolley 2 through coordinate calculation.

[0061] The control panel 27 is arranged above the main frame 211. The control panel 27 communicates with the data processing system and is used to control the traveling of the automatic detection trolley 2 and the acquisition of detection data.

[0062] Specifically, refer to Figure 12, the beam support tooling 3 includes a first support base 31, a second support base 32, a third support base 33, a fixed base 34, a first trolley moving module 35, and a second trolley moving module 36. Among them, the fixed base 34, the first trolley moving module 35, and the second trolley moving module 36 are all arranged on the bottom plate 5. The first support base 31 is arranged on one side of the fixed base 34 close to the end beam tooling 1, and its position is fixed. The second support base 32 is arranged on the first trolley moving module 35 and can move along the length direction of the bottom plate 5 (the arrow direction in the figure represents the moving direction of the second support base 32). The third support base 33 is arranged on one side of the second trolley moving module 36 close to the tail beam tooling 4 and can move along the length direction of the bottom plate 5 (the arrow direction in the figure represents the moving direction of the third support base 33) to adapt to the trolley mounting surfaces at different positions on the test beam 7 of different lengths, so as to carry out effective positioning.

[0063] The first support base 31, the second support base 32, and the third support base 33 have the same structure and are all composed of a support base 311 and a support positioning plate 312. Among them, a positioning pin hole is opened on the first support base 31 for installing a cylindrical positioning pin 37, and a positioning pin hole is opened on the third support base 33 for installing a diamond-shaped positioning pin 38. The beam support tooling 3 is arranged between the end beam tooling 1 and the tail beam tooling 4 and is used to support and position the test beam 7. Among them, the support positioning plate 312 is used to support the finish-machined surfaces such as the trolley mounting surface of the test beam 7, so that the test beam 7 maintains the actual laying state during measurement. Combining the cylindrical positioning pin 37 and the diamond-shaped positioning pin 38 ensures the complete positioning of the test beam 7. To ensure the accuracy of positioning and at the same time ensure that the central axis of the test beam 7 coincides with the central axes of the end beam tooling 1 and the tail beam tooling 4, the mounting surfaces of the first support base 31, the second support base 32, and the third support base 33 and the positioning pin holes on the first support base 31 and the third support base 33 are all machined simultaneously by machining. When installing and debugging, a laser tracker is used to level the three support positioning plates 312 to ensure that the distances from each plate surface to the running surfaces of the end beam tooling 1 and the tail beam tooling 4 are the same and equal to the distance H from the trolley surface of the test beam 7 to the skid surface.

[0064] Specifically, refer to Figure 13 , the tail beam tooling 4 includes a tail beam main body 41, a tail car stop 42, a tail laser tracker 43, and a tail beam anti-collision component 43. Among them, the structural dimensions of the tail beam main body 41 and the dimensions of the π-shaped plate are the same as Figure 1It is consistent with the theoretical standard turnout beam body, obtained by machining after welding, and strictly inspected and qualified by a coordinate measuring machine. It is used for the parking, startup, and detection data calibration of the automatic detection trolley 2. The main body 41 of the tail beam body is arranged on the upper side of the other end of the bottom plate 5. The tail bumper 42 is arranged at the end of the tail beam body tooling 4 as a safety protection to prevent the automatic detection trolley 2 from rushing out of the tail beam body tooling 4. The tail laser tracker 43 is arranged on the central axis of the top surface of the main body 41 of the tail beam body and is machined simultaneously with the main body 41 of the tail beam body to ensure and pass the inspection. It is used for establishing the reference coordinate system of the measurement system and real-time detection of the coordinates of the automatic detection trolley 2. The tail beam body anti-collision mechanism 44 is arranged on the side where the tail beam body tooling 4 is docked with the beam body to be measured 7. The tail beam body anti-collision mechanism 44 has the same structure as the end beam body anti-collision mechanism 14 and is composed of a base block 141, a spring 142, and a retractable support pin 143. It is used to contact the beam body to be measured 7 to prevent the beam body to be measured 7 from directly hitting the end face of the tail beam body tooling 4. At the same time, the distance from the outer side surface of the base block 141 on both sides to the guiding surface of the tail beam body tooling 4 is ensured by machining and is a known parameter, which is used for distance measurement calibration by the beam body point laser ranging detection module 25 on the automatic detection trolley 2.

[0065] Specifically, a beam body moving module 6 is arranged at the bottom of the end beam body tooling 1 or the tail beam body tooling 4, which is used to drive the end beam body tooling 1 or the tail beam body tooling 4 to move along the length direction of the bottom plate 5 to adapt to different lengths of the beam bodies to be measured 7. See Figure 13 , in this embodiment, the beam body moving module 6 is arranged at the bottom of the tail beam body tooling 4 and includes a servo motor 61, a transmission lead screw 62, and a sliding guide rail 63. Among them, the servo motor 61 is fixed on the bottom plate 5, the power end of the servo motor 61 is connected to one end of the transmission lead screw 62, the other end of the transmission lead screw 62 is rotatably connected to the bottom plate 5, the bottom of the tail beam body tooling 4 is threadedly connected to the transmission lead screw 62, and the tail beam body tooling 4 is connected to the bottom plate 5 through the sliding guide rail 63. The sliding guide rail 63 is fixed on the bottom plate 5 on both sides of the transmission lead screw 62 and is slidably connected to the bottom of the tail beam body tooling 4. The servo motor 61 drives the transmission lead screw 62 to rotate, and then drives the tail beam body tooling 4 to move linearly on the transmission lead screw 62, so that the tail beam body tooling 4 can move along the sliding guide rail 63.

[0066] The flow of the detection method of an automatic detection device for high-speed maglev turnout beam bodies provided by the present invention is as Figure 14 shown. The specific steps of the detection method of the automatic detection device for high-speed maglev turnout beam bodies are as follows:

[0067] Before the automatic detection trolley 2 measures, the tail laser tracker 43 on the tail beam tooling 4 will search for the laser tracker target ball 132 at the end of the head beam tooling 1 and set this as the measurement reference coordinate system O. During the measurement process of the automatic detection trolley 2, the tail laser tracker 43 will search for the laser tracker target balls 132 on the laser tracker target ball seats 26 set before and after the automatic detection trolley 2, and set the midpoint of the center connection line of the two laser tracker target balls 132 as O'. It will real-time track the target ball coordinates during the movement of the automatic detection trolley 2 and can collect coordinate data periodically according to specific detection needs.

[0068] In the present invention, for the measurement and calculation of the width of the beam to be measured, in combination with Figure 15 As shown, it should be noted that for the relevant dimensional parameters such as the length dimension L1, width dimension W1, laser tracker target ball coordinates of the head beam tooling 1, functional part π-shaped plate, relevant dimensions of the tail beam tooling 4, relevant dimensions of the structure of the automatic detection trolley 2, and the relative position dimension between the positioning surface of the beam support tooling 3 and the head beam tooling 1, etc., they are strictly guaranteed by processing and passed the inspection, and are all known numbers, which will not be elaborated below. Then when the automatic detection trolley 2 is above the beam to be measured 7, in the coordinate system O' of the detection trolley body, at a certain moment, the width W of the beam to be measured 7 is: W = W1 - [(δ'1 - δ1) + (δ'2 - δ2)], and the average value can also be obtained by collecting multi-point data according to needs. At the same time, by continuously collecting and calculating |δ'2 - δ2|, the parallelism of the guiding surfaces on both sides of the beam to be measured 7 can be obtained.

[0069] In the present invention, for the measurement and calculation of the height of the beam to be measured, in combination with Figure 16 As shown, when the automatic detection trolley 2 is above the beam to be measured 7, at a certain moment, the height h of the beam to be measured 7 is: h = H - (H" - H'), (where H" - H' is the deviation value in the Z direction of the trolley O' in the O coordinate system), and the average value can also be obtained by collecting multi-point data according to needs. At the same time, by continuously collecting the Z coordinate values during the movement of the automatic detection trolley 2, the linear type of the running surface of the beam to be measured 7 can be reflected.

[0070] In the present invention, for the measurement of the length of the beam to be measured, as Figure 17 As shown, when the automatic detection trolley 2 travels along the head beam tooling 1, the beam to be measured 7, and the tail beam tooling 4 at the preset speed V, the system will real-time judge the distance value measured by the point laser sensor 251 to the beam guiding surface. When the distance measurement l = (δ' ± α) (where α is a given deviation value), the system timer starts timing. When the distance measurement l > (δ' ± α), the timing stops, and the time (t1 - t0) is obtained. Then the beam length L = (t1 - t0) * V.

[0071] For the detection of the linear type of the central axis of the beam to be measured in the present invention, as Figure 18As shown in the figure, within the main coordinate system O, the coordinates of any point (x1, y1) of the trolley O' on the beam body (the z coordinate is not considered for the deviation from the symmetric center line of the beam body width), then the deviation γ and the deviation angle α between the center line of the beam body and the theoretical line type are as follows:

[0072]

[0073]

[0074] In the formula, the coordinates (x0, y0) are the theoretical traveling coordinates of the trolley, which can be preset according to the detection requirements or obtained from the above formula for calculating the beam body length (only the current traveling time needs to be substituted). l is the distance from the origin of the main coordinate system to the starting end of the beam body to be measured, which is a known quantity. After obtaining multiple sets of discrete point coordinates, the actual intermediate axis of the beam body can also be obtained by linear fitting using the least squares method. Then, the form and position tolerances such as the symmetry and perpendicularity of the beam body can be obtained by using the deviations of each surface obtained above.

[0075] In the present invention, for the detection of the installation keyway of the functional component of the beam body to be measured, it is directly scanned by the turnout functional component line laser detection module 24 arranged at the bottom of the automatic detection trolley 2 to obtain the point cloud. After being calculated and processed by the data processing system, the relevant dimensions can be directly measured, or the model of the installation plate of the functional component of the beam body to be measured obtained by scanning can be directly compared with the model of the installation plate of the functional component of the end beam body tooling obtained by scanning as needed to obtain the deviation value.

[0076] In the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower horizontal height than the second feature.

[0078] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "embodiment", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0079] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An automatic detection device for a high-speed maglev turnout girder, characterized in that: It includes a bottom plate (5), a front beam tooling (1), a beam support tooling (3), and a rear beam tooling (4) arranged on the bottom plate (5), as well as an automatic inspection trolley (2) and a data processing system; the beam support tooling (3) is arranged between the front beam tooling (1) and the rear beam tooling (4) and is used to support and position the beam to be measured (7) so that the center of the beam to be measured (7) is aligned with the centers of the front beam tooling (1) and the rear beam tooling (4); the front beam tooling (1) and the rear beam tooling (4) are used for the parking, starting, and calibration of the inspection data of the automatic inspection trolley (2); the automatic inspection trolley (2) can move along the length direction of the beam to be measured (7) to detect the cross-sectional linear dimensions and geometric tolerances of the beam to be measured (7) and transmit the detected data to the data processing system; The front beam tooling (1) includes a front beam main body (11), a front car stop (12), a front laser tracker target ball support (13), and a front beam anti-collision component (14). The front beam main body (11) is installed on the upper side of one end of the bottom plate (5). The front car stop (12) is arranged at the free end of the front beam main body (11) to prevent the automatic inspection trolley (2) from rushing out of the front beam tooling (1); the front laser tracker target ball support (13) is arranged on the central axis of the top surface of the front beam main body (11) and is used to receive the laser emitted by the laser tracker arranged on the rear beam tooling (4). The center coordinates of the laser tracker target ball (132) on the front laser tracker target ball support (13) serve as the reference coordinate system of the turnout beam measurement system; the front beam anti-collision component (14) is arranged on the side where the front beam tooling (1) is docked with the beam to be measured (7).

2. The automatic detection device for the high-speed maglev turnout beam body according to claim 1, wherein: The cross-sectional structures of the front beam tooling (1) and the rear beam tooling (4) are both consistent with the cross-sectional structure of the beam to be measured (7); the central axes of the front beam tooling (1), the rear beam tooling (4), and the beam support tooling (3) are aligned; the front beam tooling (1) and the rear beam tooling (4) can jointly form a continuous walking channel for the automatic inspection trolley (2) with the beam to be measured (7) installed on the beam support tooling (3).

3. An automatic detection device for a high-speed maglev turnout beam body according to claim 1 or 2, characterized in that: The front laser tracker target ball support (13) includes a support body (131), a laser tracker target ball (132), a support upper cover (133), and a support adjustment pad (134). The support body (131) is installed on the front beam main body (11) through the rabbet and key at the bottom of the support body (131). The support upper cover (133) is connected to the support body (131). The laser tracker target ball (132) is installed between the support upper cover (133) and the support body (131), and the distance between the support upper cover (133) and the top surface of the support body (131) is adjusted through the support adjustment pad (134).

4. An automated inspection device for a high-speed maglev turnout beam body according to claim 1 or 2, characterized in that: The anti-collision component (14) of the end beam body includes a base block (141), a spring (142), and a retractable support pin (143). The base block (141) is arranged on the side of the end beam body main body (11) facing the beam body to be measured (7). A stepped portion is provided on the contact side of the base block (141) with the beam body to be measured (7). The retractable support pin (143) is arranged on the vertical surface of the stepped portion, and a spring (142) is arranged between the retractable support pin (143) and the base block (141).

5. An automated inspection device for a high-speed maglev turnout beam body according to claim 1 or 2, characterized in that: The automatic detection trolley (2) includes a frame main body (21), a guide surface walking wheel set (22), a skid surface walking wheel set (23), a turnout function part line laser detection module (24), a beam body point laser detection module (25), a trolley laser tracker target ball seat (26), and a control panel (27). The frame main body (21) includes a main frame (211), a wheel set cross beam (212), a wheel set vertical beam (213), a sensor cross beam (214), and a sensor vertical beam (215). The two sides of the front end and the rear end of the main frame (211) are respectively connected to one end of the four wheel set cross beams (212). The other end of the wheel set cross beam (212) is connected to one end of the wheel set vertical beam (213). The other end of the wheel set vertical beam (213) is connected to the end of the sensor cross beam (214). The middle of the sensor cross beam (214) is connected to the sensor vertical beam (215). The guide surface walking wheel set (22) is arranged on both sides of the wheel set vertical beam (213), so that the guide surface walking wheel set (22) of the automatic detection trolley (2) closely adheres to both sides of the guide surface of the beam body to be measured (7), and further enables the automatic detection trolley (2) to linearly travel along the beam body to be measured (7). The skid surface walking wheel set (23) is arranged below the wheel set cross beam (212) and corresponds to the skid surface of the beam body to be measured (7), so as to drive the automatic detection trolley (2) to travel along the skid surface of the beam body to be measured (7). The turnout function part line laser detection module (24) is symmetrically arranged on both sides of the sensor cross beam (214) and is directly opposite to the long stator installation groove of the function part, so that the turnout function part line laser detection module (24) scans and obtains the long stator installation groove. The beam body point laser detection module (25) is symmetrically arranged on both sides of the sensor vertical beam (215) and is directly opposite to the guide surface of the beam body to be measured (7), so as to obtain the linear type and the distance from the guide surface of the guide surface of the beam body to be measured (7). The trolley laser tracker target ball seat (26) is arranged at the front end and the rear end of the frame main body (21) and is located on the central axis of the main frame (211). It receives the laser emitted by the tail laser tracker (43) on the tail beam body tooling (4) in real time, and feeds back the current coordinates of the automatic detection trolley (2), so as to obtain the deformation condition of the beam body to be measured (7) corresponding to the current position of the automatic detection trolley (2) through coordinate calculation. The control panel (27) is arranged above the main frame (211). The control panel (27) communicates with the data processing system and is used to control the movement of the automatic detection trolley (2) and collect detection data.

6. The automatic detection device for the high-speed maglev turnout girder according to claim 1 or 2, characterized in that: The beam support tooling (3) includes a first support seat (31), a second support seat (32), a third support seat (33), a fixed base (34), a first trolley moving module (35) and a second trolley moving module (36). The fixed base (34), the first trolley moving module (35) and the second trolley moving module (36) are all fixed on the bottom plate (5); the first support seat (31) is arranged on one side of the fixed base (34) close to the end beam tooling (1); the second support seat (32) is arranged on the first trolley moving module (35) and can move along the length direction of the bottom plate (5); the third support seat (33) is arranged on one side of the second trolley moving module (36) close to the tail beam tooling (4) and can move along the length direction of the bottom plate (5). The distances from the top surfaces of the first support seat (31), the second support seat (32) and the third support seat (33) to the running surfaces of the end beam tooling (1) and the tail beam tooling (4) are the same and equal to the distance from the trolley surface to the skid surface of the beam to be measured (7).

7. An automated inspection device for a high-speed maglev turnout beam body according to claim 1 or 2, characterized in that: The tail beam tooling (4) includes a tail beam main body (41), a tail car stop (42), a tail laser tracker (43) and a tail beam anti-collision component (44); the tail beam main body (41) is installed on the upper side of the other end of the bottom plate (5), the tail car stop (42) is arranged at the free end of the tail beam main body (41) to prevent the automatic detection trolley (2) from rushing out of the tail beam tooling (4); the tail laser tracker (43) is arranged on the central axis of the top surface of the tail beam main body (41), and the tail beam anti-collision component (44) is arranged on the side where the tail beam tooling (4) is docked with the beam to be measured (7).

8. An automatic detection device for a high-speed maglev turnout beam body according to claim 1 or 2, characterized in that: A beam moving module (6) is provided at the bottom of the end beam tooling (1) or the tail beam tooling (4). The beam moving module (6) is fixed on the bottom plate (5) and is used to drive the end beam tooling (1) or the tail beam tooling (4) to move along the length direction of the bottom plate (5) to adapt to beams to be measured (7) of different lengths.

9. An automatic inspection device for a high-speed maglev turnout beam body according to claim 8, characterized in that: The beam moving module (6) includes a servo motor (61), a transmission lead screw (62), and a sliding guide rail (63). The servo motor (61) is fixed at one end of the base plate (5). The power end of the servo motor (61) is connected to one end of the transmission lead screw (62). The other end of the transmission lead screw (62) is rotatably connected to the other end of the base plate (5). The head beam tooling (1) or the tail beam tooling (4) is connected to the transmission lead screw (62), and the head beam tooling (1) or the tail beam tooling (4) is connected to the base plate (5) through the sliding guide rail (63).

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