Movable automatic axle flaw detection device

Abstract

The utility model discloses a movable automatic axle flaw detection device which comprises a movable chassis and a detection mechanism arranged on the movable chassis, the movable chassis comprises wheels arranged at the bottom of the movable chassis; the navigation system is used for navigating the mobile chassis; the driving system is used for driving the mobile chassis to move; the detection mechanism comprises a mechanical arm fixed to the movable chassis, a scanner and a camera are installed at the tail end of the mechanical arm, and after the camera is used for conducting visual positioning on a to-be-scanned axle, scanning is conducted through the scanner. The mobile automatic axle flaw detection equipment provided by the utility model can fully automatically execute flaw detection operation through a pre-planned working process, automatically process flaw detection data and send a result, and does not need personnel to participate in the operation process.

Description

Technical Field

[0001] This utility model belongs to the field of train inspection technology, and in particular relates to a mobile automatic axle flaw detection device. Background Technology

[0002] Wheels and axles are key components for the operation of rail vehicles, and their safety performance is crucial to the normal operation of trains. Wheels and axles usually need to undergo flaw detection regularly to ensure operational safety.

[0003] Ultrasonic testing is typically used for flaw detection of axles. Operators transport the instrument to the axle inspection station using a trolley or similar means, then hold the instrument close to and press it against the axle for inspection, requiring manual addition of coupling fluid. This method requires long-term, dedicated personnel, and its efficiency depends heavily on operator skill and working hours. With the ever-increasing number of rail vehicles, this approach not only drastically increases manpower costs but also urgently needs improvement in efficiency.

[0004] Chinese patent application CN201610791776.9 discloses an ultrasonic flaw detector for vehicle axles, which includes a housing, a rotating assembly, and a phased array ultrasonic probe; the rotating assembly includes a drive motor and a turntable; the drive motor is fixed inside the housing by a support frame, the turntable is rotatably mounted on the housing, and the turntable is fixedly connected to the output shaft of the drive motor; the phased array ultrasonic probe is fixed on the turntable.

[0005] The aforementioned ultrasonic flaw detector requires manual operation, which is labor-intensive and inefficient. Utility Model Content

[0006] In view of this, the present invention provides a mobile automatic axle flaw detection device that can automatically perform axle flaw detection.

[0007] To solve the above technical problems, the technical solution of this utility model is to adopt a mobile automatic axle flaw detection device, including a mobile chassis and a detection mechanism set on the mobile chassis;

[0008] The mobile chassis includes wheels disposed at its bottom; it also includes a navigation system for navigating the mobile chassis and a drive system for driving the mobile chassis to move.

[0009] The detection mechanism includes a robotic arm fixed on a mobile chassis. A scanner and a camera are installed at the end of the robotic arm. The camera is used to visually locate the axle to be scanned, and then the scanner is used to scan it.

[0010] As an improvement, it also includes a lifting platform mounted on a mobile chassis, with the detection mechanism installed on the lifting platform and moving up and down with it.

[0011] As a further improvement, the lifting platform is driven to rise and fall by a lifting mechanism; the lifting mechanism is a lead screw or a chain.

[0012] As another further improvement, it also includes a backplate vertically mounted on the mobile chassis, on which slide rails are vertically mounted; the lifting platform can be raised and lowered along the slide rails.

[0013] As an improvement, a bellows cover I is provided between the lifting platform and the mobile chassis; a top plate is provided on the top of the back plate, and a bellows cover II is provided between the top plate and the lifting platform.

[0014] As an improvement, an oil pan for holding coupling water is also included on the lifting platform.

[0015] As an improvement, a control box is also included, which is set on the lifting platform. The control box is used to control the testing mechanism and analyze and process the data fed back by the testing mechanism. The control panel of the control box is equipped with working status indicator lights, a monitoring camera, and a robotic arm teaching button.

[0016] As an improvement, the navigation system includes navigation radar and obstacle avoidance radar.

[0017] As an improvement, the drive system includes a motor and a power battery pack.

[0018] As an improvement, the robotic arm is a multi-axis serial robotic arm.

[0019] The advantages of this utility model are:

[0020] The mobile automatic axle flaw detection device with the above structure uses a navigation system that automatically travels along a planned path via SLAM navigation to transport the inspection mechanism to the axle to be inspected. A camera captures images of the target location, and an image algorithm identifies the spatial orientation of the axle end face. This orientation is compared with the scanner position, and position transformation parameters are calculated and transmitted to the robotic arm controller. The controller then moves the robotic arm to align the scanner 4 with the axle end face and begins scanning. The mobile automatic axle flaw detection device provided by this invention can automatically perform flaw detection operations through a pre-planned workflow, automatically process the flaw detection data, and send the results without human intervention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the appearance structure of this utility model.

[0022] Figure 2 This is a schematic diagram of the lifting platform in this utility model.

[0023] Marked in the image:

[0024] 1. Mobile chassis, 2. Lifting platform, 3. Robotic arm, 4. Scanner, 5. Camera, 6. Oil pan, 7. Control box, 8. Control panel, 9. Bellows cover I, 10. Bellows cover II, 11. Obstacle avoidance radar, 12. Navigation radar, 13. Wheels, 14. Lifting mechanism, 15. Back panel, 16. Slide rail. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to specific embodiments.

[0026] like Figure 1 As shown, this utility model provides a mobile automatic axle flaw detection device, including a mobile chassis 1 and a detection mechanism disposed on the mobile chassis 1;

[0027] The mobile chassis 1 includes wheels 13 mounted on its bottom; it also includes a navigation system for navigating the mobile chassis 1 and a drive system for driving the mobile chassis to move; the navigation system may employ a navigation radar 12 and an obstacle avoidance radar 11, while the drive system may employ a motor and a power battery pack. Of course, this invention does not exclude other forms of navigation systems and drive systems, nor does it exclude other modes of movement, such as using tracks instead of wheels 13.

[0028] The detection mechanism includes a robotic arm 3 fixed on a mobile chassis 1. In this embodiment, the robotic arm 3 is a multi-axis serial robotic arm, such as a six-axis robotic arm. A scanner 4 and a camera 5 are installed at the end of the robotic arm 3. The camera 5 is used to visually locate the axle to be scanned, and then the scanner 4 performs the scan.

[0029] In this invention, the navigation system automatically travels along a planned path using SLAM navigation and other methods, thereby transporting the detection mechanism to the axle to be scanned. Additionally, camera 5 can capture images of the target location, identify the spatial orientation of the axle end face using image algorithms, compare this orientation with the scanner position, calculate the position transformation parameters, and transmit them to the controller of robotic arm 6. This controller then moves robotic arm 6 to align scanner 4 with the axle end face and begins scanning the axle.

[0030] In this embodiment, a lifting platform 2 is also included, mounted on the mobile chassis 1. The detection mechanism is installed on the lifting platform 2 and moves up and down with it. Since the train axle may be placed separately at the maintenance station or parked on the maintenance track with the train, the track's height from the ground varies considerably when the train is parked on the track. The range of motion of the robotic arm alone is insufficient, so a lifting platform is needed to raise the robotic arm and increase its working range. For the robotic arm 3, a larger working range results in a higher cost. Furthermore, the size of the robotic arm also increases exponentially.

[0031] Therefore, in this embodiment, a lifting platform 2 is provided to expand the working range of the robotic arm 3 in order to facilitate detection.

[0032] More specifically, the lifting platform 2 is driven to rise and fall by a lifting mechanism 14; the lifting mechanism 14 can be a lead screw or, for example, a... Figure 2 The chain described above. Of course, other forms of mechanisms to drive the lifting platform 2 for lifting are not excluded. In addition, this embodiment also includes a back plate 15 vertically mounted on the mobile chassis, and a slide rail 16 vertically mounted on the back plate 15; the lifting platform 2 can rise and fall along the slide rail 16, ensuring the smooth lifting and lowering of the lifting platform 2.

[0033] In order to prevent foreign objects from affecting the lifting and lowering of the lifting platform 2, in some embodiments a bellows cover I9 is ​​provided between the lifting platform 2 and the mobile chassis 1; a top plate is provided on the top of the back plate 15, and a bellows cover II10 is provided between the top plate and the lifting platform 2, thereby shielding the gap between the lifting platform 2 and the mobile chassis 1 and the gap between the lifting platform 2 and the lifting mechanism 14.

[0034] Additionally, an oil pan 6 is installed on the lifting platform 2 to hold the coupling fluid. Before the scanner 4 docks with the axle for flaw detection, the scanner 4 can be moved into the oil pan 6 by manipulating the robotic arm 3 to obtain the coupling fluid, ensuring that the scanner 4 can perform normal ultrasonic flaw detection on the axle.

[0035] It is understood that the system also includes a control box 7, which is located on the lifting platform. The control box 7 is used to control the inspection mechanism and analyze and process the data fed back by the inspection mechanism. The data obtained by the scanner 4 from detecting the axle is transmitted to the control box 7 via wired or wireless transmission. The control box 7 contains an analysis host that can analyze and process the flaw detection data using pre-installed algorithms. After processing, the flaw detection results are sent to the post-processing station via a wireless network.

[0036] In some other embodiments, the control box 7 is also equipped with a control panel 8, which has working status indicator lights, a monitoring camera, a robotic arm teaching button and other devices, and can perform corresponding functions through the control panel 8.

[0037] The mobile automatic axle flaw detection equipment provided by this utility model can automatically perform flaw detection operations through a pre-planned workflow and automatically process and send flaw detection data results without the need for human intervention during the operation.

[0038] The above are merely preferred embodiments of this utility model. It should be noted that the above preferred embodiments should not be considered as limitations on this utility model, and the scope of protection of this utility model should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A mobile automatic axle flaw detection device, characterized in that: This includes a mobile chassis and a detection mechanism mounted on the mobile chassis; The mobile chassis includes wheels disposed at its bottom; it also includes a navigation system for navigating the mobile chassis and a drive system for driving the mobile chassis to move. The detection mechanism includes a robotic arm fixed on a mobile chassis. A scanner and a camera are installed at the end of the robotic arm. The camera is used to visually locate the axle to be scanned, and then the scanner is used to scan it. It also includes a lifting platform mounted on a mobile chassis, with the detection mechanism installed on the lifting platform and moving up and down with it; the lifting platform is driven to move up and down by a lifting mechanism, which is a lead screw or a chain; It also includes a backplate vertically mounted on the mobile chassis, with slide rails vertically mounted on the backplate; the lifting platform can be raised and lowered along the slide rails; A bellows cover I is provided between the lifting platform and the mobile chassis; a top plate is provided on the top of the back plate, and a bellows cover II is provided between the top plate and the lifting platform; It also includes an oil pan set on the lifting platform for holding coupling water.

2. The mobile automatic axle flaw detection device according to claim 1, characterized in that: It also includes a control box set on the lifting platform, which is used to control the testing mechanism and analyze and process the data fed back by the testing mechanism; the control panel of the control box is equipped with working status indicator lights, a monitoring camera, and a robotic arm teaching button.

3. The mobile automatic axle flaw detection device according to claim 1, characterized in that: The navigation system includes navigation radar and obstacle avoidance radar.

4. The mobile automatic axle flaw detection device according to claim 1, characterized in that: The drive system includes a motor and a power battery pack.

5. The mobile automatic axle flaw detection device according to claim 1, characterized in that: The robotic arm is a multi-axis serial robotic arm.

Images