Track bridge inspection robot with pretightening force self-adaptability

Abstract

The utility model discloses a track bridge inspection robot with pretightening force self-adaptability. The track bridge inspection robot comprises a shell assembly, a control system assembly and a power system assembly. The control system assembly comprises a main board and an IMU inertial navigation module; the power system assembly is arranged in the shell and comprises a power source, a driving wheel and a bottom plate guide wheel, the driving wheel is rotatably arranged in the shell and connected with the power source, and the bottom plate guide wheel is rotatably arranged on the bottom plate. The IMU inertial navigation module can collect pitch angle data of the inspection robot, transmit the pitch angle data to the mainboard for calculation and then transmit signals to the mainboard to control the bottom plate guide wheels to be close to the track. When the robot is in a smooth track section, the guide wheels and the track are in a relaxed state, so that abrasion of the guide wheels is reduced; and when the guide wheel is in a rail section with a gradient, the guide wheel is tightened relative to the rail to avoid slipping. And through self-adaptive adjustment of different track sections, the anti-slip effect is improved, and abrasion of the guide wheels is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of track inspection robots, in particular to a track bridge inspection robot with preload adaptability. Background Art

[0002] The steel box girder structure of urban rail bridges is characterized by airtightness, narrowness, dim vision, and complex internal structure. Traditional manual inspection methods are difficult to conduct comprehensive and detailed inspections of internal defects and loose bolts. In addition, manual inspections are difficult to ensure safety, inefficient, and have high rates of false detection and missed detection. In addition, daily inspections of urban rail transit have high requirements for efficiency, short operating time, and large inspection workload. They can generally only be carried out at night, which makes daily inspections of steel box girder structures of urban rail bridges extremely difficult and consumes a lot of manpower and financial resources. Therefore, the use of rail inspection robots can better solve this problem.

[0003] At present, inspection robots can be divided into two types according to the operation mode on the track: suspension type and straddle type. Most of the domestic and foreign rail inspection robots adopt the suspension operation mode. The suspension type has the advantages of unlimited route curvature, fast driving speed and not easy to slip, but the disadvantages are limited load-bearing capacity and easy body shaking. Straddle-type inspection robots are currently less used, but this method has the advantages of strong load-bearing capacity, small space occupation, not easy to shake and good operation stability. The disadvantages are poor climbing ability, easy to slip and wear of guide wheels.

[0004] For narrow track bridge steel box girders, due to their complex internal space structure and the presence of some obstacles, straddle-type inspection robots can better avoid collision risks than suspended ones. However, when encountering a track bridge with a certain slope, they are prone to slipping, and the guide wheels are worn and need to be replaced regularly, making maintenance more cumbersome. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the utility model proposes a track bridge inspection robot with self-adaptive preload, which can improve the situation that the straddle-type inspection robot is prone to slipping when traveling on a track section with a certain slope, and the guide wheel is excessively worn when traveling on a flat track section.

[0006] In order to achieve the above-mentioned purpose, the utility model is realized by the following technical solutions: a rail bridge inspection robot with preload adaptability, comprising a housing component, a control system component and a power system component;

[0007] The housing assembly comprises a housing body, a top cover, a bottom plate and a support plate, wherein the top cover is fixedly arranged on the top of the housing body, the two bottom plates are rotatably arranged on both sides of the bottom of the housing body and connected to the housing body through a telescopic member, and the support plate is arranged inside the housing body;

[0008] The control system component is arranged on one side of the support plate close to the top cover, and includes a main board and an IMU inertial navigation module. The measuring end of the IMU inertial navigation module is arranged horizontally, and can collect the pitch angle data of the inspection robot and transmit it to the main board for calculation, so as to control the extension and retraction of the telescopic part.

[0009] The power system component is arranged in the shell body below the support plate, and includes a power source, a driving wheel and a bottom plate guide wheel. The power source is arranged in the shell body, the driving wheel is rotatably arranged in the shell body and connected to the power source and located above the track, and the bottom plate guide wheel is rotatably arranged on the bottom plate and located below the track.

[0010] The outer shell is composed of a main body, a top cover and a bottom plate. The internal support plate is used to install various components of the control system assembly. The driving wheel is driven by the power source to rotate, which can drive the inspection robot to move on the track. The IMU inertial navigation module collects the pitch angle data of the track and transmits it to the main board. According to the measured pitch angle parameters, the telescopic part is controlled to extend and retract. That is, when there is a certain slope, the telescopic part shrinks its stroke, driving the bottom plate and the bottom plate guide wheel inward, so that the bottom plate guide wheel is pressed against the bottom of the track. When the slope changes to a gentle track section, the telescopic part extends its stroke, driving the bottom plate and the bottom plate guide wheel to move outward, so that the bottom plate guide wheel is no longer pressed against the track and is in a relaxed state.

[0011] The beneficial effect of the above-mentioned track bridge inspection robot with adaptive preload is that it can adjust the preload with the track according to the actual situation of the track. In the flat track section, the guide wheel is in a relaxed state with the track to reduce the wear of the guide wheel; in the sloped track section, the guide wheel is tightened relative to the track to avoid slipping. Through the adaptive adjustment of different track sections, it is ensured that the inspection robot will not slip when driving on a track section with a certain slope, and the wear of the guide wheel can be minimized in the flat track section.

[0012] Furthermore, the telescopic member is an electric cylinder.

[0013] The telescopic rod of the electric cylinder can drive the bottom plate and the bottom plate guide wheel to be tightened or loosened relative to the track.

[0014] Furthermore, the control system component also includes an AP bridge, a communication antenna and a laser ranging module. The AP bridge is arranged on a support plate, and the communication antenna and the laser ranging module are arranged on the outer wall of the shell body. The AP bridge is connected to the main board through a network port and is wirelessly connected to an external computer through a communication antenna. The laser ranging module is connected to the main board.

[0015] By building a local area network of the TCP protocol, the AP bridge can establish connections between the camera, motherboard and ground computer, thereby realizing long-distance control command interaction and real-time image return functions.

[0016] Furthermore, the control system component also includes a camera and a fill light, the camera and the fill light are arranged on the outer wall of the shell body, and the camera is connected to the AP bridge through a switch.

[0017] Cameras are used to capture various areas within the steel box girder to detect internal problems, and fill lights can provide lighting compensation in dark areas.

[0018] Furthermore, the power source includes a power battery and a stepper motor, the power battery is connected to the stepper motor, and the stepper motor is connected to the drive wheel through a steering gear and a coupling, so as to drive the drive wheel to rotate.

[0019] The power battery can be used as the power source for the stepper motor and control system components. The stepper motor controls the rotation of the drive wheel through the steering gear and coupling, thereby controlling the inspection robot's forward or backward movement on the track.

[0020] Furthermore, the power system component also includes side plate guide wheels, which are rotatably arranged in the shell body and are symmetrically provided in two groups, respectively located on both sides of the track.

[0021] The side plate guide wheels rotate on both sides of the track, which can play the role of limiting and guiding the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation of the utility model, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0023] Figure 1 A schematic diagram of a rail bridge inspection robot with preload adaptability provided by an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic diagram of a control system component of a rail bridge inspection robot with preload adaptability is shown;

[0025] Figure 3 for Figure 1 A schematic diagram of a power system component of a rail bridge inspection robot with preload adaptability is shown;

[0026] Figure 4 for Figure 1 A bottom schematic diagram of a rail bridge inspection robot with preload adaptability is shown;

[0027] Figure 5 for Figure 1 A side view of a rail bridge inspection robot with preload adaptability is shown;

[0028] Figure 6 for Figure 4 A side sectional view of a rail bridge inspection robot with preload adaptability is shown;

[0029] Figure 7 for Figure 3 The transmission schematic diagram of the power system components of a rail bridge inspection robot with preload adaptability is shown;

[0030] Reference numerals:

[0031] 1- Track;

[0032] 10-housing assembly, 11-housing body, 12-top cover, 13-bottom plate, 131-electric cylinder, 14-support plate;

[0033] 20-control system components, 21-mainboard, 22-laser ranging module, 23-IMU inertial navigation module, 24-camera, 25-fill light, 26-AP bridge, 27-communication antenna;

[0034] 30-power system components, 31-power battery, 32-stepping motor, 33-driving wheel, 34-bottom plate guide wheel, 35-side plate guide wheel, 36-L-type transmission steering gear, 37-T-type transmission steering gear, 38-coupling. DETAILED DESCRIPTION

[0035] The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and are therefore only used as examples, and cannot be used to limit the protection scope of the utility model.

[0036] See also Figures 1 to 7The present invention provides a rail bridge inspection robot with self-adaptive preload, including a shell component 10, a control system component 20 and a power system component 30. The control system component 20 can adjust the preload between the inspection robot and the track by obtaining the pitch angle parameters of the track. The power system component 30 is used to drive the inspection robot to move on the track 1.

[0037] Specifically, the shell assembly 10 includes a shell body 11, a top cover 12, a bottom plate 13 and a support plate 14. The top cover 12 is fixedly arranged on the top of the shell body 11. The two bottom plates 13 are hingedly arranged on both sides of the bottom of the shell body 11 through hinges and are connected to the shell body 11 through a telescopic part. In this embodiment, the telescopic part is an electric cylinder 131.

[0038] like Figure 2 As shown, the support plate 14 is arranged inside the shell body 11, and the control system component 20 is arranged on the side of the support plate 14 close to the top cover 12, including a main board 21 and an IMU inertial navigation module 23, etc. The measuring end of the IMU inertial navigation module 23 is arranged horizontally, and can collect orbital pitch angle data and transmit it to the main board 21 for calculation, so as to control the extension and retraction of the telescopic rod of the electric cylinder 131.

[0039] like Figures 3 to 6 As shown, the power system assembly 30 is arranged in the housing body 11 below the support plate 14, and includes a power source, a driving wheel 33 and a bottom plate guide wheel 34. The power source is arranged in the housing body 11, the driving wheel 33 is rotatably arranged in the housing body 11, and is connected to the power source and is located above the track 1, and the bottom plate guide wheel 34 is rotatably arranged on the bottom plate 13 and is located below the track 1. In this embodiment, the track 1 is a T-shaped track, and two driving wheels 33 are provided, which are located above the middle part of the track 1 and are arranged along its axial direction. There are four bottom plate guide wheels 34, which are distributed in a rectangular shape and are located on both sides of the middle part below the track 1. The driving wheel and the bottom plate guide wheel rotate on the upper and lower sides of the track respectively.

[0040] The outer shell is composed of a main body, a top cover 12 and a bottom plate 13. The internal support plate 14 is used to install various components of the control system assembly 20. The driving wheel 33 is driven to rotate by a power source, so that the inspection robot can be driven to move on the track. The IMU inertial navigation module 23 collects the pitch angle data of the inspection robot and transmits it to the main board 21 for calculation. According to the calculated pitch angle parameters, the telescopic rod of the electric cylinder 131 is controlled to extend and retract. When there is a certain slope, the telescopic rod retracts the stroke, driving the bottom plate 13 and the bottom plate guide wheel 34 to approach the driving wheel 33, so that the bottom plate guide wheel 34 is pressed against the bottom of the track to prevent slipping. When the slope changes to a gentle track section, the telescopic member extends the stroke, driving the bottom plate 13 and the bottom plate guide wheel 34 to rotate away from the driving wheel 33, so that the bottom plate guide wheel 34 is no longer pressed against the track, and is in a relaxed state and in contact with the track, thereby reducing the wear of the guide wheel. When driving on a gentle track section, the telescopic member maintains the stroke of the bottom plate guide wheel 34 and the track in a relaxed state. Through adaptive adjustment in different track sections, the wear of the inspection robot's guide wheels is reduced and slipping is avoided.

[0041] Specifically, the control system component 20 also includes a laser rangefinder module 22, a camera 24, a fill light 25, an AP bridge 26 and a communication antenna 27. The laser rangefinder module 22, the camera 24, the fill light 25 and the communication antenna 27 are arranged on the outer wall of the housing body 11. The laser rangefinder module 22 is connected to the main board 21. The AP bridge 26 is arranged on the support plate 14, connected to the main board through the network port, and wirelessly connected to the ground computer through the communication antenna 27. The camera 24 is connected to the AP bridge 26 through a switch. The camera 24 is used to shoot various areas inside the steel box girder to detect internal problems, and the fill light 25 can provide light compensation in darker areas. By building a local area network of the TCP protocol, the AP bridge can establish a connection between the camera, the main board and the ground computer, thereby realizing long-distance control command interaction and real-time image return functions.

[0042] In this embodiment, six cameras and six fill lights are provided, which are arranged in groups in a one-to-one manner. The arrangement of the six cameras can ensure that the shooting range covers all areas inside the steel box girder to the maximum extent.

[0043] Specifically, the power source includes a power battery 31, a stepper motor 32 and a side plate guide wheel 35. The power battery 31 is arranged on the shell body 11 and connected to the stepper motor 32. The stepper motor 32 is connected to the drive wheel 33 through a steering gear and a coupling, and can drive the drive wheel 33 to rotate. The side plate guide wheel 35 is rotatably arranged in the shell body 11, and two groups are symmetrically provided, respectively located on both sides of the track. The power battery 31 serves as the power source for the stepper motor 32 and the control system component 20. The stepper motor 32 controls the rotation of the drive wheel 33 through the steering gear and the coupling, thereby controlling the forward or backward movement of the inspection robot on the track. The side plate guide wheels 35 rotate on both sides of the track 1, which can play the role of limiting and guiding the inspection robot.

[0044] In this embodiment, the driving wheel 33, the bottom plate guide wheel 34 and the side plate guide wheel 35 can be independently disassembled and installed to facilitate the regular replacement and maintenance of the inspection robot wheels. Figure 7 As shown, the stepper motor 32 is arranged between two driving wheels 33 , and transmits power to the driving wheel 33 at the end through an L-shaped transmission steering gear 36 , a T-shaped transmission steering gear 37 and a coupling 38 .

[0045] The utility model provides a track bridge inspection robot with adaptive preload force. When traveling on a track with a slope, the retraction stroke of the telescopic part can be adjusted according to the change of the slope. The greater the slope, the greater the retraction stroke, so that the preload force of the inspection robot "holding" the track is greater, thereby improving the anti-skid effect of the inspection robot. The smaller the slope or when on a flat track section, the smaller the retraction stroke of the telescopic part, so that the preload force of the inspection robot "holding" the track is smaller, thereby minimizing the wear of the guide wheels of the inspection robot. According to the actual situation of the track, during the driving process of the inspection robot, the preload force of the inspection robot "holding" the track can be adaptively adjusted as the slope changes, thereby improving the anti-skid effect and reducing the wear of the guide wheels.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A rail bridge inspection robot with preload adaptability, characterized in that: Including housing components, control system components and power system components; The housing assembly comprises a housing body, a top cover, a bottom plate and a support plate, wherein the top cover is fixedly arranged on the top of the housing body, the two bottom plates are rotatably arranged on both sides of the bottom of the housing body and connected to the housing body through a telescopic member, and the support plate is arranged inside the housing body; The control system component is arranged on one side of the support plate close to the top cover, and includes a main board and an IMU inertial navigation module. The measuring end of the IMU inertial navigation module is arranged horizontally, and can collect the pitch angle data of the inspection robot and transmit it to the main board for calculation, so as to control the extension and retraction of the telescopic part. The power system component is arranged in the shell body below the support plate, and includes a power source, a driving wheel and a bottom plate guide wheel. The power source is arranged in the shell body, the driving wheel is rotatably arranged in the shell body and connected to the power source and located above the track, and the bottom plate guide wheel is rotatably arranged on the bottom plate and located below the track.

2. The rail bridge inspection robot with preload adaptability according to claim 1, characterized in that: The telescopic member is an electric cylinder.

3. The rail bridge inspection robot with preload adaptability according to claim 1, characterized in that: The control system component also includes an AP bridge, a communication antenna and a laser ranging module. The AP bridge is arranged on a support plate, and the communication antenna and the laser ranging module are arranged on the outer wall of the shell body. The AP bridge is connected to the main board through a network port and is wirelessly connected to an external computer through a communication antenna. The laser ranging module is connected to the main board.

4. The rail bridge inspection robot with preload adaptability according to claim 3 is characterized in that: The control system component also includes a camera and a fill light, which are arranged on the outer wall of the shell body, and the camera is connected to the AP bridge through a switch.

5. The rail bridge inspection robot with preload adaptability according to claim 1, characterized in that: The power source includes a power battery and a stepper motor. The power battery is connected to the stepper motor. The stepper motor is connected to the driving wheel through a steering gear and a coupling, and can drive the driving wheel to rotate.

6. The rail bridge inspection robot with preload adaptability according to claim 5, characterized in that: The power system component also includes side plate guide wheels, which are rotatably arranged in the shell body and are symmetrically provided with two groups, respectively located on both sides of the track.

Images