Track bridge underbody operation device

Abstract

The utility model discloses a rail bridge underbody operation device and relates to a train maintenance device. The utility model relates to a safety inspection device for a train outer chassis, and aims to solve the problems of high labor intensity, reduced accuracy and easy collision caused by manual inspection of the safety inspection work of the existing train outer chassis, and the safety inspection device comprises a control unit, a cabin body, a walking mechanism and a mechanical arm, the cabin body is fixed above the walking mechanism; the mechanical arm is arranged on the outer side wall of the cabin body; the control unit is located in the cabin body, and the walking control signal output end and the mechanical arm control signal output end of the control unit are electrically connected with the walking control signal input end of the walking mechanism and the mechanical arm control signal input end of the mechanical arm respectively.

Description

Technical Field

[0001] The utility model relates to a train maintenance device. Background Art

[0002] When a train is under safety maintenance, it needs to be parked on a railway bridge with a maintenance operation pit for routine safety inspection of the train chassis. The inspection work includes key component fastening inspection, underbody damage inspection, ultrasonic flaw detection inspection of key parts, purging operation and other related items.

[0003] For the existing safety inspection work of the outer chassis of a train, all operations are carried out manually item by item. Operators need to inspect the vehicle chassis from inside the maintenance operation pit and both sides of the railway bridge. The operators need to enter and exit the inspection pit from the steps at both ends of the train (the train is 120 m long) with professional detection equipment in hand, and then inspect the train chassis on both sides of the railway bridge. Due to the limited height of the maintenance operation pit, it is very difficult for the operators to walk completely upright during the inspection operation in the maintenance operation pit, and the operation on both sides of the railway bridge needs to be carried out with bending down. And due to the large number of operation points and long working hours, the operators also need to hold professional detection equipment and switch between the railway maintenance pit and both sides of the railway bridge to detect the train chassis and other related operations. The labor intensity is relatively high, and the detection accuracy will also show a decreasing trend with the physical energy consumption, bringing certain potential safety hazards to the train operation safety. And in this operation mode, accidents of operators being bruised due to collisions often occur. Content of the Utility Model

[0004] The purpose of the utility model is to overcome the problems of high labor intensity, decreased accuracy and easy bruising caused by manual inspection in the existing safety inspection work of the outer chassis of a train, and provide a vehicle underbody operation device for a railway bridge.

[0005] The vehicle underbody operation device for a railway bridge of the utility model includes a control unit, a cabin body, a traveling mechanism and a robotic arm;

[0006] The cabin body is fixed above the traveling mechanism;

[0007] The robotic arm is arranged on the outer side wall of the cabin body;

[0008] The control unit is located inside the cabin body, and the traveling control signal output end and the robotic arm control signal output end of the control unit are respectively electrically connected to the traveling control signal input end of the traveling mechanism and the robotic arm control signal input end of the robotic arm.

[0009] Furthermore, it further includes a lifting slide and a lead screw;

[0010] The lead screw is arranged inside the cabin body, and the moving part of the lead screw can slide up and down along the lead screw axis;

[0011] One end of the lifting slide table passes through the outer wall of the cabin and is fixed to the moving part of the lead screw;

[0012] The base of the robotic arm is fixed on the lifting slide table;

[0013] The robotic arm lifting signal output end of the control unit is electrically connected to the power control signal input end of the power mechanism of the lead screw.

[0014] Further, it also includes an upper scanning radar;

[0015] The upper scanning radar is fixed on the outer wall of the cabin, and the scanning end of the upper scanning radar faces upward;

[0016] The scanning image output end of the upper scanning radar is electrically connected to the operation area image input end of the control unit.

[0017] Further, it also includes a walking scanning radar;

[0018] The walking scanning radar is fixed on the outer wall of the cabin, and the scanning end of the walking scanning radar faces the walking direction;

[0019] The scanning image output end of the walking scanning radar is electrically connected to the obstacle avoidance area image input end of the control unit.

[0020] Further, it also includes a human-machine interaction unit;

[0021] The display signal output end of the control unit is electrically connected to the display signal input end of the human-machine interaction unit;

[0022] The walking control instruction output end and the robotic arm control instruction output end of the human-machine interaction unit are respectively electrically connected to the walking control instruction input end and the robotic arm control signal input end of the control unit.

[0023] Further, the maximum width is less than 800 mm and the maximum height is less than 950 mm.

[0024] Further, at least a pair of lifting rings are symmetrically fixed on the outer wall of the cabin.

[0025] Further, it also includes at least one air pump;

[0026] Blow holes are provided on the outer wall of the cabin;

[0027] The air pump is fixed inside the cabin, and the air outlet of the air pump faces the blow holes.

[0028] Further, it also includes a storage battery;

[0029] The storage battery is fixed inside the cabin;

[0030] The storage battery is used to supply power to the control unit, the walking mechanism, the robotic arm, the lead screw, and the human-machine interaction unit.

[0031] Furthermore, at least one heat dissipation plate is provided on the outer side wall of the cabin body.

[0032] The beneficial effects of the present utility model are as follows:

[0033] The undercarriage operation device of the track bridge of the present utility model can, with the assistance of a lift, move in and out on its own through the gap between the track piers from the bottom of the track bridge, freely move under the bottom of the track train at the bottom and outside of the track bridge, and can autonomously drive along the planned route and avoid obstacles while walking. It has the advantages of small volume and flexible movement.

[0034] It can replace the operators to perform inspection operations, reduce the labor intensity of the operators and the probability of being injured due to bumps, and at the same time maintain the inspection accuracy at a relatively high level, thereby reducing the potential safety hazards of train operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a three-dimensional structure schematic diagram of the undercarriage operation device of the track bridge of the present utility model;

[0036] Figure 2 is a three-dimensional structure schematic diagram of the undercarriage operation device of the track bridge of the present utility model from another angle;

[0037] Figure 3 is a front view structure schematic diagram of the undercarriage operation device of the track bridge of the present utility model;

[0038] Figure 4 is a structure schematic diagram of the undercarriage operation device of the track bridge of the present utility model without a robotic arm and a lifting slide;

[0039] Figure 5 is a structure schematic diagram of the undercarriage operation device of the track bridge of the present utility model without a part of the cabin body;

[0040] Figure 6 is a structure schematic diagram of the undercarriage operation device of the track bridge of the present utility model without a part of the cabin body from another angle;

[0041] Figure 7 is an electrical structure schematic diagram of the undercarriage operation device of the track bridge of the present utility model;

[0042] Figure 8 is a side view structure schematic diagram of the cooperation between the undercarriage operation device of the track bridge of the present utility model and the train during operation;

[0043] Figure 9 is a top view structure schematic diagram of the cooperation between the undercarriage operation device of the track bridge of the present utility model and the train during operation

[0044] Figure 10This is the main front view structural schematic diagram of the cooperation between the underbody operation device of the rail bridge and the train when it is working. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0046] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0047] Next, the present invention will be further described in conjunction with the accompanying drawings and specific embodiments, but it is not limited to the present invention. Detailed implementation manner one

[0049] The underbody operation device of the rail bridge in this implementation manner includes a control unit 1, a cabin 2, a traveling mechanism 3, and a robotic arm 4;

[0050] The cabin 2 is fixed above the traveling mechanism 3;

[0051] The robotic arm 4 is arranged on the outer side wall of the cabin 2;

[0052] The control unit 1 is located inside the cabin 2, and the traveling control signal output end and the robotic arm control signal output end of the control unit 1 are electrically connected to the traveling control signal input end of the traveling mechanism 3 and the robotic arm control signal input end of the robotic arm 4 respectively.

[0053] Specifically, as Figures 8 to 10 shown, the underbody operation device of the rail bridge in this implementation manner can walk by itself in the maintenance operation pit at the bottom of the rail bridge, and can, with the assistance of the elevator, pass through the gap between the track piers by itself from the bottom of the rail bridge, and operate on the bottom of the track train at the bottom and outside of the rail bridge, replacing manual operation.

[0054] As Figures 5 to 6 shown, the cabin 2 is mainly used to accommodate circuit structures such as the control unit 1, and the control unit 1 is pre-configured to be able to control the traveling mechanism 3 to start, move forward, backward, and stop at a set speed through existing algorithms. It can control the robotic arm 4 to perform corresponding actions.

[0055] As Figures 1 to 7 shown, the traveling mechanism 3 is a combination of wheels and a chassis, and the control unit 1 controls the motor and brake device that drive the wheels. The robotic arm 4 uses an existing robotic arm, and its internal control logic is provided by the manufacturer.

[0056] The underbody operation device of the track bridge in this embodiment can load different tools at the end of the robotic arm 4, thereby realizing different operations on the underbody, such as ultrasonic detectors, magnetic particle detectors, infrared thermal imagers, etc. The control unit 1 controls the traveling mechanism 3 to move under the vehicle, and detection points can be preset, or the entire vehicle can be inspected. The above tools are loaded by the robotic arm 4 to scan the underbody, such as using an ultrasonic detector to detect the internal structure of the inspected components, such as axle cracks, etc., and then the underbody inspection operation is carried out. Specific Embodiment Two

[0058] This embodiment is a further description of Embodiment One. In this embodiment, it further includes a lifting slide 5 and a lead screw 6;

[0059] The lead screw 6 is arranged in the cabin 2, and the moving part of the lead screw 6 can slide up and down along the lead screw axis;

[0060] One end of the lifting slide 5 passes through the outer wall of the cabin 2 and is fixed to the moving part of the lead screw 6;

[0061] The base of the robotic arm 4 is fixed on the lifting slide 5;

[0062] The robotic arm lifting signal output end of the control unit 1 is electrically connected to the power control signal input end of the power mechanism of the lead screw 6.

[0063] Other technical features of this embodiment are exactly the same as those of Embodiment One.

[0064] Specifically, as Figures 3 to 6 shown, the robotic arm 4 is installed on the lifting slide 5, and the lifting distance of the lifting slide 5 can make up for the working radius of the robotic arm 4.

[0065] The lead screw 6 is a device for controlling the lifting of the lifting slide 5. The entire lead screw 6 can be arranged inside the cabin 2 and is vertically arranged, that is, the moving direction of the moving part (nut) of the lead screw 6 is up and down. A chute is opened at the position corresponding to the moving part on the outer wall of the cabin 2 so that one end of the lifting slide 5 can pass through the chute and be fixed to the moving part of the lead screw 6. At the same time, the up and down range of the chute determines the up and down moving range of the lifting slide 5.

[0066] The power mechanism of the lead screw 6 is usually a motor that drives the rotation of the lead screw shaft (threaded shaft). Different rotation directions of the motor driving the lead screw shaft are used to control the moving part of the lead screw 6 to change the movement direction. The control unit 1 corresponds the lifting of the robotic arm 4 to the rotation direction of the lead screw shaft through a preset program. Thus, when it is necessary to control the robotic arm 4 to rise or fall, a corresponding robotic arm lifting signal is generated and corresponds to the power control signal of the power mechanism of the lead screw 6 to control the rotation direction of the power mechanism. Specific Embodiment Three

[0068] This embodiment is a further description of Embodiment 2. In this embodiment, it further includes an upward scanning radar 7;

[0069] The upward scanning radar 7 is fixed on the outer side wall of the cabin body 2, and the scanning end of the upward scanning radar 7 faces upward;

[0070] The scanning image output end of the upward scanning radar 7 is electrically connected to the operation area image input end of the control unit 1.

[0071] Other technical features of this embodiment are exactly the same as those of Embodiment 2.

[0072] Specifically, as Figure 2 , 7 shown, the upward scanning radar 7 can select existing millimeter-wave radars, lidars or ultrasonic radars.

[0073] The upward scanning radar 7 can scan and identify the characteristic dimensions of the operation area of the operation vehicle, and assist the traveling mechanism 3 to position the operation point. The control unit 1 is pre-configured with existing image recognition algorithms, which can obtain the operation area image in real time when the upward scanning radar 7 scans the vehicle bottom to generate a scanning image, recognize and accurately position the operation area image to determine whether the area is an operation point. If it is an operation point, stop and the robotic arm 4 performs corresponding operations. Specific Embodiment 4

[0075] This embodiment is a further description of Embodiment 1, 2 or 3. In this embodiment, it further includes a traveling scanning radar 8;

[0076] The traveling scanning radar 8 is fixed on the outer side wall of the cabin body 2, and the scanning end of the traveling scanning radar 8 faces the traveling direction;

[0077] The scanning image output end of the traveling scanning radar 8 is electrically connected to the obstacle avoidance area image input end of the control unit 1.

[0078] Other technical features of this embodiment are exactly the same as those of Embodiment 1, 2 or 3.

[0079] Specifically, as Figure 2 , 7 shown, the traveling scanning radar 8 can select existing millimeter-wave radars, lidars or ultrasonic radars.

[0080] The traveling scanning radar 8 can scan and detect in real time the radar image in front of the traveling of the under-vehicle operation device of the gantry crane in this embodiment as the obstacle avoidance area image. The control unit 1 is pre-configured with existing image recognition algorithms, which can recognize the obstacle information in the obstacle avoidance area image, and control the traveling mechanism 3 to avoid (retreat, detour) or alarm through the human-machine interaction unit 9. Specific Embodiment Five

[0082] This embodiment is a further description of Embodiment One. In this embodiment, it further includes a human - machine interaction unit 9;

[0083] The display signal output end of the control unit 1 is electrically connected to the display signal input end of the human - machine interaction unit 9;

[0084] The walking control instruction output end and the robotic arm control instruction output end of the human - machine interaction unit 9 are respectively electrically connected to the walking control instruction input end and the robotic arm control signal input end of the control unit 1.

[0085] Other technical features of this embodiment are exactly the same as those of Embodiment One.

[0086] Specifically, as Figure 2 、 7 shown, the human - machine interaction unit 9 can specifically be selected as a touch screen, which can be used to display corresponding information and as an input module for operators to trigger corresponding functions. When corresponding operations are installed on the robotic arm 4, operators can select different operation mode programs according to different operation requirements, control the operation tools to work through the control unit 1, and obtain the working output information of the operation tools. If the operation tool is an ultrasonic detector, the control port of the ultrasonic detector is connected to the control unit 1 to control the start and entry into different working modes of the ultrasonic detector. At the same time, the detection results of the ultrasonic detector can also be displayed through the display signal output end of the control unit 1 to the human - machine interaction unit 9. Specific Embodiment Six

[0088] This embodiment is a further description of Embodiment One, Two or Five. In this embodiment, the maximum width is less than 800 mm and the maximum height is less than 950 mm.

[0089] Other technical features of this embodiment are exactly the same as those of Embodiment One, Two or Five.

[0090] Specifically, as Figures 8 to 10 shown, this device can walk automatically in the maintenance operation pit at the bottom of the track bridge, and with the assistance of the elevator, it can pass through the gap between the track piers from the bottom of the track bridge and walk in and out on its own, and operate on the bottom of the track train at the bottom and outside of the track bridge. The height of the gap between the track piers at the bottom of the track bridge is 950 mm and the width is 800 m. Therefore, the size of this device should be less than this value. Specific Embodiment Seven

[0092] This embodiment is a further description of Embodiment Six. In this embodiment, at least a pair of lifting rings 11 are symmetrically fixed on the outer side wall of the cabin 2.

[0093] The other technical features of this embodiment are exactly the same as those of Embodiment VI.

[0094] Specifically, as Figures 1 to 4 shown, lifting rings 11 are symmetrically fixed at multiple positions on the outer sidewall of the cabin body 2. The elevator can take out or send the under-rail-bridge vehicle bottom operation device of this embodiment through the lifting rings 11 and pass through the gap between the track piers at the bottom of the rail bridge. Specific Embodiment VIII

[0096] This embodiment is a further illustration of Embodiment VII. In this embodiment, it further includes at least one air pump 13;

[0097] A purging hole 14 is formed on the outer sidewall of the cabin body 2;

[0098] The air pump 13 is fixed inside the cabin body 2, and the air outlet of the air pump 13 faces the purging hole 14.

[0099] Specifically, the air pump 13 is mainly used to purge and clean the debris at the bottom and on both sides of the vehicle. As Figure 1 , 2 , 4 shown, the purging holes 14 are arranged above and on both sides of the cabin body 2. When the air pump 13 is started, the air outlet of the air pump 13 blows air into the cabin body 2 through the purging holes 14 to conduct purging operations on the upper part and both sides of the under-rail-bridge vehicle bottom operation device of this embodiment.

[0100] Meanwhile, an air inlet hole is also provided on the outer sidewall of the cabin body 2 for the air pump 13 to intake air. An inclined baffle is arranged at the air inlet hole to prevent external debris from entering during air intake.

[0101] The other technical features of this embodiment are exactly the same as those of Embodiment VII. Specific Embodiment IX

[0103] This embodiment is a further illustration of Embodiment I, II, V, VII or VIII. In this embodiment, it further includes a storage battery 10;

[0104] The storage battery 10 is fixed inside the cabin body 2;

[0105] The storage battery is used to supply power to the control unit 1, the traveling mechanism 3, the robotic arm 4, the lead screw 6, and the human-machine interaction unit 9.

[0106] The other technical features of this embodiment are exactly the same as those of Embodiment I, II, V, VII or VIII. Specific Embodiment X

[0108] This embodiment is a further illustration of Embodiment IX. In this embodiment, at least one heat dissipation plate 12 is provided on the outer sidewall of the cabin body 2.

[0109] The other technical features of this embodiment are exactly the same as those of Embodiment 8.

[0110] Specifically, as Figures 1 to 3 shown, since the cabin 2 is internally provided with a plurality of electrical modules and a storage battery 10, a large amount of heat will be generated during long-term operation. In order to prevent the device from being damaged or the working efficiency from decreasing due to temperature rise, a heat dissipation plate 12 can be provided on the outer side wall of the cabin 2 for rapid heat dissipation.

[0111] The heat dissipation plate 12 can be provided separately, or can be provided outside the purging hole 14 or the air inlet hole, and combined with the air flow to increase the heat dissipation efficiency.

[0112] Although the present invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not depart from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features herein can be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with a single embodiment can be used in other embodiments.

Claims

1. A rail bridge undercarriage operating device, characterized in that: It comprises a control unit (1), a cabin (2), a walking mechanism (3) and a mechanical arm (4); The cabin (2) is fixed above the walking mechanism (3); The mechanical arm (4) is arranged on the outer side wall of the cabin (2); The control unit (1) is located inside the cabin (2), and a walking control signal output end and a mechanical arm control signal output end of the control unit (1) are electrically connected to a walking control signal input end of the walking mechanism (3) and a mechanical arm control signal input end of the mechanical arm (4), respectively.

2. The rail bridge undercarriage working device according to claim 1, characterized in that: It also includes a lifting slide (5) and a lead screw (6); The lead screw (6) is arranged in the cabin (2), and the moving part of the lead screw (6) can slide up and down along the lead screw shaft; One end of the lifting slide (5) passes through the outer wall of the cabin (2) and is fixed to the moving part of the lead screw (6); The base of the mechanical arm (4) is fixed on the lifting slide (5); The mechanical arm lifting signal output end of the control unit (1) is electrically connected to the power control signal input end of the power mechanism of the lead screw (6).

3. The rail bridge undercarriage working device according to claim 2, characterized in that: Also includes an upward scanning radar (7); The upward scanning radar (7) is fixed to the outer side wall of the cabin (2), and the scanning end of the upward scanning radar (7) faces upward; The scanning image output end of the upward scanning radar (7) is electrically connected to the working area image input end of the control unit (1).

4. The rail bridge undercarriage working device according to claim 1, 2 or 3, characterized in that: Also includes walking scanning radar (8); The walking scanning radar (8) is fixed to the outer side wall of the cabin (2), and the scanning end of the walking scanning radar (8) faces the walking direction; The scanning image output end of the walking scanning radar (8) is electrically connected to the obstacle avoidance area image input end of the control unit (1).

5. The rail bridge undercarriage working device according to claim 1, characterized in that: Also includes a human-computer interaction unit (9); The display signal output terminal of the control unit (1) is electrically connected to the display signal input terminal of the human-machine interaction unit (9); The walking control instruction output terminal and the mechanical arm control instruction output terminal of the human-machine interaction unit (9) are electrically connected to the walking control instruction input terminal and the mechanical arm control signal input terminal of the control unit (1) respectively.

6. The rail bridge undercarriage working device according to claim 1, 2 or 5, characterized in that: The maximum width is less than 800mm and the maximum height is less than 950mm.

7. The rail bridge undercarriage working device according to claim 6, characterized in that: At least one pair of lifting rings (11) is symmetrically fixed on the outer side wall of the cabin (2).

8. The rail bridge undercarriage working device according to claim 7, characterized in that: Also includes at least one air pump (13); The outer side wall of the cabin (2) is provided with a purge hole (14); The air pump (13) is fixed inside the cabin (2), and the air outlet of the air pump (13) faces the purge hole (14).

9. The rail bridge undercarriage working device according to claim 1, 2, 5, 7 or 8, characterized in that: Also includes a storage battery (10); The storage battery (10) is fixed in the cabin (2); The storage battery is used to supply power to the control unit (1), the walking mechanism (3), the mechanical arm (4), the lead screw (6), and the human-machine interaction unit (9).

10. The rail bridge undercarriage working device according to claim 9, characterized in that: The outer side wall of the cabin (2) is provided with at least one heat dissipation plate (12).

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