A monorail track beam inspection device

Abstract

The application discloses a monorail traffic track beam inspection device, which comprises a walking mechanism which walks on a monorail traffic track beam; an inspection mechanism which is detachably fixedly connected with the walking mechanism, and is provided with at least one detection component with a detection function on the inspection mechanism; the detection component is arranged on both sides of the monorail traffic track beam, and the walking mechanism drives the inspection mechanism to move on the monorail traffic track beam during inspection; in order to improve operation efficiency and operation safety, reduce personnel and large mechanical cost, improve economic benefits, and reduce the influence of construction on ground traffic, the monorail traffic track beam can be automatically operated based on the application, the inspection of contact rails on both sides of the track beam is completed, wireless remote control is adopted, the position of the contact rails is automatically measured through high-precision sensors, a high-definition camera is selected to intelligently identify the connecting accessories of the contact rails, the inspection task can be flexibly arranged, the safety risk of the inspection personnel can be reduced, the inspection efficiency is improved, and the inspection cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of monorail transit track beam inspection technology, specifically relating to a monorail transit track beam inspection device. Background Technology

[0002] Straddle-type monorail transit is mostly located in elevated sections. In elevated sections, there are roads or water surfaces below the track beams. The track beams themselves have no conditions for climbing or hanging. The negative contact rail is located on the inside of the track beams, and the positive contact rail is located on the outside of the track beams. There is an inspection platform on the inside of the track beams, but no inspection platform on the outside.

[0003] Currently, there is no mature automated inspection method for straddle-type monorail transit track beams. The existing contact rail inspection method involves workers manually inspecting the negative contact rail using measuring tapes, levels, and feeler gauges. An inspection section is approximately 2km long, with limited inspection time (about 2 hours). Furthermore, there are numerous inspection points (approximately 1000 per section) for insulation supports, intermediate joints, and expansion joints, requiring a large workforce for manual inspection. Additionally, the positive contact rail is suspended on the outside of the straddle-type monorail, without an inspection platform. Inspectors must stand on the ground and observe the elevated contact rail for problems using binoculars. This method offers no inspection accuracy. Alternatively, large machinery such as cranes or aerial work platforms can be used to transport inspectors to a certain height for manual inspection. This method requires nighttime road closures, the construction of water-based work platforms, and the installation of temporary climbing and hanging devices on the track beams. Manual work is time-limited, difficult, and consumes significant manpower and resources. Summary of the Invention

[0004] The purpose of this invention is to provide a monorail transit track beam inspection device to solve the problem mentioned in the background art that the current inspection of monorail transit track beams mainly relies on manual labor, which is cumbersome and time-consuming. Inspection by large equipment can only be carried out at night when the road is closed for construction, which is greatly limited by time. Therefore, there is currently no mature automated inspection method for straddle-type monorail transit track beams.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a monorail transit track beam inspection device, the inspection device comprising:

[0006] The traveling mechanism moves on the monorail track beam;

[0007] The inspection mechanism is detachably and fixedly connected to the traveling mechanism. The inspection mechanism has at least one detection component with a detection function. The detection component is set on the contact rails on both sides of the monorail beam. During the inspection, the traveling mechanism will drive the inspection mechanism to move on the monorail beam, thereby realizing the inspection operation of the entire monorail beam.

[0008] The inspection mechanism includes an external boom and a positioning boom spaced apart, with a fixed frame between them. These three components form the framework of the entire inspection mechanism. The traveling mechanism is mounted on the top surfaces of the external boom and the positioning boom. Guide wheels are installed on the opposite sides of both the external boom and the positioning boom. When the inspection mechanism moves on the monorail track beam, the guide wheels allow it to engage with the sidewalls of the monorail track beam and guide its direction of travel. The bottom of the positioning boom is fixed with bolts. The detection arm has an inverted L-shaped plate at its bottom formed by bending, which fits against the contact rail on the side of the monorail beam. The inverted L-shaped plate has a horizontal part and a vertical part. The detection components include a vibration sensor and a laser rangefinder sensor mounted on the horizontal part, and a laser rangefinder sensor also mounted on the vertical part. The detection areas of the vibration sensor and the laser rangefinder sensor overlap in the inner area of ​​the inverted L-shaped plate, forming a shape and position detection area, thereby performing position detection and vibration detection on the guide rail structure on the side of the monorail beam.

[0009] The inspection device also includes:

[0010] The drive mechanism is located on top of the traveling mechanism and is detachably fixed to it. The drive mechanism is electrically connected to the traveling mechanism and automatically adjusts the starting and traveling speed of the traveling mechanism to realize the inspection operation of the monorail transit track beam. The external frame of the traveling mechanism, inspection mechanism and drive mechanism are all made of aluminum alloy, which has the following advantages: light weight, standard size, easy processing, high cost performance, and easy installation of fasteners and connectors.

[0011] As a preferred technical solution of the present invention, the traveling mechanism includes a frame on which the bottom of the frame rests on the fixed frame. Locking components are provided at both ends of the traveling mechanism. The locking components at both ends respectively hold the top of the appearance boom and the positioning boom, thereby fixing the traveling mechanism and the inspection mechanism. Drive wheels and driven wheels are respectively installed at both ends of the frame. A motor connected to the drive wheels is installed inside the traveling mechanism. A harmonic reducer is installed in front of the motor to increase the motor torque and meet the requirements of climbing steep slopes.

[0012] As a preferred technical solution of the present invention, the top surfaces of the appearance boom and the positioning boom are both provided with strip grooves; the end face of the frame forms an outwardly protruding columnar body; the locking assembly includes a locking sleeve disposed on the end face of the columnar body, and a connecting plate rotatably disposed on the top of the end face of the locking assembly; the locking sleeve is sleeved on the connecting plate, thereby achieving a clamping effect with the appearance boom and the positioning boom. Since this structure is a common existing clamping component structure, it will not be described in further detail here; a pin is fixed on the top surface of the columnar body, which is not shown in the figure. The pin is inserted into the strip groove, thereby improving the connection stability between the traveling mechanism and the inspection mechanism.

[0013] As a preferred technical solution of the present invention, a camera is installed inside the top of the appearance boom, with the camera end facing the bottom of the appearance boom. The appearance boom has a hole for the camera end to pass through. During inspection, the bolts to be inspected on both sides of the monorail track beam are identified by image detection.

[0014] As a preferred technical solution of the present invention, both ends of the appearance boom and the positioning boom extend to the outside of the monorail transit track beam, and the camera end is also located outside the monorail transit track beam, so as to complete the detection of both sides of the monorail transit track beam without being blocked by the monorail transit track beam.

[0015] As a preferred technical solution of the present invention, the driving mechanism includes a carriage, and a battery, a main control computer, and a servo controller installed inside the carriage; the battery is electrically connected to the motor, thereby transmitting electrical energy to the motor and completing the driving movement of the entire walking mechanism.

[0016] In a preferred embodiment of the present invention, the main control computer is connected to the servo controller via a 232 serial port and an I / O port for movement control. The main control computer is also connected to a vibration sensor and a laser rangefinder via the 232 serial port to collect data. Furthermore, the main control computer is connected to a camera via a network port to record images and perform intelligent recognition. It can collect the appearance information of the positive and negative contact rail connection accessories, which can then be used to perform specific detection tasks such as loose connection bolts through intelligent recognition technology.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] To improve operational efficiency and safety, reduce personnel and large machinery costs, increase economic benefits, and minimize the impact of construction on ground traffic, this invention is based on the automatic operation of the track beam to complete the inspection of the contact rails on both sides of the track beam. It adopts wireless remote operation control, automatically measures the position of the contact rails through high-precision sensors, and uses high-definition cameras to intelligently identify the contact rail connection accessories. It can flexibly arrange inspection tasks, reduce the safety risks of inspection personnel, improve inspection efficiency, and reduce inspection costs. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the state of the present invention on a monorail transit track beam;

[0020] Figure 2 This is a schematic diagram of the walking mechanism of the present invention;

[0021] Figure 3 For the present invention Figure 1 Enlarged view of region A in the middle;

[0022] Figure 4 This is a schematic diagram of the inspection mechanism of the present invention;

[0023] Figure 5 This is a rear view of the inspection mechanism of the present invention;

[0024] Figure 6 This is a top view of the drive mechanism of the present invention;

[0025] Figure 7 This is a block diagram illustrating the control principle of the wireless remote operation control of the present invention.

[0026] In the picture:

[0027] 100. Walking mechanism; 101. Frame; 102. Motor; 103. Drive wheel; 104. Driven wheel; 105. Locking assembly; 105a. Locking sleeve; 105b. Connecting plate;

[0028] 200. Inspection mechanism; 200a. Strip groove; 200b. Geometric detection area; 201. Appearance boom; 201a. Camera; 202. Geometric boom; 203. Guide wheel; 204. Detection arm; 205. Vibration sensor; 206. Laser rangefinder sensor; 207. Fixture;

[0029] 300. Drive mechanism; 301. Carriage; 302. Battery; 303. Main control computer; 304. Servo controller;

[0030] 400. Monorail transit track beam. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figures 1 to 7 The present invention provides a technical solution: a monorail transit track beam inspection device, the inspection device comprising:

[0033] The traveling mechanism 100 travels on the monorail transit track beam 400.

[0034] The inspection mechanism 200 is detachably and fixedly connected to the traveling mechanism 100. The inspection mechanism 200 has at least one detection component with a detection function. The detection component is set on the contact rails on both sides of the monorail track beam 400. During the inspection, the traveling mechanism 100 will drive the inspection mechanism 200 to move on the monorail track beam 400, thereby realizing the inspection operation of the entire monorail track beam 400.

[0035] The inspection mechanism 200 includes an external boom 201 and a positioning boom 202 spaced apart. A fixing frame 207 is also fixed between the external boom 201 and the positioning boom 202. These three components form the frame of the entire inspection mechanism 200. The traveling mechanism 100 is installed on the top surface of the external boom 201 and the positioning boom 202. Guide wheels 203 are installed on the opposite sides of the external boom 201 and the positioning boom 202. When the inspection mechanism 200 moves on the monorail track beam 400, the guide wheels 203 can achieve contact with the side wall of the monorail track beam 400 and guide the direction of travel. The bottom end of the positioning boom 202 is fixed with a detection arm 204 by bolts. The bottom of the detection arm 204 is open. The bending process forms an inverted L-shaped plate that fits against the contact rail on the side of the monorail track beam 400. This inverted L-shaped plate has a horizontal section and a vertical section. The detection components include a vibration sensor 205 and a laser rangefinder 206 mounted on the horizontal section, and another laser rangefinder 206 mounted on the vertical section. Specifically, two laser rangefinders 206 and one vibration sensor 205 are mounted on each side of the positioning boom 202. The detection areas of the vibration sensor 205 and the laser rangefinder 206 overlap on the inner side of the inverted L-shaped plate, forming a positioning detection area 200b. This allows for position and vibration detection of the guide rail structure on the side of the monorail track beam 400. For details of the structure of the monorail track beam 400 at this location, please refer to [reference needed]. Figure 1 ;

[0036] The inspection device also includes:

[0037] The drive mechanism 300 is located on top of the traveling mechanism 100 and is detachably fixed to the traveling mechanism 100. The drive mechanism 300 is electrically connected to the traveling mechanism 100 and automatically adjusts the starting and traveling speed of the traveling mechanism 100 through the drive mechanism 300, thereby realizing the inspection operation of the monorail transit track beam 400. The external frame parts of the traveling mechanism 100, the inspection mechanism 200 and the drive mechanism 300 are all made of aluminum alloy, which has the following advantages: light weight, standard size, easy processing, high cost performance, and easy installation of fasteners and connectors.

[0038] In this embodiment, the traveling mechanism 100 includes a frame 101, the bottom of which rests on a fixed frame 207. Locking components 105 are provided at both corners of the traveling mechanism 100. These locking components 105 at both ends respectively grip the tops of the external boom 201 and the positioning boom 202, thereby securing the traveling mechanism 100 and the inspection mechanism 200. Drive wheels 103 and driven wheels 104 are respectively installed at both ends of the frame 101. A motor 102, which is connected to the drive wheels 103, is installed inside the traveling mechanism 100, driving the drive wheels 103 to rotate. When the drive wheel 103 rotates, it drives the entire frame 101 to move. When the frame 101 moves, the driven wheel 104 moves synchronously. During the movement, the driven wheel 104 can also support the rear part of the frame 101. Since the walking component of this device is the motor 102, the motor 102 has high motion precision and has an encoder. Therefore, the device can move with high precision on the monorail track beam 400 and can calibrate the position information of the device. The device is driven by the motor 102, and the walking speed is continuously adjustable from 0 to 2 m / s. A harmonic reducer is installed in front of the motor 102 to increase the motor torque and meet the requirements of climbing steep slopes.

[0039] In this embodiment, both the top surfaces of the appearance boom 201 and the positioning boom 202 are provided with strip grooves 200a; the end face of the frame 101 forms an outwardly protruding columnar body, and the locking assembly 105 includes a locking sleeve 105a disposed on the end face of the columnar body, and a connecting plate 105b rotatably disposed on the top of the end face of the locking assembly 105. The locking sleeve 105a is sleeved on the connecting plate 105b, thereby achieving a clamping effect with the appearance boom 201 and the positioning boom 202. Since this structure is a common existing clamping component structure, it will not be described in detail here; a pin is fixed on the top surface of the columnar body, which is not shown in the figure. The pin is inserted into the strip groove 200a, thereby improving the connection stability between the walking mechanism 100 and the inspection mechanism 200.

[0040] In this embodiment, a camera 201a is installed inside the top of the appearance boom 201. The camera end of the camera 201a is set towards the bottom of the appearance boom 201. The appearance boom 201 has a hole for the camera end of the camera 201a to pass through. During the inspection, the bolts to be inspected on both sides of the monorail transit track beam 400 are identified by image detection.

[0041] In this embodiment, both ends of the appearance boom 201 and the positioning boom 202 extend to the outside of the monorail transit track beam 400, and the camera end of the camera 201a is also located outside the monorail transit track beam 400, thereby completing the detection of both sides of the monorail transit track beam 400 without being blocked by the monorail transit track beam 400.

[0042] In this embodiment, the drive mechanism 300 includes a carriage 301, and a battery 302, a main control computer 303, and a servo controller 304 installed inside the carriage 301. The battery 302 is electrically connected to the motor 102, thereby transmitting electrical energy to the motor 102 and completing the driving of the entire walking mechanism 100.

[0043] In this embodiment, during operation, the operating parameters are first input, and the device is located in real time. Then, the device moves towards the destination. During the movement, the main control computer 303 is connected to the servo controller 304 through the 232 serial port and I / O port for movement control. The main control computer 303 is also connected to the vibration sensor 205 and the laser rangefinder 206 through the 232 serial port to collect data. The main control computer 303 is connected to the camera 201a through the network port to record images and perform intelligent recognition. It can collect the appearance information of the positive and negative contact rail connection accessories and display the data. At the same time, it also performs detection calculations on the rail surface and displays the data. This is used to perform specific detection tasks such as loose connecting bolts through intelligent recognition technology. When a detection fails, an alarm is triggered and the device stops, recording the location of the failure. After the alarm is deactivated, the device continues to move towards the destination until the end.

[0044] Although embodiments of the invention have been shown and described (see the detailed description above), it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A monorail transit track beam inspection device, characterized in that: The inspection device includes: The traveling mechanism (100) travels on the monorail transit track beam (400); The inspection mechanism (200) is detachably and fixedly connected to the walking mechanism (100). The inspection mechanism (200) has at least one detection component with a detection function, which is set on the contact rails on both sides of the monorail track beam (400). The inspection mechanism (200) includes an appearance boom (201) and a positioning boom (202) spaced apart. A fixing frame (207) is also fixed between the appearance boom (201) and the positioning boom (202). The appearance boom (201) and the positioning boom (202) are integrally installed on the top surface of the traveling mechanism (100). Guide wheels (203) are installed on the opposite sides of the appearance boom (201) and the positioning boom (202). The bottom end of the positioning boom (202) is fixed with a detection arm (204) by bolts. The bottom of the detection arm (204) is bent to form an inverted L-shaped plate that fits against the contact rail on the side of the monorail track beam (400). The inverted L-shaped plate has a horizontal part and a vertical part. The detection assembly includes a vibration sensor (205) and a laser rangefinder (206) mounted on the horizontal part, and a laser rangefinder (206) also mounted on the vertical part. The detection areas of the vibration sensor (205) and the laser rangefinder (206) overlap in the inner area of ​​the inverted L-shaped plate and form a shape and position detection area (200b). The inspection device also includes: A drive mechanism (300) is disposed on top of the walking mechanism (100) and is detachably fixed to the walking mechanism (100); the drive mechanism (300) is electrically connected to the walking mechanism (100). The traveling mechanism (100) includes a frame (101), the bottom of which is attached to the fixed frame (207). Locking components (105) are provided at both ends of the traveling mechanism (100). The locking components (105) at both ends are respectively attached to the top of the external boom (201) and the positioning boom (202). Drive wheels (103) and driven wheels (104) are respectively installed at both ends of the frame (101). A motor (102) that is connected to the drive wheels (103) is installed inside the traveling mechanism (100). A harmonic reducer is installed at the front end of the motor (102).

2. The monorail transit track beam inspection device according to claim 1, characterized in that: The top surfaces of the external boom (201) and the positioning boom (202) are provided with strip grooves (200a); the end face of the frame (101) forms an outwardly protruding columnar body; the locking assembly (105) includes a locking sleeve (105a) disposed on the end face of the columnar body, and a connecting plate (105b) rotatably disposed on the top of the end face of the locking assembly (105); the locking sleeve (105a) is sleeved on the connecting plate (105b); a pin is fixed on the top surface of the columnar body, and the pin is inserted into the strip groove (200a).

3. The monorail transit track beam inspection device according to claim 1, characterized in that: A camera (201a) is installed inside the top of the appearance boom (201). The camera end of the camera (201a) is set towards the bottom of the appearance boom (201). The appearance boom (201) has a hole for the camera end of the camera (201a) to pass through.

4. The monorail transit track beam inspection device according to claim 3, characterized in that: Both ends of the appearance boom (201) and the positioning boom (202) extend to the outside of the monorail track beam (400), and the camera end of the camera (201a) is also located outside the monorail track beam (400).

5. The monorail transit track beam inspection device according to claim 3, characterized in that: The drive mechanism (300) includes a carriage (301), and a battery (302), a main control computer (303), and a servo controller (304) installed inside the carriage (301); the battery (302) is electrically connected to the motor (102).

6. The monorail transit track beam inspection device according to claim 5, characterized in that: The main control computer (303) is connected to the servo controller (304) through a 232 serial port and an I / O port, and the main control computer (303) is connected to the vibration sensor (205) and the laser rangefinder (206) through a 232 serial port; the main control computer (303) is connected to the camera (201a) through a network port.

Images