A self-propelled apparatus for train detection

Abstract

The application belongs to the technical field of train detection equipment, and discloses a self-walking equipment for train detection, which comprises a vehicle body, a component scanning camera and a rotating mechanism. The rotating mechanism is connected with the component scanning camera through a protection mechanism, and is used for driving the component scanning camera to switch between a hidden position and a shooting position. The application can switch the component scanning camera between the hidden position and the switching position, so as to avoid occupying too much storage volume in the idle state. In addition, the protection mechanism is arranged, so that the component scanning camera can avoid damaging the vehicle bottom component even if it falls after touching the vehicle bottom component.

Description

Technical Field

[0001] This invention belongs to the technical field of train inspection equipment, and particularly relates to a self-propelled device for train inspection. Background Technology

[0002] The bogie structure of railway vehicles is complex. Conducting necessary visual inspections of the bogie and train structure is an essential procedure to ensure safe operation of the vehicles. There are many corresponding safety inspection items. Due to the structural characteristics of railway vehicles, the space between the underside of the vehicle and the rails is very narrow. Therefore, to conduct a comprehensive visual inspection of the underside of the vehicle, it is usually necessary to park the train in the maintenance depot and drive the vehicle to be inspected onto the track bridge so that workers can conduct visual inspections of the bogies overhead and the underside of the train from the pit.

[0003] This manual inspection method has certain problems: on the one hand, the necessary manual visual inspection of the undercarriage requires driving the train into the track bridge inside the maintenance depot. As the number of trains increases, more maintenance depots need to be built and more staff need to be hired, which greatly increases the operating cost of the trains; on the other hand, the inspection items for the undercarriage are relatively complex, the space under the bogies is narrow, there are many blind spots that are difficult to reach, and working with one's head up for a long time is detrimental to the health of the staff.

[0004] Currently, a detection device that moves along the bottom of a train has emerged. However, the scanning camera of this detection device is not easy to store. When not in use, it occupies too much storage space and lacks protective mechanisms, making it easy to damage the undercarriage components during use. Summary of the Invention

[0005] To address at least one of the aforementioned technical problems, this invention discloses a self-propelled device for train inspection, which enables the component scanning camera to switch between a hidden position and a switching position to avoid occupying excessive storage space when idle. Furthermore, a protective mechanism is provided to prevent the component scanning camera from falling over and damaging the undercarriage components after it comes into contact with them.

[0006] The specific technical solution of the present invention is as follows:

[0007] A self-propelled device for train inspection, comprising:

[0008] Vehicle body;

[0009] Component scanning camera; and

[0010] A rotating mechanism is connected to a component scanning camera via a protective mechanism. The rotating mechanism is used to drive the component scanning camera to switch between a hidden position and a shooting position.

[0011] The rotating mechanism enables the switching of the component scanning camera's position, allowing it to have both working and idle states. This facilitates the storage of self-propelled equipment and the inspection of undercarriage components at appropriate locations. During the inspection of undercarriage components, the component scanning camera may come into contact with them. If no intervention is applied, the camera will damage the components, preventing the train from completing the inspection in a timely manner and causing additional damage. Consequently, the train may not be able to complete reliable inspections during the train inspection process. Therefore, a protective mechanism is installed to protect the undercarriage components from damage after the camera comes into contact with them.

[0012] Preferably, the protection mechanism includes:

[0013] Mounting base, the mounting base being connected to a component scanning camera, the mounting base having a mounting slot; and

[0014] A ball seat, which is connected to a rotating mechanism, wherein the ball of the ball seat is located in a mounting groove;

[0015] The ball in the ball seat has a first groove and a second groove that are disposed opposite to each other.

[0016] The mounting base has a first through hole corresponding to the first groove and a second through hole corresponding to the second groove;

[0017] Spring top beads are respectively provided in the first through hole and the second through hole. The column of the spring top bead is in contact with the inner wall of the corresponding through hole, and at least a part of the bead is located in the corresponding groove.

[0018] The mounting base and the ball seat are connected by two spring-loaded balls. The spring-loaded balls and the corresponding inner walls of the through holes have appropriate friction. Under normal conditions, this friction resists the elastic force exerted by the springs in the spring-loaded balls. At this time, the ball of the spring-loaded ball is located in the corresponding groove. When the component scanning camera collides with the undercarriage component, the ball seat rotates relative to the mounting base within the mounting groove. At this point, the ball of the spring-loaded ball slides outward from the inside of the corresponding groove to further compress the spring, thereby increasing the elastic force of the spring. This elastic force overcomes the friction, causing the elastic ball to move away from the corresponding groove, ultimately separating the ball from the groove. This causes the mounting base and the ball seat to separate. Thus, when the component scanning camera touches the undercarriage component, the camera falls over, preventing further contact and / or collision with the undercarriage component that could damage it.

[0019] Preferred options also include:

[0020] A telescopic mechanism, one end of which is mounted on a mounting base and the other end is connected to a component scanning camera.

[0021] The telescopic mechanism enables the component scanning camera to expand its scanning range, thereby improving the detection efficiency and accuracy of the component scanning camera.

[0022] Preferred options also include:

[0023] A rotating gimbal, wherein the rotating gimbal is mounted on a mounting base;

[0024] The component scanning camera is mounted on a rotating gimbal.

[0025] The rotating gimbal can further expand the scanning range of the component scanning camera.

[0026] Preferred options also include:

[0027] A linear displacement mechanism, which is connected to the vehicle body;

[0028] The fixed end of the rotating mechanism is connected to the linear displacement mechanism.

[0029] The linear displacement mechanism can further expand the scanning range of the component scanning camera.

[0030] Preferably, a scanning device is provided at the end of the vehicle body;

[0031] The vehicle body is provided with several wheel pairs so that the vehicle body can travel on the web of the rail. Any pair of wheel pairs includes a first drive structure and a second drive structure that can move relative to each other or in opposite directions.

[0032] When the scanning device detects an obstacle, the first driving structure and the second driving structure move toward each other.

[0033] When the first drive structure and the second drive structure avoid an obstacle and no other obstacles are detected, the first drive structure and the second drive structure move relative to each other to re-engage at the web of the rail.

[0034] The scanning device can provide obstacle warnings for the self-propelled device along its movement path, preventing damage from collisions during its movement. When the scanning device detects an obstacle ahead, the corresponding wheel pair retracts inward, passes the obstacle, and then extends to contact the rail. During this process, the remaining wheel pairs remain in contact with the rail to ensure the self-propelled device's mobility. It can be seen that in the above process, each wheel pair sequentially moves towards and away from the obstacle to ensure that all wheel pairs can avoid it. At the same time, when one pair of wheel pairs retracts inward, the other wheel pairs can support the self-propelled device to ensure its stability.

[0035] Preferably, the first drive structure includes a first power shaft, and the second drive structure includes a second power shaft;

[0036] Any pair of wheelsets also includes:

[0037] A drive shaft, at least one drive shaft having a first motor for driving the drive shaft to rotate;

[0038] First slide and second slide; and

[0039] A lead screw, the two ends of which are threadedly connected to a first slide and a second slide, respectively, and the lead screw has a second motor for driving its rotation;

[0040] The first power shaft passes through the first slide and is connected to one end of the drive shaft via a spline; the second power shaft passes through the second slide and is connected to the other end of the drive shaft via a spline.

[0041] The rotation of the drive shaft can drive the movement of the two drive structures, thereby ensuring the mobility of the self-propelled device. When the two corresponding first drive structures and second drive structures need to move towards each other or away from each other, the first slide and the second slide can be moved towards each other or away from each other by rotating the lead screw. At this time, since the corresponding power shafts are connected to the drive shaft through splines, the power transmission of the drive shaft is not affected when the first drive structure as a whole and the second drive structure as a whole move towards each other or away from each other.

[0042] Preferably, the first drive structure further includes a first sleeve and a first base, one end of the first sleeve is connected to the first base and the other end is connected to the first slide block, and the first power shaft passes through the first sleeve;

[0043] The second drive structure also includes a second sleeve and a second seat. One end of the second sleeve is connected to the second seat, and the other end is connected to the second slide. The second power shaft passes through the second sleeve.

[0044] For any given drive structure, when the corresponding slide moves, the corresponding seat body can be pulled or pushed by the corresponding sleeve, so that the entire drive structure can be displaced under the action of the lead screw.

[0045] Preferably, an elastic element is fitted on the outer side of both the first sleeve and the second sleeve, with one end of the elastic element abutting against the corresponding seat or sleeve and the other end abutting against the corresponding slide.

[0046] The elastic element ensures efficient power transmission between the lead screw and the slide, and allows the drive structure to effectively contact the rail, thus enabling the self-propelled equipment to move along the rail web.

[0047] Preferably, any one of the driving structures includes:

[0048] Detachable base and cover;

[0049] A drive wheel, rotatably mounted within the seat body, travels along the web of the track; and

[0050] A chuck, which is movably disposed on the base and the cover plate to switch between a locked position and an unlocked position;

[0051] When the chuck is in the locked position, the chuck and the seat prevent the drive wheel from disengaging from the seat.

[0052] When the chuck is in the unlocked position, the chuck disengages from the cover plate, causing the drive wheel to disengage from the seat.

[0053] The cover plate is detachable from the base. When the cover plate is removed from the base, the drive wheel can be taken out from the base. When the cover plate is installed on the base, the drive wheel is restricted within the base and can only rotate around its own axis. This application is simple to install and disassemble, and does not require the use of fasteners such as screws. By moving the position of the chuck, the chuck can be switched between the locked and unlocked positions to meet the requirements for replacing the drive wheel. In the locked state, one part of the chuck engages with the base and the other part engages with the cover plate. Thus, when the chuck is in the locked position, the axial displacement of the drive wheel can be restricted simultaneously by the base and the cover plate. Therefore, it is clear that part of the projection of the drive wheel toward the side away from the ground is on the base and the other part is on the cover plate. Thus, by switching the position of the chuck, the replacement of the drive wheel can be achieved conveniently and quickly.

[0054] Compared with existing technologies, this invention can utilize the space at the rail web for positioning and movement, without encroaching on vehicle clearance or affecting normal train operation, and is highly adaptable to confined spaces. This invention uses a foldable and retractable component scanning camera to acquire images of the bogie area. The component scanning camera can reach the confined space under the bogie through a corresponding mechanism and can be completely retracted into the car body when not in use. In this invention, the component scanning camera, through the setting of a protective mechanism, allows it to detach from the car body in the event of an accidental collision, thereby protecting the detected components from damage. Furthermore, this invention can automatically avoid obstacles, preventing damage to the car body. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of an embodiment of the present invention;

[0056] Figure 2 This is a schematic diagram showing the state of the component scanning camera in a hidden position in an embodiment of the present invention;

[0057] Figure 3This is a schematic diagram showing the state of the component scanning camera when it is in the shooting position in an embodiment of the present invention;

[0058] Figure 4 This is a schematic diagram showing the configuration of the first driving structure and the second driving structure in an embodiment of the present invention;

[0059] Figure 5 This is a schematic diagram of one state of the protective structure in an embodiment of the present invention;

[0060] Figure 6 This is a schematic diagram of another state of the protective structure in an embodiment of the present invention;

[0061] Figure 7 This is a schematic diagram of the driving structure in a locked state in an embodiment of the present invention;

[0062] Figure 8 for Figure 7 Top view;

[0063] Figure 9 for Figure 8 AA section view;

[0064] Figure 10 This is a schematic diagram of the chuck in the unlocked position in an embodiment of the present invention;

[0065] Figure 11 This is an exploded view of the wheel seat in an embodiment of the present invention;

[0066] Figure 12 This is a schematic diagram of the chuck in an embodiment of the present invention.

[0067] In the diagram: 1-Vehicle body; 2-Component scanning camera; 3-Rotating mechanism; 4-Cavity; 5-Undercar scanning camera; 6-Mounting base; 7-Ball seat; 8-First groove; 9-Second groove; 10-First through hole; 11-Second through hole; 12-Spring ball; 13-Telescopic rod; 14-Electric cylinder; 15-Rotating gimbal; 16-Guide rail; 17-Slider; 18-Scanning device; 19-First drive structure; 20-Second drive structure; 21-First power shaft; 22-Drive shaft; 23-First slide block; 24-Lead screw; 25-First motor; 26-Second motor; 27-First sleeve; 28-Anti-collision strip; 29-Elastic element; 30-Seat body; 31-Cover plate; 32-Drive wheel; 33-Chuck; 34-First mounting groove; 35-Second mounting groove; 36-Protrusion; 37-Protrusion; 38-First support wheel; 39-Second support wheel; 40-Stone sweeper. Detailed Implementation

[0068] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to specific embodiments.

[0069] like Figures 1-6 As shown, a self-propelled device for train inspection includes a vehicle body 1, a component scanning camera 2, and a rotating mechanism 3; the rotating mechanism 3 is disposed in a cavity 4 and connected to the component scanning camera 2 through a protective mechanism, and the rotating mechanism 3 is used to drive the component scanning camera 2 to switch between a hidden position and a shooting position.

[0070] In this embodiment, the vehicle body 1 has a cavity 4. Therefore, the rotating mechanism 3 is disposed within the cavity 4 and connected to the component scanning camera 2 via a protective mechanism. That is, when the component scanning camera 2 is in the hidden position, it is located inside the cavity 4; when it is in the shooting position, it is located outside the cavity 4. Thus, the cavity 4 ensures the hidden position of the component scanning camera 2, thereby providing a safer operating condition for the train.

[0071] It should be noted that storing the component scanning camera 2 in a hidden location ensures that it does not intrude into the railway vehicle clearance, allowing trains above the rails to operate safely. The railway vehicle clearance refers to the space between the underside of the vehicle and the rails. It's important to understand that when the component scanning camera 2 is operating normally, it is generally located within the railway vehicle clearance to be closer to the underside components. However, when not in operation, the component scanning camera 2 is generally located outside the railway vehicle clearance.

[0072] In this embodiment, the self-propelled device travels along the web of the rail. When the self-propelled device is not used to scan the undercarriage components, the component scanning camera 2 is hidden inside the cavity 4. Here, "hidden" means that the component scanning camera 2 is entirely located inside the cavity 4. In some embodiments, the cavity 4 can be opened or closed by a movable switch cover.

[0073] In this embodiment, a plurality of undercarriage scanning cameras 5 are provided on the upper side of the vehicle body 1 to scan the underside of the train. Thus, the underside of the train is scanned by the component scanning cameras 2 and the undercarriage scanning cameras 5, thereby enabling the inspection of the bogies and the structure of the train.

[0074] It should be emphasized that in this embodiment, the scanning target of the component scanning camera 2 is the bogie, and the scanning target of the undercarriage scanning camera 5 is the train's underside structure. It is understood that in different embodiments, the scanning targets of the component scanning camera 2 and the undercarriage scanning camera 5 may overlap, and may also include other components located under the train. Furthermore, both the component scanning camera 2 and the undercarriage scanning camera 5 are equipped with ring-shaped LED lights to provide necessary illumination to the image acquisition area.

[0075] When the component scanning camera 2 extends from the cavity 4, if it collides with a component under the vehicle, it can be protected by a protective mechanism to prevent damage to the component under the vehicle. In some embodiments, the protective mechanism is a vibration-damping structure that uses an elastic member 29 to achieve elastic deformation, thereby buffering the impact force between the scanning camera and the component under the vehicle. In this embodiment, to better protect the component under the vehicle, the protective mechanism causes the component scanning camera 2 to detach directly after colliding with the component under the vehicle, i.e., to disengage from the rotating mechanism 3, thus better meeting the protection requirements for the component under the vehicle.

[0076] Specifically, such as Figure 5 and Figure 6 As shown, the protection mechanism includes a mounting base 6 and a ball seat 7; the mounting base 6 is connected to the component scanning camera 2, and the mounting base 6 has a mounting groove; the ball seat 7 is connected to the rotating mechanism 3, and the ball of the ball seat 7 is located in the mounting groove; the ball of the ball seat 7 has a first groove portion 8 and a second groove portion 9 arranged opposite to each other; the mounting base 6 has a first through hole 10 corresponding to the first groove portion 8, and a second through hole 11 corresponding to the second groove portion 9; spring top beads 12 are respectively provided in the first through hole 10 and the second through hole 11, the column of the spring top bead 12 contacts the inner wall of the corresponding through hole, and at least a part of the ball of the spring top bead 12 is located in the corresponding groove portion.

[0077] When the component scanning camera 2 is located inside the cavity 4, the axis of the spring ball 12 in the first through hole 10 and the axis of the spring ball 12 in the second through hole 11 are on the same straight line and parallel to the horizontal plane. Let this straight line be the axis of the cylinder. That is to say, when the component scanning camera 2 is in the shooting position, there is an angle between the axis of the cylinder and the horizontal plane. When a collision occurs, the component scanning camera 2 applies torque to the protection mechanism, causing the ball to move relative to the corresponding groove. If the collision force is large, the ball will be dislodged from the corresponding groove, thereby further compressing the corresponding spring to generate greater elastic force to overcome the corresponding friction force, thereby causing the cylinder to move relative to the corresponding through hole, thereby causing the ball to completely detach from the corresponding groove. This causes the ball seat 7 and the mounting seat 6 to detach, allowing the component scanning camera 2 to fall directly, thereby more directly protecting the undercarriage components. It is known that when the component scanning camera 2 is in the shooting position, if the axis of the column is perpendicular to the horizontal plane, the ball seat 7 and the mounting seat 6 can be better separated during the collision. That is, in this case, the first groove 8 is on top and the second groove 9 is on the bottom. Thus, after the top balls in the first groove 8 and the second groove 9 are separated from the groove, the weight of the spring top ball 12 in the second through hole 11 can directly offset part of the friction force without generating other tilting force. Therefore, it can be ensured that the top ball is completely separated from the corresponding groove, so that the component scanning camera 2 can be well separated from the rotating mechanism 3.

[0078] It is understandable that when the ball seat 7 is placed in the mounting slot without the spring ball 12, there should be a degree of freedom between the ball seat 7 and the mounting base 6, so as to ensure that the ball seat 7 can be detached from the mounting base 6.

[0079] In this embodiment, the component scanning camera 2 is equipped with a housing, which can cushion the component scanning camera 2 after it falls, thereby preventing the component scanning camera 2 from being damaged after falling. Of course, in some embodiments, a cushioning layer, such as rubber or foam, can also be laid on the surface of the vehicle body 1, which can also prevent the component scanning camera 2 from being damaged after falling.

[0080] In this embodiment, the rotating mechanism 3 can be constructed from components such as a wheel, gears, and a motor to meet the rotation requirements of the component scanning camera 2.

[0081] In order to further improve the coverage of the component scanning camera 2 and enable the component scanning camera 2 to provide more complete component detection, other motion mechanisms are set in this embodiment, so that the component scanning camera 2 can switch between different shooting positions to carry the component scanning camera 2 to perform a wider range of scanning. On this basis, the component scanning camera 2 is also more adaptable to the narrow space where the bogie is located.

[0082] Specifically, such as Figure 2and Figure 3 As shown, it also includes a telescopic mechanism, one end of which is disposed on the mounting base 6, and the other end is connected to the component scanning camera 2.

[0083] In this embodiment, the telescopic mechanism includes a telescopic rod 13 and an electric cylinder 14. The electric cylinder 14 drives the telescopic rod 13 to extend or retract. The electric cylinder is mounted on the mounting base 6. One end of the telescopic rod 13 is connected to the mounting base 6, and the other end is connected to the component scanning camera 2. Thus, the component scanning camera 2 can be moved closer to or away from the electric cylinder 14 by the electric cylinder 14. This structure is simple, easy to implement, and easy to maintain.

[0084] To better utilize this embodiment, a rotating gimbal 15 is also included, which is connected to the mounting base 6; the component scanning camera 2 is mounted on the rotating gimbal 15.

[0085] In this embodiment, the rotating gimbal 15 is located at the end of the telescopic mechanism away from the mounting base 6. Specifically, the rotating gimbal 15 is connected to the mounting base 6 via the telescopic mechanism, or more specifically, via the telescopic rod 13. The rotating gimbal 15 is a two-axis gimbal. When the telescopic rod 13 is perpendicular to the horizontal plane, the rotating gimbal 15 can rotate 360° around the axis of the telescopic rod 13 and deflect at an angle relative to the horizontal plane, thereby further improving the detection coverage of the component scanning camera 2.

[0086] To better utilize this embodiment, a linear displacement mechanism is also included, which is connected to the vehicle body 1; the fixed end of the rotating mechanism 3 is connected to the linear displacement mechanism.

[0087] In this embodiment, the linear displacement mechanism is located within the cavity 4. The linear displacement mechanism is a linear motion mechanism, comprising a guide rail 16 disposed along the width direction of the vehicle body 1, and a slider 17 cooperating with the guide rail 16. The rotation mechanism 3 is disposed on the slider 17. Thus, by driving the slider 17 to move along the guide rail 16, the undercarriage scanning camera 5 can be driven to move along the width direction of the vehicle body 1. It is understood that in different embodiments, the linear displacement mechanism can also be disposed in different linear directions, such as inclined to the width direction or the length direction of the vehicle body 1.

[0088] In other embodiments, the linear displacement mechanism can also be a curved displacement mechanism. When the usable area of ​​the vehicle body 1 is large, a curved guide rail 16 can be set to further increase the coverage of the component scanning camera 2.

[0089] In this embodiment, the self-propelled equipment travels along the web of the rail, and fishtail plates are usually installed at the ends of the web. Therefore, it is necessary to avoid these fishtail plates during the self-propelled equipment's movement. Otherwise, not only will the detection distance of the self-propelled equipment be short, but the self-propelled equipment will also be easily damaged by collision.

[0090] Therefore, in this embodiment, a scanning device 18 is provided at the end of the vehicle body 1; the vehicle body 1 is provided with a plurality of wheelsets so that the vehicle body 1 travels on the web of the rail. Any pair of wheelsets includes a first drive structure 19 and a second drive structure 20 that can move relative to each other or in opposite directions; when the scanning device 18 scans an obstacle, the first drive structure 19 and the second drive structure 20 move towards each other; when the first drive structure 19 and the second drive structure 20 avoid an obstacle and do not scan any other obstacles, the first drive structure 19 and the second drive structure 20 move relative to each other so as to re-contact the web of the rail.

[0091] In some embodiments, a separate displacement device can be used in conjunction with the scanning device 18 to achieve opposite or opposite movements of the first driving structure 19 and the second driving structure 20. The separate displacement device can be similar to the linear displacement mechanism described above.

[0092] In this embodiment, the self-propelled device can maintain its movement during the relative displacement of the first drive structure 19 and the second drive structure 20. Compared to independent displacement mechanisms, it has advantages such as simple structure and high synchronization. Specifically, for example... Figure 4 , Figures 7-10 As shown, the first drive structure 19 includes a first drive shaft 21, and the second drive structure 20 includes a second drive shaft; any pair of wheelsets also includes a drive shaft 22, a first slide 23 and a second slide, and a lead screw 24; one drive shaft 22 has a first motor 25 for driving the drive shaft 22 to rotate; the two ends of the lead screw 24 are respectively threaded to the first slide 23 and the second slide, and the lead screw 24 has a second motor 26 for driving its rotation; the first drive shaft 21 passes through the first slide 23 and is connected to one end of the drive shaft 22 by a spline; the second drive shaft passes through the second slide and is connected to the other end of the drive shaft 22 by a spline.

[0093] During normal movement of the self-propelled device, the first motor 25 drives the corresponding drive shaft 22 to rotate. This drive shaft 22 then drives the first power shaft 21 and the second power shaft to rotate simultaneously, thus meeting the walking requirements of the self-propelled device. Since both the first power shaft 21 and the second power shaft are connected to the drive shaft 22 via splines, the sliding of the first power shaft 21 relative to the drive shaft 22, and the sliding of the second power shaft relative to the drive shaft 22, does not affect the drive of the first motor 25 on the first power shaft 21 and the second power shaft. Power transmission between all the drive shafts 22 can be achieved through transmission rods, allowing all drive shafts 22 to rotate simultaneously. It is understood that in some other embodiments, each drive shaft 22 has a corresponding first motor 25 for separate driving. However, it is understood that when one pair of wheelsets is avoiding an obstacle, it does not affect the ability of the other wheelets to carry the vehicle body 1.

[0094] When the first drive structure 19 and the second drive structure 20 need to move in opposite directions or in opposite directions, the second motor 26 drives the lead screw 24 to rotate. At this time, the lead screw 24 drives the first drive structure 19 and the second drive structure 20 to move through the first slide 23 and the second slide connected at both ends, respectively.

[0095] In some embodiments, both the first slide 23 and the second slide are provided with annular grooves, and the corresponding first power shaft 21 and the second power shaft are provided with convex rings that cooperate with the annular grooves. That is, when the first power shaft 21 and the first slide 23 rotate relative to each other, the corresponding convex rings are located in the grooves and also rotate relative to each other, so that when the lead screw 24 rotates, the first drive structure 19 can be pulled or pushed by the first slide 23 to move, and the same applies to the second drive structure 20.

[0096] In this embodiment, the first drive structure 19 further includes a first sleeve 27 and a first seat 30. One end of the first sleeve 27 is connected to the first seat 30, and the other end is connected to the first slide 23. The first power shaft 21 passes through the first sleeve 27. The second drive structure 20 further includes a second sleeve and a second seat 30. One end of the second sleeve is connected to the second seat 30, and the other end is connected to the second slide. The second power shaft passes through the second sleeve.

[0097] The first sleeve 27 can pull or push the first seat 30 to move under the action of the lead screw 24, thereby realizing the movement of the first drive structure 19. The second sleeve can pull or push the second seat 30 to move under the action of the lead screw 24, thereby realizing the movement of the second drive structure 20. This allows the first drive structure 19 and the second drive structure 20 to move simultaneously in opposite directions or in opposite directions. It can also be understood that this does not affect the ability of the first drive structure 19 and the second drive structure 20 to drive the vehicle body 1 to move.

[0098] In this embodiment, scanning devices 18 are provided at both the front and rear ends of the vehicle body 1, and anti-collision strips 28 are also provided to better protect the vehicle body 1. The scanning devices 18 can be lidar, millimeter-wave radar, ultrasonic radar, etc.

[0099] To better utilize this embodiment, elastic elements 29 are fitted on the outer sides of both the first sleeve 27 and the second sleeve. One end of the elastic element 29 abuts against the corresponding seat 30 or sleeve, and the other end abuts against the corresponding slide.

[0100] In this embodiment, the ends of the first sleeve 27 and the second sleeve that are far apart from each other are provided with sleeve seats. The sleeves can be detachably connected to the corresponding seat 30 using fasteners via these sleeve seats. Therefore, in this embodiment, the end of the elastic member 29 that is far from the corresponding slide abuts against the sleeve seat. It can be understood that when the sleeve is a straight cylindrical structure, the elastic member 29 abuts against the seat 30. In this embodiment, the abutment can be between the elastic member 29 in its undeformed state or in its compressed and deformed state. In this embodiment, the elastic member 29 ensures that the corresponding drive structure has a gapless contact with the rail web and provides suitable friction between the wheel of the drive structure and the rail web, thereby generating power for the self-propelled device. Of course, when the self-propelled device travels on curved rails, the elastic member 29 can also effectively meet the device's travel requirements. Simultaneously, the elastic member 29 can also prevent structural damage caused by the drive structure getting stuck when encountering obstacles.

[0101] In this embodiment, the elastic element 29 can be a cylindrical spring or a cylindrical component made of spring steel.

[0102] This embodiment has three pairs of wheelsets, which can be driven by a first motor 25. Only a transmission rod needs to be added, thereby improving the synchronization between the wheelsets. In different embodiments, the number of wheelsets should be no less than two pairs.

[0103] like Figures 7-12 As shown, for better use of this embodiment, any drive structure includes a detachably connected base 30 and cover plate 31, as well as a drive wheel 32 and a chuck 33; the drive wheel 32 is rotatably disposed within the base 30 and travels along the web of the track; the chuck 33 is movably disposed between the base 30 and cover plate 31 to switch between a locked position and an unlocked position; when the chuck 33 is in the locked position, the chuck 33 and the base 30 prevent the drive wheel 32 from disengaging from the base 30; when the chuck 33 is in the unlocked position, the chuck 33 disengages from the cover plate 31, allowing the drive wheel 32 to disengage from the base 30.

[0104] It is known here that the seat 30 of the first drive structure 19 is the first seat 30, and the seat 30 of the second drive structure 20 is the second seat 30. The seat 30 and the cover plate 31 can be combined to form a wheel seat. Therefore, it is clear that, in order for the drive wheel 32 to act on the rail web, the end of the wheel seat away from the car body 1 has an opening. After the drive wheel 32 is assembled into the seat 30, a portion of the drive wheel 32 extends out of the seat 30 to achieve contact with the rail web. Simultaneously, it is known that the cover plate 31 is located at the aforementioned opening; removing the cover plate 31 further enlarges the opening.

[0105] After the drive wheel 32 is installed into the seat 30, with the upper surface of the wheel seat as the reference plane, part of the drive wheel 32 is projected onto the seat 30 and another part is projected onto the cover plate 31. Thus, the axial movement of the drive wheel 32 is restricted not only by the seat 30 but also by the cover plate 31. Therefore, the drive wheel 32 can be removed after the cover plate 31 is removed.

[0106] It should be noted that in this embodiment, when the cover plate 31 and the seat 30 are connected and the chuck 33 is in the locked position, a part of the cover plate 31 is projected onto the chuck 33, and a part of the seat 30 is also projected onto the chuck 33. When the chuck 33 is in the unlocked position, the entire chuck 33 is projected onto the cover plate 31, or the entire chuck 33 is projected onto the seat 30.

[0107] Furthermore, it is clear that regardless of the position of the chuck 33, its axial displacement is restricted by the cover plate 31 and / or the seat 30, thereby preventing the cover plate 31 from disengaging from the seat 30 when the chuck 33 is in the locked position.

[0108] In some embodiments, the chuck 33 can switch between the locked and unlocked positions by linear displacement. In these embodiments, the direction of the linear displacement is not limited.

[0109] In the above embodiment, the chuck 33 is slidably connected to the base 30 and the mounting cover 31. By sliding the chuck 33, a part of the chuck 33 is located on the upper side of the cover 31, thereby realizing the movement limit of the vertical position. When the self-propelled device is placed on the rail, the movement limit of the left and right position can be realized by utilizing the distance between the side of the cover 31 away from the vehicle body 1 and the rail web, thereby well meeting the positioning requirements of the drive wheel 32, that is, the drive wheel 32 can only rotate around its axis.

[0110] In this embodiment, the seat 30 is provided with a first mounting groove 34, and the cover plate 31 is provided with a second mounting groove 35; when the seat 30 and the cover plate 31 are connected, the first mounting groove 34 and the second mounting groove 35 form a continuous motion groove; the chuck 33 is movably disposed in the motion groove.

[0111] Specifically, the first mounting groove 34 is formed on the upper wall of the base 30, and the second mounting groove 35 is formed on the upper wall of the cover plate 31. Thus, after the chuck 33 is embedded in the first mounting groove 34 and / or the second mounting groove 35, it naturally obtains the limit of the upper and lower position.

[0112] Furthermore, both the first mounting groove 34 and the second mounting groove 35 are arc-shaped grooves; when the base 30 and the cover plate 31 are connected, the first mounting groove 34 and the second mounting groove 35 form an annular groove; one of the first mounting groove 34 and the second mounting groove 35 is a large arc groove, and the other is a small arc groove; the shape of the chuck 33 matches the shape of the large arc groove.

[0113] In this embodiment, for easier assembly and disassembly, the first mounting groove 34 is a large arc groove and the second mounting groove 35 is a small arc groove. It should be explained that the large arc groove is a groove with an arc length greater than a semicircular arc, and the small arc groove is a groove with an arc length less than a semicircular arc.

[0114] Therefore, when the base 30 and the cover plate 31 are connected, the chuck 33 can only rotate within the annular groove. When the chuck 33 is in the unlocked position, the entire chuck 33 falls into the first mounting groove 34, thereby eliminating the upper limit of the cover plate 31, allowing the cover plate 31 to be removed from the base 30. When the chuck 33 is in the locked position, that is, part of the chuck 33 is located in the first mounting groove 34 and the other part is located in the second mounting groove 35.

[0115] Of course, in some embodiments, the configuration of the first mounting slot 34 and the second mounting slot 35 can be interchanged to achieve the same effect as in this embodiment, which will not be elaborated here.

[0116] To better utilize this embodiment, the chuck 33 has a protrusion 36, the axis of which is offset from the axis of the annular groove, so as to facilitate the movement of the chuck 33.

[0117] In this embodiment, if it is necessary to rotate the chuck 33, it can be achieved directly through the protrusion 36. The rotation of the chuck 33 can then be achieved by hand or with a tool. Clearly, the protrusion 36 is located on the side of the chuck 33 furthest from the drive wheel 32.

[0118] It should be noted that the end of the chuck 33 away from the protrusion 36 is provided with a protrusion 37 concentric with the chuck 33, which can be used to achieve positioning connection with the seat 30.

[0119] In this embodiment, any drive structure further includes a first support wheel 38, which is disposed on the seat 30. The plane on which the first support wheel 38 is located is inclined to the drive wheel 32 and is used to abut against the surface of the triangular area of ​​the rail.

[0120] Since the drive wheel 32 is used for walking on the rail waist, the entire self-propelled equipment also needs to be supported to prevent it from being unable to walk continuously.

[0121] In addition, to prevent obstructions from hindering the movement of the self-propelled equipment, the drive structure also includes a stone sweeper 40, which is installed on the base 30 at the front end of the movement path of the first support wheel 38 and is used to clean obstructions on the surface of the triangular area of ​​the rail.

[0122] Therefore, it can be seen that when the self-propelled equipment travels on the rail web, it first passes through the rail sweeper 40 to clean the triangular area of ​​the rail, and then the first support wheel 38 runs on the movement path after being cleaned by the rail sweeper 40.

[0123] In addition, the cover plate 31 is provided with a second support wheel 39. The plane on which the second support wheel 39 is located is inclined to the drive wheel 32 and is used to abut against the lower jaw of the rail. Thus, the second support wheel 39 can restrict the left and right displacement of the cover plate 31 after abutting against the rail, thereby improving the connection stability between the cover plate 31 and the seat 30. Furthermore, the setting of the second support wheel 39 can also prevent the self-propelled equipment from overturning in case of accident, which would cause damage to the equipment.

[0124] It should be noted that, in this embodiment, multiple pairs of drive structures are provided on both sides of the self-propelled device to meet the specific usage requirements of the self-propelled device traveling between two steel rails.

[0125] Therefore, this embodiment can effectively solve the following defects of the prior art: existing self-propelled equipment cannot be on the track at the same time as the train when it is passing; existing equipment that uses the space between the rails cannot avoid obstacles on the rails, such as fishplates at rail joints, and cannot run continuously on the line; existing equipment for visual inspection of the undercarriage relies on elevated railway bridges and cannot run on general lines; manual visual inspection is labor-intensive, has low accuracy, and is difficult to classify, archive, and uniformly analyze data; the space under the bogie is small, and conventional shooting methods have low coverage. Therefore, this embodiment achieves the following technical effects: it can utilize the space at the rail web for movement and positioning without interfering with normally running trains; it can avoid obstacles on the rails, enabling continuous operation of the equipment on the line without human intervention; the equipment does not rely on maintenance depots, railway bridges, etc., and can be used on the main line and in the storage yard, saving infrastructure costs and improving the utilization rate of maintenance depots; it can reduce the labor intensity of staff, and the image acquisition is more accurate than manual, facilitating unified classification, analysis, and archiving; it can adopt a corresponding position switching mechanism to achieve a smaller space occupation and can meet the requirements of image acquisition work in the narrow space under the bogie.

[0126] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A self-propelled device for train inspection, characterized in that, Walking on the underside of the train includes: Vehicle body; Component scanning camera; and A rotating mechanism is connected to a component scanning camera via a protective mechanism. The rotating mechanism is used to drive the component scanning camera to switch between a hidden position and a shooting position. The protection mechanism includes: Mounting base, the mounting base being connected to a component scanning camera, the mounting base having a mounting slot; and A ball seat, which is connected to a rotating mechanism, wherein the ball of the ball seat is located in a mounting groove; The ball in the ball seat has a first groove and a second groove that are disposed opposite to each other. The mounting base has a first through hole corresponding to the first groove and a second through hole corresponding to the second groove; Spring top beads are respectively provided in the first through hole and the second through hole. The column of the spring top bead is in contact with the inner wall of the corresponding through hole, and at least a part of the bead is located in the corresponding groove. A scanning device is provided at the end of the vehicle body; The vehicle body is provided with several wheel pairs so that the vehicle body can travel on the web of the rail. Any pair of wheel pairs includes a first drive structure and a second drive structure that can move in opposite directions or in opposite directions. When the scanning device detects an obstacle, the first driving structure and the second driving structure move toward each other. When the first drive structure and the second drive structure avoid an obstacle and no other obstacles are detected, the first drive structure and the second drive structure move in opposite directions to re-engage at the web of the rail. The first drive structure includes a first power shaft, and the second drive structure includes a second power shaft; Any pair of wheelsets also includes: A drive shaft, at least one drive shaft having a first motor for driving the drive shaft to rotate; First slide and second slide; and A lead screw, the two ends of which are threadedly connected to a first slide and a second slide, respectively, and the lead screw has a second motor for driving its rotation; The first power shaft passes through the first slide and is connected to one end of the drive shaft via a spline; the second power shaft passes through the second slide and is connected to the other end of the drive shaft via a spline.

2. The self-propelled device for train inspection as described in claim 1, characterized in that, Also includes: A telescopic mechanism, one end of which is mounted on a mounting base and the other end is connected to a component scanning camera.

3. The self-propelled device for train inspection as described in claim 2, characterized in that, Also includes: A rotating gimbal, wherein the rotating gimbal is connected to a mounting base; The component scanning camera is mounted on a rotating gimbal.

4. The self-propelled device for train inspection as described in claim 1, characterized in that, Also includes: A linear displacement mechanism, which is connected to the vehicle body; The fixed end of the rotating mechanism is connected to the linear displacement mechanism.

5. A self-propelled device for train inspection as described in claim 1, characterized in that, The first drive structure further includes a first sleeve and a first base, one end of the first sleeve is connected to the first base and the other end is connected to the first slide block, and the first power shaft passes through the first sleeve; The second drive structure also includes a second sleeve and a second seat. One end of the second sleeve is connected to the second seat, and the other end is connected to the second slide. The second power shaft passes through the second sleeve.

6. A self-propelled device for train inspection as described in claim 5, characterized in that, Both the first sleeve and the second sleeve are fitted with elastic elements on their outer sides. One end of the elastic element abuts against the corresponding seat or sleeve, and the other end abuts against the corresponding slide.

7. A self-propelled device for train inspection as described in claim 1, characterized in that, Any driving structure includes: Detachable base and cover; A drive wheel, rotatably mounted within the seat body, travels along the web of the track; and A chuck, which is movably disposed on the base and the cover plate to switch between a locked position and an unlocked position; When the chuck is in the locked position, the chuck and the seat prevent the drive wheel from disengaging from the seat; When the chuck is in the unlocked position, the chuck disengages from the cover plate, causing the drive wheel to disengage from the seat.

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