Track detection platform and inspection robot

Abstract

The invention relates to measuring equipment for monitoring lines, in particular to a track detection platform and an inspection robot. The inspection robot comprises a track detection platform, the track detection platform comprises a rack, a guide wheel pair is installed at the bottom of the rack, the guide wheel pair comprises two guide wheels which are arranged on the left side and the right side of a to-be-detected track respectively and are in rolling fit with the left side face and the right side face of the to-be-detected track, and each guide wheel comprises a wheel carrier and a wheel body; one of the two guide wheels of the guide wheel pair is a fixed guide wheel which is fixed relative to the position of the platform body, the other guide wheel is a movable guide wheel which is movably assembled on the platform body along the left-right direction in a guiding manner, and a tension spring is arranged between the movable guide wheel and the corresponding fixed guide wheel; by means of the structure, it can be guaranteed that the platform body stably runs on the upper surface of the track, and the accuracy of track geometric parameter measurement is improved.

Description

Technical Field

[0001] The invention relates to a measuring device for monitoring a line, and in particular to a track detection platform and a patrol robot. Background Art

[0002] Rail transportation is a very important mode of transportation, and the quality of the track is directly linked to transportation safety and driving safety. Tracks are mainly inspected manually. With the development of science and technology, more and more inspection robots are used to replace manual inspections, which greatly reduces labor costs and time costs.

[0003] The inspection robot can complete track inspection quickly and accurately, and the track inspection platform plays a very important role in it. The operation quality of the track inspection platform determines the efficiency and accuracy of track inspection. The Chinese invention patent application with application publication number CN118372227A and application publication date July 23, 2024 discloses a remote-controlled single-track defect real-time inspection robot. The inspection robot includes a structural plate. Two driving wheels are installed on the structural plate in front and behind the running direction. The driving wheel consists of a driving wheel body and a guide wheel piece extending outward from the end surface of the wheel body. The driving wheel body runs on the upper surface of the track, and the guide wheel piece can control the forward direction to prevent the inspection robot from derailing. Two stabilizing wheels are also installed on the structural plate. The stabilizing wheel includes a stabilizing wheel body and a wheel axle. The wheel axle of the stabilizing wheel is installed perpendicular to the structural plate. When working, the two stabilizing wheels are respectively located on the left and right sides of the track and are close to the track. While playing a guiding role, it can effectively prevent the inspection robot from tipping over or overturning. The inspection robot did not take into account the situation that the deformation of the track causes the upper span of the track to be reduced, and the stabilizing wheels and guide wheels cannot play a guiding role by cooperating with the two sides of the track, which makes derailment and overturning likely to occur. The relative position of the inspection robot's structural plate to the upper surface of the track changes, and the parallelism of the two cannot be guaranteed, which will seriously affect the detection accuracy. At the same time, it also wastes manpower and time, which is not conducive to the normal progress of track inspection. Summary of the invention

[0004] The object of the present invention is to provide a track inspection platform to solve the problem that when there are defects on the track surface or the track span changes, the position relationship of the track inspection platform relative to the track surface changes and the parallelism of the two cannot be guaranteed.

[0005] At the same time, the purpose of the present invention is also to provide an inspection robot to solve the above problems.

[0006] In order to solve the above problems, the track detection platform of the present invention adopts the following technical solutions:

[0007] A track inspection platform comprises a platform, a guide wheel pair is installed at the bottom of the platform, the guide wheel pair comprises two guide wheels which are respectively arranged on the left and right sides of the track to be inspected and roll with the left and right side surfaces of the track to be inspected, each guide wheel comprises a wheel frame and a wheel body, one of the two guide wheels of the guide wheel pair is a fixed guide wheel which is fixed relative to the platform body, and the other is a movable guide wheel which is movable and assembled on the platform body along the left and right directions, a tension spring is arranged between the movable guide wheel and the corresponding fixed guide wheel, and the tension spring is used to drive the movable guide wheel to approach the corresponding fixed guide wheel to clamp the track to be inspected.

[0008] Furthermore, the outer contour of the wheel body of the guide wheel is cylindrical.

[0009] Furthermore, the wheel body of the guide wheel is a solid cylindrical shape.

[0010] Furthermore, the wheel frame is cylindrical, and a bearing is installed inside, and the wheel body is rotatably connected to the corresponding wheel frame through the bearing.

[0011] Furthermore, the wheel frame of the moving guide wheel is equipped with a slider, and a slide rail corresponding to the slider is fixedly installed on the platform body. The moving guide wheel is assembled on the platform body through the sliding cooperation between the slider and the slide rail, and the extension line of the slide rail passes through the center line of the corresponding fixed guide wheel.

[0012] Furthermore, the tension spring is fixedly connected to the wheel frame of the corresponding guide wheel by means of screws.

[0013] Furthermore, the wheel frame of the fixed guide wheel is fixedly connected to the platform through threaded fasteners.

[0014] Furthermore, a running wheel is installed on the platform, and a mileage sensor is installed on the running wheel.

[0015] Furthermore, a level sensor, an inclination sensor and a laser displacement sensor are installed on the platform body.

[0016] Beneficial effects: The track detection platform of the present invention is an improved invention. The track detection platform of the present invention includes a platform, and a guide wheel pair is installed at the bottom of the platform. The guide wheel pair includes two guide wheels that are respectively arranged on the left and right sides of the track to be inspected and roll with the left and right sides of the track to be inspected. The relative position relationship between the platform body and the track is ensured by the rolling cooperation between the guide wheel pair and the track. The guide wheels each include a wheel frame and a wheel body. One of the two guide wheels of the guide wheel pair is a fixed guide wheel fixed relative to the position of the platform body, and the other is a movable guide wheel assembled on the platform body for guiding along the left and right directions. Through the cooperation of the corresponding guide wheel pairs, when facing, for example, the track When there are defects on the upper surface or the track span changes, the guiding function can still be guaranteed. A tension spring is arranged between the moving guide wheel and the corresponding fixed guide wheel. The tension spring is used to drive the moving guide wheel to approach the corresponding fixed guide wheel to clamp the track to be tested. This structure can ensure that the platform body runs smoothly on the upper surface of the track, and improve the accuracy of measuring the geometric parameters of the track. If the platform does not run parallel to the track due to defects on the upper surface of the track, the tension spring structure can timely pull the guide wheel pair to the state of clamping the track to be tested, thereby making the track detection platform stably run forward parallel to the track surface.

[0017] The inspection robot of the present invention adopts the following technical solutions:

[0018] A patrol robot comprises a track detection platform, which comprises a platform, a guide wheel pair is installed at the bottom of the platform, the guide wheel pair comprises two guide wheels which are respectively arranged on the left and right sides of the track to be inspected and roll with the left and right side surfaces of the track to be inspected, each guide wheel comprises a wheel frame and a wheel body, one of the two guide wheels of the guide wheel pair is a fixed guide wheel fixed relative to the platform body, and the other is a movable guide wheel which is movable and assembled on the platform body along the left and right directions, a tension spring is arranged between the movable guide wheel and the corresponding fixed guide wheel, and the tension spring is used to drive the movable guide wheel to approach the corresponding fixed guide wheel to clamp the track to be inspected.

[0019] Furthermore, the outer contour of the wheel body of the guide wheel is cylindrical.

[0020] Furthermore, the wheel body of the guide wheel is a solid cylindrical shape.

[0021] Furthermore, the wheel frame is cylindrical, and a bearing is installed inside, and the wheel body is rotatably connected to the corresponding wheel frame through the bearing.

[0022] Furthermore, the wheel frame of the moving guide wheel is equipped with a slider, and a slide rail corresponding to the slider is fixedly installed on the platform body. The moving guide wheel is assembled on the platform body through the sliding cooperation between the slider and the slide rail, and the extension line of the slide rail passes through the center line of the corresponding fixed guide wheel.

[0023] Furthermore, the tension spring is fixedly connected to the wheel frame of the corresponding guide wheel by means of screws.

[0024] Furthermore, the wheel frame of the fixed guide wheel is fixedly connected to the platform through threaded fasteners.

[0025] Furthermore, a running wheel is installed on the platform, and a mileage sensor is installed on the running wheel.

[0026] Furthermore, a level sensor, an inclination sensor and a laser displacement sensor are installed on the platform body.

[0027] Beneficial effects: The inspection robot of the present invention is an improved invention. The inspection robot of the present invention includes a track detection platform, which includes a platform, and a guide wheel pair is installed at the bottom of the platform. The guide wheel pair includes two guide wheels that are respectively arranged on the left and right sides of the track to be inspected and roll with the left and right sides of the track to be inspected. The relative position relationship between the platform body and the track is ensured by the rolling cooperation between the guide wheel pair and the track. The guide wheels each include a wheel frame and a wheel body. One of the two guide wheels of the guide wheel pair is a fixed guide wheel fixed relative to the platform body, and the other is a movable guide wheel installed on the platform body for guiding along the left and right directions. Through the cooperation of the corresponding guide wheel pairs, the platform body is When faced with situations such as defects on the track surface or changes in the track span, the guiding function can still be guaranteed. A tension spring is arranged between the moving guide wheel and the corresponding fixed guide wheel. The tension spring is used to drive the moving guide wheel to approach the corresponding fixed guide wheel to clamp the track to be tested. This structure can ensure that the platform body runs smoothly on the track surface, improve the accuracy of measuring the track geometric parameters, and if the platform does not run parallel to the track due to defects on the track surface, the tension spring structure can promptly pull the guide wheel pair to the state of clamping the track to be tested, thereby allowing the track detection platform to stably run forward parallel to the track surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of an embodiment of a track detection platform of the present invention;

[0029] Figure 2 for Figure 1 A schematic structural diagram of a guide wheel pair in an embodiment;

[0030] Figure 3 for Figure 1 A schematic diagram of the structure of the slider in the embodiment;

[0031] Figure 4 for Figure 1 A schematic diagram of the structure in which the movable guide wheel and the slider are fixed in the embodiment;

[0032] Figure 5 for Figure 1 A schematic diagram of the structure of the tension spring in the embodiment.

[0033] In the figure: 1. stand; 2. fixed guide wheel; 3. slider; 4. movable guide wheel; 5. tension spring; 6. slide rail; 7. wheel frame; 9. wheel body; 10. track; 11. walking wheel; 12. mileage sensor; 13. level sensor; 14. inclination sensor; 15. laser displacement sensor. DETAILED DESCRIPTION

[0034] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0035] When the track inspection platform is running on the track, if there are defects on the track surface or the track span changes, the platform may derail or the detection data may be invalid, affecting the normal operation of the track inspection robot. The concept of the present invention is to set one of the guide wheel pairs to an active state and add a tension spring structure between the guide wheel pairs so that the track inspection platform can maintain relative parallelism with the track to ensure the accuracy of the measurement.

[0036] The specific implementation of the track detection platform of the present invention is as follows:

[0037] Based on the above ideas, Figure 5 As shown, in a basic embodiment, the track detection platform of the present invention includes a platform 1, and a guide wheel pair is installed at the bottom of the platform 1. The guide wheel pair includes two guide wheels that are respectively arranged on the left and right sides of the track to be inspected and roll with the left and right sides of the track to be inspected. The relative position relationship between the platform body and the track 10 is ensured by the rolling cooperation between the guide wheel pair and the track 10. The guide wheels each include a wheel frame 7 and a wheel body 9. One of the two guide wheels of the guide wheel pair is a fixed guide wheel 2 fixed relative to the platform body, and the other is a movable guide wheel 4 that is movably assembled on the platform body along the left and right directions. Through the cooperation of the corresponding guide wheel pairs, the platform body is faced with the track 10. For example, when there are defects on the track surface or the track span changes, the guiding function can still be guaranteed. A tension spring 5 is arranged between the moving guide wheel 4 and the corresponding fixed guide wheel 2. The tension spring 5 is used to drive the moving guide wheel 4 to approach the corresponding fixed guide wheel 2 to clamp the track 10 to be tested. This structure can ensure that the platform body runs smoothly on the upper surface of the track 10, and improve the accuracy of measuring the geometric parameters of the track 10. If the platform does not run parallel to the track due to defects on the track surface, the tension spring 5 structure can timely pull the guide wheel pair to the state of clamping the track to be tested, thereby making the track detection platform stably run forward parallel to the surface of the track 10.

[0038] like Figure 2As shown, in a preferred embodiment, the outer contour of the wheel body 9 of the guide wheel is cylindrical. The cylindrical wheel body 9 structure can make the track detection platform adapt to different track 10 conditions. For example, if there is a bulge on the upper surface of the track 10, the platform body is raised as a whole to prevent the derailment accident caused by the guide wheel failing to adhere to the track 10 due to partial damage and deformation of the track 10. In other embodiments, a wheel-type structure can also be used, which can still work normally although derailment may occur.

[0039] In a preferred embodiment, the wheel body 9 of the guide wheel is a solid cylindrical shape, which can enhance the strength of the wheel body 9, improve the service life, and prevent the wheel body 9 from being damaged due to a sudden change in the tension of the tension spring 5. In other embodiments, a hollow structure can also be used, which is easy to damage and has a short service life, but can still work normally.

[0040] In a preferred embodiment, the wheel frame 7 is cylindrical, with a bearing installed inside, and the wheel body 9 is rotatably connected to the wheel frame 7 through the bearing. The use of the bearing connection can increase the service life of the track detection platform and ensure the normal detection work. In other embodiments, the wheel frame 7 is designed to be square with a cylindrical cavity inside, which can also work normally.

[0041] like Figure 3 , 4 As shown, in a preferred embodiment, the wheel frame 7 of the moving guide wheel 4 is installed with a slider 3, and a slide rail 6 corresponding to the slider 3 is fixedly installed on the platform body. The moving guide wheel 4 is assembled on the platform body through the sliding cooperation between the slider 3 and the slide rail 6, and the extension line of the slide rail 6 passes through the center line of the corresponding fixed guide wheel 2. This design can reduce the tension required by the tension spring 5, which is more labor-saving, and can also respond more sensitively to the deformation or displacement of the track 10. In other embodiments, the extension line of the axis of the slide rail 6 may not pass through the center line of the corresponding fixed guide wheel 2. Although the required tension force is greater, which may cause wear of the wheel body 9, it can still work normally.

[0042] In a preferred embodiment, the tension spring 5 is fixedly connected to the wheel frame 7 of the corresponding guide wheel by screws. Since the tension spring 5 needs to be frequently extended and retracted in actual use, it is easy to deform and fatigue, resulting in failure to work normally. The use of screws is convenient for installation, maintenance and replacement, and it is also convenient to adjust the height of the tension spring 5 on site. In other embodiments, it can also be connected to the guide wheel frame 7 by spot welding. Although maintenance and replacement are difficult, it can still work normally.

[0043] In a preferred embodiment, the wheel frame 7 of the fixed guide wheel 2 is fixedly connected to the platform 1 by threaded fasteners, which ensures the stability of the connection between the wheel frame 7 and the platform 1 and prevents deflection due to force when tightening. In other embodiments, welding is directly used for fixing, which increases the maintenance cost but can also work normally.

[0044] like Figure 1 As shown, in a preferred embodiment, a running wheel 11 is installed on the platform 1, and a mileage sensor 12 is installed on the running wheel 11, and the distance traveled by the track detection platform is recorded by the mileage sensor 12. In other embodiments, the travel direction can also be recorded by installing a mileage sensor 12 on the fixed guide wheel 2, although the data accuracy is insufficient, it can also work normally.

[0045] In a preferred embodiment, a level sensor 13, an inclination sensor 14 and a laser displacement sensor 15 are installed on the platform body to measure and record the geometric parameters of the track 10 to achieve automatic inspection of the track 10. In other embodiments, the type or number of sensors installed on the platform body can be added or reduced according to needs, and it can also work normally.

[0046] During the inspection process, the running wheels 11 of the track detection platform are placed on the upper surface of the track 10, and the track detection platform is moved by inputting power through the motor. The tension spring 5 on the guide wheel pair is adjusted to obtain sufficient tension, and the guide wheel pair is close to the track to play a guiding role. Various sensors continuously collect and record information. When a defect occurs on the upper surface of the track 10, causing the platform body to deflect, the guide wheel pair does not clamp the track. Under the action of the tension of the tension spring 5, the moving guide wheel 2 moves along the slide rail 6 in the direction close to or away from the fixed guide wheel 4 until it is close to the track 10. Through the combined action of the gravity of the track detection platform and the tension of the tension spring 5, the track detection platform can be kept parallel to the upper surface of the track 10.

[0047] The specific implementation of the inspection robot of the present invention is as follows:

[0048] The inspection robot of the present invention includes a track inspection platform. The specific implementation of the inspection platform is as described above and will not be repeated herein.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. A track inspection platform, comprising a platform, wherein a guide wheel pair is installed at the bottom of the platform, wherein the guide wheel pair comprises two guide wheels respectively arranged on the left and right sides of the track to be inspected and rollingly matched with the left and right sides of the track to be inspected, wherein each guide wheel comprises a wheel frame and a wheel body, wherein: One of the two guide wheels of the guide wheel pair is a fixed guide wheel fixed relative to the platform body, and the other is a movable guide wheel assembled on the platform body for guiding along the left and right directions. A tension spring is arranged between the movable guide wheel and the corresponding fixed guide wheel, and the tension spring is used to drive the movable guide wheel to approach the corresponding fixed guide wheel to clamp the track to be measured.

2. The track detection platform according to claim 1, characterized in that: The outer contour of the wheel body of the guide wheel is cylindrical.

3. The track detection platform according to claim 2, characterized in that: The wheel body of the guide wheel is a solid cylindrical shape.

4. The track detection platform according to any one of claims 1 to 3, characterized in that: The wheel frame is cylindrical, with a bearing installed inside, and the wheel body is rotatably connected to the corresponding wheel frame through the bearing.

5. The track detection platform according to any one of claims 1 to 3, characterized in that: The wheel frame of the movable guide wheel is equipped with a slider, and a slide rail corresponding to the slider is fixedly installed on the platform body. The movable guide wheel is assembled on the platform body through the sliding cooperation between the slider and the slide rail, and the extension line of the slide rail passes through the center line of the corresponding fixed guide wheel.

6. The track detection platform according to any one of claims 1 to 3, characterized in that: The tension spring is fixedly connected to the wheel frame of the corresponding guide wheel through screws.

7. The track detection platform according to any one of claims 1 to 3, characterized in that: The wheel frame of the fixed guide wheel is fixedly connected to the platform through threaded fasteners.

8. The track detection platform according to any one of claims 1 to 3, characterized in that: The platform is also provided with a running wheel, and a mileage sensor is installed on the running wheel.

9. The track detection platform according to any one of claims 1 to 3, characterized in that: The platform body is equipped with a level sensor, an inclination sensor and a laser displacement sensor.

10. A patrol robot, comprising a track detection platform, characterized in that: The track detection platform is the track detection platform according to any one of claims 1 to 9.

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