Rail train inspection system

Abstract

The utility model belongs to the technical field of inspection equipment, and discloses a rail train inspection system which comprises an inspection trolley, lifting equipment and a charging pile. The inspection trolley is used for detecting vehicle bottom parts and vehicle side parts of the railway vehicle; the lifting equipment is arranged between the trench and the ground; the charging pile is arranged on the ground and is used for charging the inspection trolley in a sliding contact manner; the lifting equipment comprises a lifting platform and a transmission mechanism; the lifting platform is used for bearing the inspection trolley; and the transmission mechanism is arranged between the side wall of the trench and the lifting platform and is used for driving the lifting platform to linearly move along the inclined plane. According to the utility model, manual detection operation can be replaced, and comprehensive detection coverage is realized at the vehicle bottom and the vehicle side, so that the safety of operators can be ensured, the detection precision can be ensured, and the driving safety can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection equipment, and in particular relates to a rail train inspection system. Background Art

[0002] In the current railway industry, the underbody and side inspection of rail vehicles is usually done manually. Workers need to enter a dark trench, so they are prone to slipping, getting hurt, and causing physical injuries. In addition, the work intensity is high, and it is easy to miss fault points, which will pose a great threat to driving safety. Utility Model Content

[0003] In order to solve the above technical problems, the utility model discloses a rail train inspection system, which can replace manual inspection operations and achieve comprehensive inspection coverage under and on the sides of the vehicle, which can not only ensure the safety of operators, but also ensure inspection accuracy and improve driving safety.

[0004] The specific technical solution of the utility model is as follows:

[0005] A rail train inspection system, comprising:

[0006] Inspection trolleys are used to inspect the underbody and side parts of rail vehicles;

[0007] A lifting device is provided between the trench and the ground; and

[0008] A charging pile, which is arranged on the ground and used for charging the inspection vehicle by sliding contact;

[0009] Wherein, the lifting equipment comprises:

[0010] A lifting platform to carry the inspection vehicle; and

[0011] The transmission mechanism is arranged between the side wall of the trench and the lifting platform, and is used to drive the lifting platform to move linearly along the inclined surface.

[0012] The lifting device can carry the inspection trolley to switch positions between the trench and the ground, so that the inspection trolley can well realize the inspection of the components under and on the side of the rail vehicle; the charging pile can be charged when the power of the inspection trolley is insufficient to ensure the normal inspection endurance of the inspection trolley; between the trench and the ground, in some cases, it is necessary for operators to enter the trench, so a step ladder is usually provided between the trench and the ground, so the oblique linear motion of the lifting platform driven by the transmission mechanism can well avoid the step ladder and meet the requirements of the inspection trolley entering the trench.

[0013] Preferably, the lifting device further comprises:

[0014] A supporting side plate, wherein the supporting side plate is arranged on the side wall of the trench, and the transmission mechanism is arranged between the supporting side plate and the lifting platform;

[0015] Among them, among the supporting side plate and the lifting platform, one of them is provided with a supporting guide wheel, and the other is provided with a guide wheel groove or guide rail matching with the supporting guide wheel; the extension direction of the guide wheel groove or guide rail is parallel to the extension direction of the transmission channel.

[0016] The transmission mechanism can realize relative movement between the lifting platform and the supporting side plates. In this process, the supporting guide wheel can be movably matched with the guide wheel groove, or the supporting guide wheel can be movably matched with the guide rail, so that the lifting platform as a whole can be supported by the supporting guide wheel, or the guide wheel groove / guide rail, thereby improving the supporting performance of the supporting side plates on the lifting platform. Therefore, on the basis of meeting the transmission efficiency, it is possible to well ensure the safety of transportation and avoid potential safety hazards in transportation.

[0017] Preferably, one of the supporting side plate and the lifting platform is provided with a lateral guide wheel for assisting the movement of the lifting platform, and the axis of the lateral guide wheel is perpendicular to the guide wheel groove or the guide rail.

[0018] The lateral guide wheels can realize auxiliary movement of the lifting platform, thereby improving the movement stability and continuity of the lifting platform.

[0019] Preferably, the lifting device further comprises:

[0020] A front sensor, a middle sensor and a rear sensor arranged on the lifting platform; and / or

[0021] The magnet arranged in the middle of the lifting platform is used to sense the magnetic sensor on the inspection vehicle.

[0022] The front-end sensor, the middle-end sensor and the rear-end sensor can locate the position of the inspection vehicle running on the lifting platform, thereby meeting the requirements of safe transportation; after the magnet cooperates with the magnetic sensor, the positioning position of the inspection vehicle can be further determined to further improve the safe transportation capability of the lifting equipment.

[0023] Preferably, both ends of the lifting platform are provided with safety touch edges, and the safety touch edges are provided with touch switches.

[0024] The safety touch edge can prevent the lifting platform from being blocked by external objects when moving obliquely and causing safety accidents; the touch switch can trigger the lifting platform to stop suddenly, thereby better meeting the safety transportation needs.

[0025] Preferably, the lifting device further comprises:

[0026] A safety baffle is movably arranged on the lifting platform and is used to limit the movement of the inspection trolley on the lifting platform.

[0027] The safety baffle can realize the mechanical limit of the inspection trolley, thereby preventing the inspection trolley from sliding off the lifting platform and causing safety accidents.

[0028] Preferably, the inspection vehicle comprises:

[0029] a walking frame, wherein the walking frame is provided with wheels via a vibration reduction mechanism; and

[0030] At least one set of image acquisition components, the image acquisition components comprising:

[0031] A multi-axis mechanical arm, wherein the free end of the multi-axis mechanical arm is provided with an image acquisition device; and

[0032] A position conversion component is arranged between the walking frame and the multi-axis mechanical arm, and is used to drive the multi-axis mechanical arm to move laterally and longitudinally.

[0033] The position transformation component can enable the multi-axis robotic arm to achieve displacement in the lateral and longitudinal directions. Based on the multi-directional drive of the multi-axis robotic arm, the image acquisition device has a wider motion space, thereby better meeting the image acquisition requirements of different components; since the walking frame is provided with a vibration reduction mechanism, it can also provide a more stable image acquisition picture for the inspection vehicle.

[0034] Preferably, the position transformation component comprises:

[0035] A fixed frame, wherein the fixed frame is arranged on the walking frame;

[0036] A longitudinal displacement frame, wherein the longitudinal displacement frame is slidably connected to the fixed frame, and a driving mechanism 1 is provided between the longitudinal displacement frame and the fixed frame;

[0037] a transverse displacement frame disposed at a free end of the longitudinal displacement frame; and

[0038] A mobile platform, used for assembling a multi-axis mechanical arm, wherein a second driving mechanism is provided between the mobile platform and the lateral displacement frame;

[0039] Wherein, a limit switch is arranged at the end of the longitudinal displacement frame and / or the transverse displacement frame, and the limit switch is communicatively connected to the driving mechanism 1 and / or the driving mechanism 2.

[0040] The coordinated movement of the driving mechanism one and the driving mechanism two can realize the position switching of the mobile platform, so that the multi-axis robotic arm changes the basic position of image acquisition; the limit switch can prevent the driving mechanism one and / or the driving mechanism two from being overdriven, thereby preventing the longitudinal displacement frame and / or the lateral displacement frame from being over-displaced and causing falling or rigid collision, thereby protecting the safety of the multi-axis robotic arm.

[0041] Preferably, the inspection vehicle comprises two groups of image acquisition components, wherein the image acquisition devices of one group of image acquisition components are area array cameras for local shooting, and the image acquisition devices of the other group of image acquisition components are line array cameras for full-view shooting.

[0042] The image acquisition method that combines area array cameras and line array cameras can better meet the image acquisition requirements of different components.

[0043] Preferably, in the charging pile and the walking frame, one of them is provided with a charging brush block, and the other is provided with a charging brush plate cooperating with the charging brush block;

[0044] Wherein, the charging brush block and / or the charging brush plate are provided with an adaptive elastic component.

[0045] The use of a charging brush block and a charging brush plate in combination can avoid damage to the charging plug and / or charging plug plate caused by repeated charging, thereby avoiding the risk of charging leakage.

[0046] Compared with the prior art, the utility model can realize unmanned operation, reduce the operating safety hazards of operators, and obtain clearer, more stable and comprehensive component image acquisition screens; the utility model can effectively reduce false detections and improve the operating safety of rail vehicles; the utility model can also ensure the transportation efficiency of the inspection car during the transportation process, and effectively reduce the work intensity of the staff; in addition, the utility model not only has a higher load capacity, but also has efficient power output capability, and is suitable for a variety of working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of an embodiment of the utility model;

[0048] Figure 2 This is a schematic diagram of the arrangement of the lifting device in the embodiment of the utility model;

[0049] Figure 3 This is a schematic diagram of the supporting side plate in the embodiment of the utility model;

[0050] Figure 4 This is a schematic diagram of a lifting platform in an embodiment of the utility model;

[0051] Figure 5It is a schematic diagram of the transmission mechanism in the embodiment of the utility model;

[0052] Figure 6 This is a schematic diagram of the inspection vehicle in the embodiment of the utility model;

[0053] Figure 7 Schematic diagram of a position changing component in an embodiment of the present utility model;

[0054] Figure 8 A schematic diagram of a vibration reduction mechanism in an embodiment of the utility model;

[0055] Fig. 9 It is a schematic diagram of the coordination between the inspection vehicle and the charging pile in the embodiment of the utility model.

[0056] In the figure: 100-inspection trolley; 101-image acquisition component; 200-lifting equipment; 300-charging pile; 1-lifting platform; 2-support side plate; 3-support guide wheel; 4-guide rail; 5-lateral guide wheel; 6-guide wheel groove; 7-crawling gear; 8-rack; 9-power source; 10-clutch; 11-reducer; 12-coupling; 13-front sensor; 14-middle sensor; 15-rear sensor; 16-magnet; 17-safety touch edge; 18-safety baffle; 19-walking frame; 20 -wheel; 21-multi-axis robotic arm; 22-image acquisition device; 23-fixed frame; 24-longitudinal displacement frame; 25-lateral displacement frame; 26-mobile platform; 27-limit switch; 28-translation motor; 29-gear one; 30-screw; 31-gear two; 32-guide rail two; 33-slider two; 34-mounting plate; 35-shock absorber; 36-drive motor; 37-sliding plate; 38-guide rail one; 39-slider one; 40-charging brush block; 41-charging brush plate; 42-distance sensor. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0058] like Figures 1 to 9 As shown, a rail train inspection system includes an inspection trolley 100, a lifting device 200 and a charging pile 300; the inspection trolley 100 is used to detect the bottom and side parts of the rail vehicle; the lifting device 200 is arranged between the ditch and the ground; the charging pile 300 is arranged on the ground, and is used for sliding contact charging of the inspection trolley 100; the lifting device 200 includes a lifting platform 1 and a transmission mechanism; the lifting platform 1 is used to carry the inspection trolley 100; the transmission mechanism is arranged between the side wall of the ditch and the lifting platform 1, and is used to drive the lifting platform 1 to move linearly along the inclined surface.

[0059] This embodiment is used for the inspection of rail vehicles, which is realized by automated operation. The inspection is mainly completed by the inspection trolley 100, that is, the inspection trolley 100 performs safety inspections on the bottom and sides of the rail vehicle to find problems and eliminate potential safety hazards in the operation of the rail vehicle. Usually, the inspection trolley 100 needs to be operated to two height difference positions to perform inspection operations. The rapid transfer between the bottom and side of the vehicle improves the inspection efficiency and shortens the maintenance time of the rail vehicle. These are the technical effects that can be achieved by the application of this embodiment. The above-mentioned two height difference positions generally refer to the two positions of the ditch and the ground. In some special cases, the operators still need to walk between the ground and the ditch. Therefore, a step ladder is generally provided between the ground and the ditch along the extension direction of the track to facilitate the operators to pass between the ditch and the ground. The lifting device 200 in this embodiment is arranged along the side wall of the ditch where the step ladder is located, so as to achieve the purpose of effectively utilizing the existing ground ditch structure. Therefore, in the specific lifting process, the lifting platform 1 moves between the ground and the ditch in a plane parallel motion, so as to realize the position switching of the inspection vehicle 100 between the ground and the ditch. A slope can also be provided between the ground and the ditch. The slope can be a flat slope or a curved slope. Regardless of whether it is regular or not, this embodiment can achieve efficient and safe transportation. Since the inspection cart 100 relies on electricity to run, the operator needs to charge the inspection cart 100 when the inspection power is low. Usually, it is charged by means of a plug connector. During this process, due to repeated plugging and unplugging, there is a problem of damage to the charging plug and the charging plug board. Therefore, there is also a risk of charging leakage during this process, and the inspection cart 100 may be damaged due to a short circuit. Therefore, this embodiment connects the inspection cart 100 and the charging pile 300 by sliding contact to avoid safety hazards caused by plugging and unplugging. On this basis, the adaptive elastic component is a spring structure with a maximum compression of 20 mm, thereby ensuring successful charging.

[0060] like Figure 3 and Figure 4As shown, in this embodiment, the lifting device 200 also includes a supporting side plate 2, and the supporting side plate 2 is arranged on the side wall of the trench, and the transmission mechanism is arranged between the supporting side plate 2 and the lifting platform 1; in the supporting side plate 2 and the lifting platform 1, one of them is provided with a supporting guide wheel 3, and the other is provided with a guide wheel groove 6 or a guide rail 4 that cooperates with the supporting guide wheel 3; the extension direction of the guide wheel groove 6 or the guide rail 4 is parallel to the extension direction of the transmission channel. Specifically, the supporting side plate 2 is installed on the side of the trench, so that a transmission channel is formed between the two sides of the trench through the supporting side plate 2. After the lifting platform 1 is assembled to the supporting side plate 2, the inspection vehicle 100 can be reciprocated between the trench and the ground when the inspection vehicle 100 enters the lifting platform 1. In this embodiment, the support side plate 2 is provided with a support guide wheel 3, and a guide rail 4 is provided on the support side plate 2. Therefore, the support side plate 2 can support the lifting platform 1 by utilizing the mutual cooperation of the support guide wheel 3 and the guide rail 4, and can maintain a high supporting stability after the inspection vehicle 100 enters the lifting platform 1.

[0061] In order to better use this embodiment, one of the supporting side plate 2 and the lifting platform 1 is provided with a lateral guide wheel 5 for assisting the movement of the lifting platform 1, and the axis of the lateral guide wheel 5 is perpendicular to the guide wheel groove 6 or the guide rail 4. Specifically, the supporting side plate 2 is provided with a guide wheel groove 6, and the lifting platform 1 is provided with a lateral guide wheel 5. Therefore, in the process of the lifting platform 1 moving relative to the supporting side plate 2, the lateral guide wheel 5 rotates relative to the guide wheel groove 6 to achieve auxiliary movement of the lifting platform 1, so that the movement of the lifting platform 1 is more stable and smooth.

[0062] like Figure 2 to Figure 5 As shown, in this embodiment, the transmission mechanism includes a creeping gear 7 and a rack 8 that mesh with each other. Among the creeping gear 7 and the rack 8, one is arranged on the supporting side plate 2, and the other is arranged on the lifting platform 1. Further, the creeping gear 7 is arranged on the lifting platform 1, and the rack 8 is arranged on the supporting side plate 2. In this embodiment, a servo motor is used to drive the creeping gear 7 to rotate. Since the creeping gear 7 and the rack 8 are meshed with each other, and the rack 8 is fixedly arranged on the supporting side plate 2, the lifting platform 1 can well meet the motion requirements in terms of the action of the servo motor and ensure a high motion capacity. It can be known that in some other embodiments, the transmission mechanism can be a telescopic cylinder transmission mechanism, a belt transmission mechanism, or a chain transmission mechanism, and the above transmission mechanism can also achieve a better transportation effect.

[0063] like Figure 5As shown, further, the transmission mechanism also includes a power source 9 and a clutch 10 in transmission connection, and the clutch 10 is in transmission connection with the creeping gear 7. Specifically, the transmission mechanism also includes a reducer 11 and a coupling 12. The power source 9 is a driving motor 36, and the two ends of the coupling 12 are respectively connected to the reducer 11 and the clutch 10. Therefore, after the power source 9 outputs the power, the power is transmitted to the creeping gear 7 through the reducer 11, the coupling 12, and the clutch 10, thereby realizing the oblique movement of the lifting platform 1 relative to the supporting side plate 2. Therefore, when the clutch 10 is energized, the gear disc of the clutch 10 is separated to allow the lifting platform 1 to move in the transmission channel, and when the clutch 10 is de-energized, the gear disc of the clutch 10 is engaged to prevent the lifting platform 1 from falling.

[0064] like Figure 4 As shown, in this embodiment, the lifting device 200 also includes a front sensor 13, a middle sensor 14 and a rear sensor 15 arranged on the lifting platform 1. Obviously, the front sensor 13 is located at the front end of the lifting platform 1, the middle sensor 14 is located in the middle of the lifting platform 1, and the rear sensor 15 is located at the rear end of the lifting platform 1. The front sensor 13 and the rear sensor 15 are used to detect whether the inspection vehicle 100 has completely left the lifting platform 1, or whether an external object blocks the travel path, while the middle sensor 14 is used to detect whether the inspection vehicle 100 is parked in the middle position of the lifting platform 1. When the inspection vehicle 100 is in place, the lifting platform 1 can be driven to move, thereby improving the safety of transportation. In this embodiment, the lifting device 200 also includes a magnet 16 arranged in the middle of the lifting platform 1, which is used to sense the magnetic sensor on the inspection vehicle 100. Similar to the middle sensor 14, the induction of the magnet 16 and the magnetic sensor is used to detect whether the inspection vehicle 100 is parked in the middle position of the lifting platform 1 to ensure that the inspection vehicle 100 is in place on the lifting platform 1. In this embodiment, the front-end sensor 13 , the middle-end sensor 14 and the rear-end sensor 15 may be photoelectric sensors, ultrasonic sensors and the like.

[0065] In this embodiment, both ends of the lifting platform 1 are provided with safety touch edges 17. The safety touch edges 17 can be configured by flexible parts, such as cotton strips, damping springs, etc., so as to provide collision buffering when there is an oblique movement of the lifting platform 1 and there is an obstruction by external objects. Furthermore, the safety touch edges 17 are provided with touch switches. The touch switches are contact switches, and their transmission mechanisms are connected in communication, so as to achieve emergency stop when the lifting platform 1 collides.

[0066] In order to better use this embodiment, the lifting device 200 also includes a safety baffle 18, which can be movably arranged on the lifting platform 1, and is used to limit the movement of the inspection vehicle 100 on the lifting platform 1. Further, the safety baffle 18 is rotatably arranged on the lifting platform 1, and can be switched between the blocking position and the avoidance position; the lifting platform 1 is provided with an avoidance hole for the movement of the safety baffle 18. The safety baffle 18 is linked with the front sensor 13, the middle sensor 14, and the rear sensor 15, and can be linked with the magnet and the magnetic sensor, that is, when the inspection vehicle 100 moves to the right position on the lifting platform 1, the safety baffle 18 switches from the avoidance position to the blocking position. In other words, after confirming that the position of the inspection vehicle 100 is correct, the safety baffle 18 of the lifting platform 1 swings to a vertical position to protect the inspection vehicle 100 by mechanical limiting during the movement.

[0067] Therefore, this embodiment can achieve the operation in the following manner.

[0068] 1. After the inspection vehicle 100 completes the inspection of the bottom of the rail vehicle in the trench, the lifting device 200 receives the completion signal of the inspection vehicle 100 and moves the lifting platform 1 to the vehicle boarding position in the trench.

[0069] 2. When the inspection cart 100 enters the lifting platform 1, the inspection cart 100 is detected by the rear-end sensor 15. At the same time, the sensor is used to detect whether there are any objects blocking the outside of the lifting platform 1 to prevent collision until the inspection cart 100 drives to the middle of the lifting platform 1.

[0070] 3. The front position and the rear position of the inspection vehicle 100 are detected by the mid-end sensor 14 of the lifting platform 1. At the same time, the magnetic sensor configured on the inspection vehicle 100 senses the magnet 16 on the lifting platform 1 to confirm the parking position again.

[0071] In this step, if the front sensor 13, the middle sensor 14, and the rear sensor 15 all detect the chassis of the inspection vehicle 100, it is considered that the inspection vehicle 100 is in the middle position. If one of the front sensor 13 and the rear sensor 15 senses the chassis and the other does not sense the chassis, it is considered that the inspection vehicle 100 is not in the middle, and the lifting platform 1 cannot be lifted or lowered.

[0072] 4. After confirming that the position of the inspection vehicle 100 is correct, the safety baffle 18 swings to the vertical position.

[0073] 5. After completing the above steps, the lifting platform 1 moves to transfer the inspection vehicle 100 from the trench to the ground. When it rises to the ground level, the clutch 10 is powered off and engaged.

[0074] 6. After the inspection car 100 receives the signal that the lifting platform 1 is in place, the inspection car 100 drives out of the lifting platform 1. The lifting platform 1 can move only after the front-end sensor 13 of the lifting platform 1 completely stops sensing objects. The sensor also detects whether there are any objects blocking the outside of the lifting platform 1 to prevent collision.

[0075] 7. Use the inspection vehicle 100 to perform inspection tasks on the side of the rail vehicle.

[0076] It can be known that the above steps are to detect the bottom of the vehicle first and then the side of the vehicle. In different detection methods, the order of detecting positions can be reversed. The specific steps can be referred to the above process and will not be repeated here.

[0077] like Figure 6 to Figure 8 As shown, in this embodiment, the inspection vehicle 100 includes a walking frame 19 and at least one group of image acquisition components 101; the walking frame 19 is provided with wheels 20 through a vibration reduction mechanism; the image acquisition component 101 includes a multi-axis robotic arm 21 and a position conversion component; the free end of the multi-axis robotic arm 21 is provided with an image acquisition device 22; the position conversion component is arranged between the walking frame 19 and the multi-axis robotic arm 21, and is used to drive the multi-axis robotic arm 21 to move laterally and longitudinally.

[0078] In this embodiment, the inspection cart 100 has a position change component. After being equipped with a multi-axis mechanical arm 21, it can complete the photo shooting operation of all the inspection points under the vehicle and on the side of the vehicle, thereby solving the problem that some inspection points in the prior art are difficult to reach manually. In this embodiment, the inspection cart 100 has a laser navigation function, which allows the inspection cart 100 to accurately locate the inspection point for shooting, so that the inspection cart 100 can shoot in a fixed path and accurately and steadily navigate and locate, avoiding the risk of slips and bumps in previous manual operations. Therefore, this embodiment has high efficiency that manual labor does not have. The detection speed of this embodiment is faster and the detection accuracy is higher, which avoids the situation of missed detection and substandard accuracy in manual detection.

[0079] The multi-axis mechanical arm 21 in the present invention can achieve displacement in the horizontal and vertical directions through the position conversion component. Specifically, Figure 7As shown, the position conversion assembly includes a fixed frame 23, a longitudinal displacement frame 24, a transverse displacement frame 25 and a mobile platform 26; the fixed frame 23 is arranged on the walking frame 19; the longitudinal displacement frame 24 and the fixed frame 23 are slidably connected, and a driving mechanism 1 is arranged between the longitudinal displacement frame 24 and the fixed frame 23; the transverse displacement frame 25 is arranged at the free end of the longitudinal displacement frame 24; the mobile platform 26 is used to assemble the multi-axis robot arm 21, and a driving mechanism 2 is arranged between the mobile platform 26 and the transverse displacement frame 25; a limit switch 27 is arranged at the end of the longitudinal displacement frame 24 and / or the transverse displacement frame 25, and the limit switch 27 is communicatively connected to the driving mechanism 1 and / or the driving mechanism 2.

[0080] The driving mechanism 1 and the driving mechanism 2 both output power through a screw mechanism. Taking the driving mechanism 2 as an example, a translation motor 28 is provided on the longitudinal displacement frame 24, and a gear 1 29 is provided at the free end of the translation motor 28. A screw mechanism is provided on the transverse displacement frame 25, and the screw mechanism has a screw rod 30. One end of the screw rod 30 is provided with a gear 2 31, and the gear 1 29 and the gear 2 31 are connected by a belt transmission. Therefore, when the translation motor 28 is in motion, the power is transmitted to the gear 2 31 through the gear 1 29 and the belt, and the screw rod 30 can rotate around itself at this time; it can be known that the mobile platform 26 and the screw rod 30 are threadedly connected. Therefore, when the position of the screw rod 30 relative to the transverse displacement frame 25 remains unchanged, the mobile platform 26 can move along the axis of the screw rod 30, thereby realizing the transverse displacement of the multi-axis robot 21. It is also known that in order to reduce the belt movement path and avoid the additional transmission gear, a hole portion is provided on the lateral displacement frame 25, so that the belt can directly connect the gear 1 29 and the gear 2 31 through the hole portion, thereby meeting the use requirements of simple assembly and convenient maintenance. The same is true for the driving mechanism 1, which will not be repeated here. Further, a directional motion component is provided between the longitudinal displacement frame 24 and the fixed frame 23, and between the mobile platform 26 and the lateral displacement frame 25. Taking the directional motion of lateral displacement as an example, guide rails 2 32 are provided on both sides of the lateral displacement frame 25, and sliders 2 33 that slide with the guide rails 2 32 are provided on the mobile platform 26. Therefore, during the rotation of the screw 30, the mobile platform 26 always moves along the extension direction of the guide rails 2 32 through the sliders 2 33 configured thereon, thereby ensuring that the mobile platform 26 can only reciprocate along the axis of the screw 30, thereby meeting the requirements for the smooth movement of the multi-axis robot 21. The same is true for the directional motion of the longitudinal displacement, which will not be repeated here.

[0081] The limit switch 27 can be a photoelectric switch or a contact switch. Taking the directional movement of lateral displacement as an example, both ends of the lateral displacement frame 25 are provided with limit switches 27, which are located at the limit positions of the mobile platform 26. Therefore, when the mobile platform 26 moves to the limit position of the lateral displacement frame 25, the limit switch 27 can be triggered to stop the translation motor 28, thereby stopping the movement of the mobile platform 26, avoiding falling or hard collision caused by excessive movement, thereby effectively improving the safety of the inspection vehicle 100. The same is true for the directional movement of longitudinal displacement, which will not be repeated here.

[0082] like Figure 8 As shown, in order to better use this embodiment, the vibration reduction mechanism includes a mounting plate 34, a transmission shaft and a shock absorber 35; the mounting plate 34 is connected to the walking frame 19, and a sliding hole is provided on the mounting plate 34; the transmission shaft passes through the sliding hole, one end of which is connected to the wheel 20, and the other end is connected to the driving motor 36; one end of the shock absorber 35 is connected to the walking frame 19, and the other end is connected to the mounting plate 34. Further, the vibration reduction mechanism also includes a sliding plate 37, one of the sliding plate 37 and the mounting plate 34 is provided with a guide rail 38, and the other is provided with a slider 39 that cooperates with the guide rail 38; the transmission shaft passes through the sliding plate 37, and the shock absorber 35 is connected to the sliding plate 37. Specifically, one end of the shock absorber 35 is hinged to the sliding plate 37, and the other end is hinged to the walking frame 19. The fixed end of the drive motor 36 is connected to the sliding plate 37 through the reducer 11, so when the shock absorber 35 undergoes elastic changes, the drive motor 36 can move synchronously with the wheel 20, thereby ensuring the movement ability of the inspection vehicle 100 at any time, and during the synchronous movement process, the slider 139 moves along the extension direction of the guide rail 138, so that the wheel 20 and the drive motor 36 also move along the extension direction of the guide rail 138, thereby better meeting the movement stability requirements. It should be noted that in this embodiment, the walking frame 19 has four wheels 20, and each wheel 20 is individually configured with a drive motor 36.

[0083] In this embodiment, the inspection vehicle 100 includes two groups of image acquisition components 101, wherein the image acquisition device 22 of one group of image acquisition components 101 is an area array camera for local shooting, and the image acquisition device 22 of the other group of image acquisition components 101 is a line array camera for full-view shooting, thereby better meeting the image acquisition requirements of different components.

[0084] like Fig. 9As shown, in this embodiment, in the charging pile 300 and the walking frame 19, one of them is provided with a charging brush block 40, and the other is provided with a charging brush plate 41 that cooperates with the charging brush block 40; the charging brush block 40 and / or the charging brush plate 41 are provided with an adaptive elastic component. Specifically, the shape frame is provided with a charging brush plate 41, the charging pile 300 is provided with a charging brush block 40, and an adaptive elastic component is provided between the charging pile 300 and the charging brush block 40. The adaptive elastic component can adapt to the navigation positioning error of the inspection car 100 through its compression amount, further ensuring the success of charging. The charging brush plate 41 is installed in the middle of the walking frame 19. When the charging brush plate 41 is docked for charging, it has a certain pressure. In order to prevent leakage from contacting the body of the inspection car 100, a completely insulating material is used. The external insulation of the charging brush plate 41 is integrally processed and formed by bakelite, and the contact plate is processed into a long strip by copper plate and embedded in the bakelite plate. The bakelite and the copper plate are connected and fixed with countersunk screws.

[0085] In this embodiment, the walking frame 19 is provided with a distance sensor 42 for detecting the relative position between the charging brush block 40 and the charging brush plate 41. The distance sensor 42 may be a photoelectric sensor or an ultrasonic sensor. Through the distance detection of the distance sensor 42, the inspection vehicle 100 can be placed to avoid navigation and docking errors in charging, thereby avoiding deviations in the charging position. Furthermore, the neutral line and the live line of the charging brush block 40 are respectively provided with adaptive elastic components to compensate for the navigation errors of the inspection vehicle 100. When the charging position is confirmed to be in place, the charging pile 300 is powered and charged.

[0086] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, 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 regarded as the protection scope of the present invention.

Claims

1. A rail train inspection system, characterized in that: include: Inspection trolleys are used to inspect the underbody and side parts of rail vehicles; Lifting equipment, set between the trench and the ground; as well as A charging pile, which is arranged on the ground and used for charging the inspection vehicle by sliding contact, and an adaptive elastic component is arranged between the charging pile and the inspection vehicle; Wherein, the lifting equipment comprises: A lifting platform to carry the inspection vehicle; and The transmission mechanism is arranged between the side wall of the trench and the lifting platform, and is used to drive the lifting platform to move linearly along the inclined surface.

2. A rail train inspection system as claimed in claim 1, characterized in that: The lifting device also includes: A supporting side plate, wherein the supporting side plate is arranged on the side wall of the trench, and the transmission mechanism is arranged between the supporting side plate and the lifting platform; Among them, among the supporting side plate and the lifting platform, one of them is provided with a supporting guide wheel, and the other is provided with a guide wheel groove or guide rail matching with the supporting guide wheel; the extension direction of the guide wheel groove or guide rail is parallel to the extension direction of the transmission channel.

3. A rail train inspection system as claimed in claim 2, characterized in that: Among the supporting side plates and the lifting platform, one of them is provided with a lateral guide wheel for assisting the movement of the lifting platform, and the axis of the lateral guide wheel is perpendicular to the guide wheel groove or the guide rail.

4. A rail train inspection system as claimed in claim 1, characterized in that: The lifting device also includes: A front sensor, a middle sensor and a rear sensor arranged on the lifting platform; and / or The magnet arranged in the middle of the lifting platform is used to sense the magnetic sensor on the inspection vehicle.

5. A rail train inspection system as claimed in claim 1, characterized in that: Both ends of the lifting platform are provided with safety touch edges, and the safety touch edges are provided with touch switches.

6. A rail train inspection system as claimed in claim 1, characterized in that: The lifting device also includes: A safety baffle is movably arranged on the lifting platform and is used to limit the movement of the inspection trolley on the lifting platform.

7. A rail train inspection system as claimed in claim 1, characterized in that: The inspection vehicle comprises: a walking frame, wherein the walking frame is provided with wheels via a vibration reduction mechanism; and At least one set of image acquisition components, the image acquisition components comprising: A multi-axis mechanical arm, wherein the free end of the multi-axis mechanical arm is provided with an image acquisition device; and A position conversion component is arranged between the walking frame and the multi-axis mechanical arm, and is used to drive the multi-axis mechanical arm to move laterally and longitudinally.

8. A rail train inspection system as claimed in claim 7, characterized in that: The position transformation component comprises: A fixed frame, wherein the fixed frame is arranged on the walking frame; A longitudinal displacement frame, wherein the longitudinal displacement frame is slidably connected to the fixed frame, and a driving mechanism 1 is provided between the longitudinal displacement frame and the fixed frame; a transverse displacement frame disposed at a free end of the longitudinal displacement frame; and A mobile platform, used for assembling a multi-axis mechanical arm, wherein a second driving mechanism is provided between the mobile platform and the lateral displacement frame; Wherein, a limit switch is arranged at the end of the longitudinal displacement frame and / or the transverse displacement frame, and the limit switch is communicatively connected to the driving mechanism 1 and / or the driving mechanism 2.

9. A rail train inspection system as claimed in claim 7, characterized in that: The inspection vehicle comprises two groups of image acquisition components, wherein the image acquisition devices of one group of image acquisition components are area array cameras for local shooting, and the image acquisition devices of the other group of image acquisition components are line array cameras for full-view shooting.

10. A rail train inspection system as claimed in claim 7, characterized in that: In the charging pile and the walking frame, one of them is provided with a charging brush block, and the other is provided with a charging brush plate that cooperates with the charging brush block; Wherein, the charging brush block and / or the charging brush plate are provided with an adaptive elastic component.

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