Train inspection robot

Abstract

The utility model discloses a train inspection robot. The train inspection robot comprises a vehicle body, an image acquisition device and a track motion assembly, the vehicle body comprises first moving wheels and a moving platform; the rail movement assembly comprises a second movement wheel and a telescopic assembly; the first moving wheels are arranged at the bottom of the vehicle body, and the telescopic assemblies are arranged on the two sides of the vehicle body and connected with second moving wheels, so that when the telescopic assemblies are in the stretching-out state, the bottom faces of the second moving wheels are lower than the bottom faces of the first moving wheels, and the robot moves in the detection track through the second moving wheels; the bottom surface of the second moving wheel is higher than that of the first moving wheel, and the robot moves on the ground through the first moving wheel; and the image acquisition device is arranged on the motion platform and moves in the detection track along with the vehicle body. According to the technical scheme, switching running of the robot between the ground and the detection track can be smoothly achieved, the complexity of motion control is reduced, and the reliability of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of train technical supervision, and more specifically, to a train inspection robot. Background Art

[0002] With the continuous upgrading of intelligent railway operation and maintenance equipment and facilities in my country, the daily intelligent inspection of railways has become particularly important. Usually, daily inspections are carried out in the train inspection warehouse or operation warehouse of the railway depot or parking lot. Since the key components of the running part of the rail vehicle are located at the bottom of the vehicle, the train inspection warehouse is usually equipped with an inspection pit to facilitate maintenance personnel to observe the status of various components under the vehicle and carry out maintenance work.

[0003] However, the existing solution requires major changes to the inspection pit and the installation of a lifting platform when inspecting the bottom of the train. Such modifications will affect the normal entry and exit of personnel into the inspection pit.

[0004] Therefore, how to design a train inspection robot that can successfully complete the train inspection on the underbody of the inspection train without making major changes to the maintenance pit has become a problem that needs to be solved in this field. Summary of the invention

[0005] In view of this, the present application proposes a train inspection robot solution.

[0006] The present application provides a train inspection robot, comprising: a vehicle body, an image acquisition device, and a track motion component;

[0007] The vehicle body comprises: a first moving wheel and a moving platform; the first moving wheel is arranged at the bottom of the vehicle body;

[0008] The track motion assembly includes: a second motion wheel and a telescopic assembly;

[0009] The telescopic assembly is arranged on both sides of the vehicle body and is connected with the second motion wheel, so that when the telescopic assembly is in an extended state, the bottom surface of the second motion wheel is lower than the bottom surface of the first motion wheel, and the robot moves in the detection track by using the second motion wheel; when the telescopic assembly is in a retracted state, the bottom surface of the second motion wheel is higher than the bottom surface of the first motion wheel, and the robot moves on the ground by using the first motion wheel;

[0010] Furthermore, the image acquisition device is disposed on the motion platform and moves along with the vehicle body in the detection track.

[0011] Preferably, the movement direction of the first moving wheel and the movement direction of the second moving wheel are perpendicular to each other.

[0012] Further preferably, the vehicle body further includes: a first detection radar;

[0013] There are two first detection radars, which are respectively arranged on the motion platform and correspond to the front and rear directions of the robot on the detection track trajectory.

[0014] Further preferably, the vehicle body further comprises: a second detection radar;

[0015] There are two second detection radars, which are respectively arranged on both sides of the vehicle body and correspond to the front and rear directions of the movement trajectory of the robot on the ground.

[0016] Further preferably, the vehicle body further comprises: a scanning device;

[0017] There are two scanning devices, which are respectively arranged on the motion platform and correspond to the forward and backward directions of the motion trajectory of the robot on the ground.

[0018] Preferably, the vehicle body further comprises: a detection mechanical arm;

[0019] One end of the detection mechanical arm is arranged on the motion platform, and the other end is connected to the image acquisition device;

[0020] The detection mechanical arm also includes a direction shaft, so that the image acquisition device follows the direction of the shaft of the mechanical arm to extend into the bottom of the train to be detected or adjust the image acquisition angle.

[0021] Preferably, the telescopic assembly further comprises: a telescopic portion, a telescopic portion bracket, a rear axle and a rear axle bracket;

[0022] One end of the telescopic part is rotatably connected to the bottom surface of the motion platform through the telescopic part bracket, and the other end is connected to the rear axle;

[0023] The rear axle is also rotatably connected to the bottom surface of the motion platform via the rear axle bracket;

[0024] The second moving wheels are arranged at both ends of the rear axle.

[0025] Further preferably, the rear axle further comprises: a first cross bar, a second cross bar and a cross bar connecting bracket;

[0026] The first cross bar is rotatably connected to the bottom surface of the motion platform through the rear axle bracket and is connected to the telescopic part;

[0027] The first cross bar is also rotatably connected to the second cross bar through the cross bar connecting bracket;

[0028] The second moving wheels are arranged at both ends of the second crossbar.

[0029] Further preferably, the telescopic part extends or contracts, driving the rotation of the rear axle bracket and driving the first cross bar to be lifted or lowered, thereby driving the second cross bar to be lifted or lowered through the cross bar connecting bracket, and further driving the second moving wheel to be lifted or lowered.

[0030] Preferably, the bottom height of the second motion wheel is equal to the bottom height of the first motion wheel, and the robot stops moving, or the robot turns and moves according to the movement directions of the second motion wheel and the first motion wheel.

[0031] The train inspection robot provided in the present application controls the bottom surface of the second moving wheel to be lower than the bottom surface of the first moving wheel through the telescopic component, so that the robot uses the second moving wheel to move in the detection track, or controls the bottom surface of the second moving wheel to be higher than the bottom surface of the first moving wheel, so that the robot uses the first moving wheel to move on the ground. The robot can smoothly switch between driving on the ground and on the detection track, reducing the complexity of motion control, improving the reliability and stability of the robot, and ensuring that the train inspection robot can successfully complete the train inspection without making major changes to the maintenance pit.

[0032] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present application, and the schematic implementation modes and descriptions of the present application are used to explain the present application. In the accompanying drawings:

[0034] Figure 1 It is a structural schematic diagram of a train inspection robot according to a preferred embodiment of the present application;

[0035] Figure 2 It is a structural schematic diagram of a track motion assembly according to a preferred embodiment of the present application;

[0036] Figure 3 It is a schematic diagram of the operating status of the train inspection robot according to the preferred embodiment of the present application.

[0037] Figure Number:

[0038] 1-body; 11-first moving wheel; 12-moving platform; 13-first detection radar; 14-second detection radar; 15-scanning device; 16-detection mechanical arm;

[0039] 2- Image acquisition device;

[0040] 3-track motion assembly; 31-second motion wheel; 32-telescopic assembly; 321-telescopic part; 322-telescopic part bracket; 323-rear axle bracket; 324-first cross bar; 325-second cross bar; 326-cross bar connecting bracket. DETAILED DESCRIPTION

[0041] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with the implementation modes.

[0042] Generally speaking, when a train needs to be inspected, it will be parked in the inspection pit track or spare track in the train inspection depot, and the inspection pit track and the spare track are usually arranged in parallel. When the train is parked in one track, the train inspection robot in this application can travel in another track and complete the train inspection work by extending the image acquisition device to capture images of the bottom of the train. This application does not limit the type of track, as long as it can cooperate with the train inspection robot in this application.

[0043] This application proposes a train inspection robot that can travel on land or on inspection tracks. Figure 1-3 As shown, the train inspection robot comprises: a vehicle body 1, an image acquisition device 2 and a track motion component 3. The vehicle body 1 comprises: a first motion wheel 11 and a motion platform 12; the track motion component 3 comprises: a second motion wheel 31 and a telescopic component 32.

[0044] The first moving wheel 11 is arranged at the bottom of the vehicle body 1, and the telescopic assembly 32 is arranged on both sides of the vehicle body 1 and connected with the second moving wheel 31. The first moving wheel 11 is used to drive the robot to move when the robot is placed on the ground, and the second moving wheel 31 is used to drive the robot to move when the robot is placed on the detection track. In addition, the movement direction of the first moving wheel 11 and the movement direction of the second moving wheel 31 are perpendicular to each other.

[0045] Combination Figure 3 As shown, when the telescopic assembly 32 is in the extended state, as shown in Figure 3 As shown in state 3, the bottom surface of the second moving wheel 31 is lower than the bottom surface of the first moving wheel 11, and the robot moves in the detection track using the second moving wheel 21; when the telescopic component 32 is in the retracted state, as shown in FIG. Figure 3 As shown in state 1, the bottom surface of the second moving wheel 31 is higher than the bottom surface of the first moving wheel 11, and the robot moves on the ground using the first moving wheel 11.

[0046] Preferably, when the bottom height of the second moving wheel 31 is equal to the bottom height of the first moving wheel 11, Figure 3 As shown in state 2, the robot stops moving, or the robot turns and moves according to the moving directions of the two moving wheels.

[0047] Preferably, the vehicle body 1 detects radars, which are used to prevent collisions when the robot moves. The vehicle body 1 also includes: a first detection radar 13; there are two first detection radars 13, which are respectively arranged on the motion platform 12, and respectively correspond to the front and rear directions of the robot in the detection track trajectory, that is, the movement direction of the second motion wheel 31, and are used to prevent the robot from colliding when moving in the detection track. In addition, the vehicle body 1 also includes: a second detection radar 14; there are two second detection radars 14, which are respectively arranged on both sides of the vehicle body 1, and correspond to the front and rear directions of the robot's motion trajectory on the ground, that is, the movement direction of the first motion wheel 11, and are used to prevent the robot from colliding when moving on the ground.

[0048] Preferably, the vehicle body 1 further includes: a scanning device 15, which is used to scan the surrounding environment when the vehicle is traveling on the ground, further identify obstacles, prevent collisions, or detect the surrounding environment of the robot to achieve functions such as automatic driving. There are two scanning devices 15, which are respectively arranged on the motion platform 12 and correspond to the front and rear directions of the robot's motion trajectory on the ground, that is, the motion direction of the first motion wheel 11.

[0049] Preferably, the vehicle body 1 further includes: a detection mechanical arm 16. One end of the detection mechanical arm 16 is arranged on the plane of the motion platform 12, and the other end is connected to the image acquisition device 2. The detection mechanical arm 16 also includes a direction shaft, so that the image acquisition device 2 follows the direction of the mechanical arm shaft to extend into the bottom of the train to be inspected for image acquisition, or the image acquisition device 2 can also adjust the image acquisition angle by swinging the detection mechanical arm 16.

[0050] In a specific embodiment, a spare track is provided on one side of the inspection pit track, the train to be inspected is parked in the inspection pit track, and the train inspection robot is placed in the spare track. The inspection robot arm 16 in the train inspection robot extends into the inspection pit track, so that the image acquisition device 2 can extend into the inspection pit track and acquire images of the bottom of the train to be inspected in the inspection pit track, so that the train inspection robot can complete the train inspection of the train to be inspected on the side in the spare track.

[0051] It can be understood that the telescopic component 32 in the present application can not only be used to adjust the height of the second moving wheel 31 and adjust the movement of the robot driven by the second moving wheel 31 or the first moving wheel 11, but also the second moving wheel 31 can be placed on the detection track accordingly by adjusting the height of the second moving wheel 31.

[0052] Specifically, the telescopic assembly 32 further includes: a telescopic portion 321, a telescopic portion bracket 322, a rear axle and a rear axle bracket 323. One end of the telescopic portion 321 is rotatably connected to the bottom surface of the motion platform 12 through the telescopic portion bracket 322, and the other end is connected to the rear axle. In addition, the rear axle is also rotatably connected to the bottom surface of the motion platform 12 through the rear axle bracket 323, and two second motion wheels 31 are provided at both ends of the rear axle.

[0053] The telescopic part 321 includes a motor that can control the extension or contraction of the telescopic part itself. The rotation of the telescopic part bracket 322 can adjust the extension or contraction angle of the telescopic part 321 relative to the motion platform 12. When the telescopic part 321 is extended, the rear axle bracket 323 is driven to rotate and drive the rear axle cross bar to be lowered, so that the bottom surface of the second motion wheel 31 is lower than the bottom surface of the first motion wheel 11, corresponding to Figure 3 In state 3, the robot can move in the detection track through the second moving wheel 31; on the contrary, when the telescopic part 321 is contracted, the rear axle bracket 323 is driven to rotate and the rear axle cross bar is lifted, so that the bottom surface height of the second moving wheel 31 is higher than the bottom surface height of the first moving wheel 11, corresponding to Figure 3 In state 1, the robot can move on the ground via the first moving wheel 11.

[0054] Preferably, in order to further control the lifting and lowering of the second moving wheel 31, the rear axle further includes a first cross bar 324, a second cross bar 325 and a cross bar connecting bracket 326. The first cross bar 324 is rotatably connected to the bottom surface of the moving platform 12 through the rear axle bracket 323, and is connected to the telescopic part 321, and the first cross bar 324 is also rotatably connected to the second cross bar 325 through the cross bar connecting bracket 326, and two second moving wheels 31 are arranged at both ends of the second cross bar 325.

[0055] That is to say, when the telescopic part 321 is extended or contracted, the first cross bar 324 is lifted or lowered through the rotation of the rear axle bracket 323. When the first cross bar 324 is lifted or lowered, the second cross bar 325 is lifted or lowered through the cross bar connecting bracket 326, thereby driving the corresponding second moving wheel 31 to be lifted or lowered.

[0056] The train inspection robot provided in the present application controls the bottom surface of the second moving wheel to be lower than the bottom surface of the first moving wheel through the telescopic component, so that the robot uses the second moving wheel to move in the detection track, or controls the bottom surface of the second moving wheel to be higher than the bottom surface of the first moving wheel, so that the robot uses the first moving wheel to move on the ground. The robot can smoothly switch between driving on the ground and on the detection track, reducing the complexity of motion control, improving the reliability and stability of the robot, and ensuring that the train inspection robot can successfully complete the train inspection without making major changes to the maintenance pit.

[0057] The preferred embodiments of the present application are described in detail above; however, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, a variety of simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the protection scope of the present application.

[0058] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0059] In addition, the various implementation modes of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A train inspection robot, characterized in that: The train inspection robot comprises: a vehicle body, an image acquisition device and a track motion component; The vehicle body comprises: a first moving wheel and a moving platform; the first moving wheel is arranged at the bottom of the vehicle body; The track motion assembly includes: a second motion wheel and a telescopic assembly; The telescopic assembly is arranged on both sides of the vehicle body and is connected with the second motion wheel, so that when the telescopic assembly is in an extended state, the bottom surface of the second motion wheel is lower than the bottom surface of the first motion wheel, and the robot moves in the detection track by using the second motion wheel; when the telescopic assembly is in a retracted state, the bottom surface of the second motion wheel is higher than the bottom surface of the first motion wheel, and the robot moves on the ground by using the first motion wheel; Furthermore, the image acquisition device is disposed on the motion platform and moves along with the vehicle body in the detection track.

2. The robot according to claim 1, characterized in that: The moving direction of the first moving wheel and the moving direction of the second moving wheel are perpendicular to each other.

3. The robot according to claim 2, characterized in that: The vehicle body further comprises: a first detection radar; There are two first detection radars, which are respectively arranged on the motion platform and correspond to the front and rear directions of the robot on the detection track trajectory.

4. The robot according to claim 2, characterized in that: The vehicle body further comprises: a second detection radar; There are two second detection radars, which are respectively arranged on both sides of the vehicle body and correspond to the front and rear directions of the movement trajectory of the robot on the ground.

5. The robot according to claim 2, characterized in that: The vehicle body further comprises: a scanning device; There are two scanning devices, which are respectively arranged on the motion platform and correspond to the forward and backward directions of the motion trajectory of the robot on the ground.

6. The robot according to claim 1, characterized in that: The vehicle body also includes: a detection mechanical arm; One end of the detection mechanical arm is arranged on the motion platform, and the other end is connected to the image acquisition device; The detection mechanical arm also includes a direction shaft, so that the image acquisition device follows the direction of the shaft of the mechanical arm to extend into the bottom of the train to be detected or adjust the image acquisition angle.

7. The robot according to claim 1, characterized in that: The telescopic assembly further comprises: a telescopic portion, a telescopic portion bracket, a rear axle and a rear axle bracket; One end of the telescopic part is rotatably connected to the bottom surface of the motion platform through the telescopic part bracket, and the other end is connected to the rear axle; The rear axle is rotatably connected to the bottom surface of the motion platform via the rear axle bracket; The second moving wheels are arranged at both ends of the rear axle.

8. The robot according to claim 7, characterized in that: The rear axle further comprises: a first crossbar, a second crossbar and a crossbar connecting bracket; The first cross bar is rotatably connected to the bottom surface of the motion platform through the rear axle bracket, and the first cross bar is also connected to the telescopic part; The first cross bar is also rotatably connected to the second cross bar through the cross bar connecting bracket; The second moving wheels are arranged at both ends of the second crossbar.

9. The robot according to claim 8, characterized in that: The telescopic portion extends or contracts, driving the rotation of the rear axle bracket and driving the first cross bar to be lifted or lowered, thereby driving the second cross bar to be lifted or lowered through the cross bar connecting bracket, and further driving the second moving wheel to be lifted or lowered.

10. The robot according to claim 1, characterized in that: When the bottom height of the second moving wheel is equal to the bottom height of the first moving wheel, the robot stops moving, or the robot turns and moves according to the moving directions of the second moving wheel and the first moving wheel.

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