A physical test device for a rail robot

Abstract

This utility model belongs to the field of track robot technology, and particularly relates to a physical testing device for track robots, which serves as a simulation platform for railway passenger station steel structures. It includes a ceiling decorative layer, a spatial steel structure, a purlin structure, a metal roofing system, and an inspection robot system. The spatial steel structure comprises steel columns and column-faced spatial structures, which rest on the steel columns via column top supports. The column-faced spatial structure is a multi-triangular spatial grid frame formed by the assembly and connection of one or more of the following: bolted ball grid structure, welded ball grid structure, tubular truss structure, and cantilever structure. The inspection robot system includes a robot track with adjustable height and slope, mounted on the column-faced spatial structure or purlin structure, and an inspection robot that operates on the robot track for inspection. This utility model's physical testing device for track robots meets the testing requirements for railway passenger station steel structure inspection track robots and metal roof inspection track robots.

Description

Technical Field

[0001] This utility model belongs to the field of track robot technology, and in particular relates to a physical testing device for track robots. Background Technology

[0002] As railway passenger station steel structures age, the main steel structure suffers from significant corrosion and damage due to atmospheric corrosion, train wind vibration, and roof leaks. Metal roofs also experience rust, wind deflection, and leaks under extreme weather conditions such as heavy rain and typhoons, seriously affecting railway operation safety and passenger safety.

[0003] The current inspection method, which is mainly based on manual visual inspection, cannot meet the management requirements of daily, regular, and emergency inspections of railway passenger station steel structures. An automated inspection implementation plan that can replace manual inspection is needed. Therefore, a railway passenger station steel structure and metal roof track inspection robot was developed.

[0004] To ensure the safety, reliability, and stability of the railway inspection robot in practical engineering applications, verification tests need to be conducted in advance. These verification tests mainly fall into two categories: virtual simulation testing and environmental simulation physical testing. Virtual simulation testing primarily uses digital twin-based virtual scene modeling, employing software such as Ansys and Gazebo to accurately recreate the physical world scene, and then verifies the robot's performance through numerical simulation. Environmental simulation physical testing verifies the robot's robustness, accuracy, and adaptability through physical environment trials. The construction of physical test scenarios needs to comprehensively consider both versatility and customization. Currently, the physical test scenarios for railway robots are all general-purpose scenarios, mainly verifying the robot's motion control and environmental perception capabilities. Customized test scenarios are mostly used for specific industry needs, such as chemical inspection robots requiring explosion-proof or flammable gas leakage scenarios.

[0005] Railway passenger station steel structures present challenges such as limited space, dense structural members, numerous and irregularly arranged obstacles like pipelines, low or no light, structural vibrations caused by trains, and low positioning accuracy in concealed spaces. Currently, there are no physical testing devices or corresponding testing methods for railway passenger station steel structure and metal roof track inspection robots. General testing scenarios lack specificity and cannot verify the robot's obstacle avoidance, slope climbing, positioning, and autonomous navigation capabilities in complex three-dimensional environments. Furthermore, it cannot verify the robot's environmental perception capabilities and defect identification capabilities (coating deterioration, plate loosening, weld cracking, member deformation, etc.) under multi-sensor fusion (LiDAR, infrared sensors, visual cameras, gas sensors, etc.). Therefore, designing a physical testing device and testing method for railway passenger station track inspection robots is a pressing technical problem to be solved in this field. Utility Model Content

[0006] To address the problems existing in the prior art, this invention provides a physical testing device for track robots, meeting the testing requirements of track robots for inspecting steel structures in railway passenger stations and track robots for inspecting metal roofs.

[0007] The technical solution adopted by this utility model to solve this problem is: A physical testing device for a track robot, used as a simulation platform for the steel structure of a railway passenger station, includes a ceiling decorative layer, a spatial steel structure, a purlin structure, a metal roofing system, and an inspection robot system. The spatial steel structure includes steel columns and column-faced spatial structures, which rest on the steel columns via column top supports. The column-faced spatial structure is a multi-triangular spatial grid frame formed by the assembly and connection of one or more of the following: bolted ball grid structure, welded ball grid structure, tubular truss structure, and cantilever structure. The inspection robot system includes a robot track with adjustable height and slope, set on the column-faced spatial structure or purlin structure, and an inspection robot that operates on the robot track.

[0008] In one embodiment, the cylindrical space structure simulates common structural forms used in railway passenger stations, including bolted ball grid frames, welded ball grid frames, tubular trusses, cantilever structures, etc., and includes structural members such as upper chords, web members, lower chords, and beams. The cross-sections of the members include round steel pipes, square steel pipes, I-beams, H-beams, steel tie rods, and channel steel. The cylindrical space structure is designed to simulate the robot's ability to climb slopes, brake urgently, and hover.

[0009] In one embodiment, the bolted ball space frame structure includes bolted ball nodes, upper chords, lower chords, and web members connected by welding or bolts, wherein the bolted ball nodes include bolted balls and connecting bolts; The welded ball grid structure includes welded ball nodes, upper chord, lower chord, and web members connected by welding; The tubular truss structure includes an upper chord, a lower chord, and web members connected by welding. The cantilever structure includes a cantilevered upper chord, lower chord, web members, cross bracing, and edge-sealing steel beams connected by welding or bolts. One or more of the bolted spherical grid structure, welded spherical grid structure, tubular truss structure, and cantilever structure are connected to each other by welding or bolting to form a cylindrical space structure.

[0010] In one embodiment, when the cylindrical space structure contains a tubular truss structure and a welded spherical grid, the tubular truss structure and the welded spherical grid are welded together; when the cylindrical space structure contains a cantilever structure, the cantilever structure is located on the outermost side.

[0011] In one embodiment, the steel column includes one or more of square steel pipe columns, rectangular steel pipe columns, and round steel pipe columns.

[0012] In one embodiment, the column top support includes one or more of the following: ball joint support, fixed steel support, rubber support, and flat plate support.

[0013] In one embodiment, the cross sections of the upper chord, lower chord, web members, cross bracing, and edge-sealing steel beams include one or more of the following: round steel pipe, square steel pipe, I-beam, H-beam, steel tie rod, and channel steel.

[0014] In one embodiment, the ceiling decorative layer is disposed below the spatial steel structure. The ceiling decorative layer includes the main and secondary ceiling joists and the ceiling panel. The main and secondary ceiling joists are connected to the surface of the lower chord in the column space structure through hangers and connectors. The ceiling panel is connected to the main and secondary ceiling joists through self-tapping screws and bolts.

[0015] In one embodiment, the ceiling panel includes aluminum composite panel ceiling, aluminum square tube ceiling, etc.

[0016] In one embodiment, the purlin structure is positioned above the spatial steel structure. The purlin structure includes gutter joists and several parallel main purlins and secondary purlins that conform to the curvature of the top of the spatial steel structure. The main purlins are connected to the surface of the upper chord in the column space structure via purlin brackets. The secondary purlins are perpendicular to the main purlins and are connected to the main purlins by bolts or welding, either flush or stacked.

[0017] In one embodiment, the main purlins include square steel main purlins, rectangular steel main purlins, etc., and the secondary purlins include square steel secondary purlins, C-shaped secondary purlins, etc.

[0018] In one embodiment, the metal roofing system is installed above the purlin structure. The metal roofing system includes aluminum-magnesium-manganese panels, stainless steel gutters, aluminum alloy supports, etc. It also includes a profiled steel base plate layer, a TPO waterproof layer, an ultra-fine glass fiber cotton layer, and an aluminum-manganese-magnesium metal roofing panel layer, which are laid sequentially from bottom to top and match the curvature of the top of the purlin structure. The profiled steel base plate layer is fixed to the secondary purlins with stainless steel self-tapping screws. The aluminum-magnesium-manganese panels and stainless steel gutters are fixed to the profiled steel base plate layer through aluminum alloy supports and gutters to form the metal roofing system.

[0019] In one embodiment, the robot track is connected to the upper chord of the main steel structure or the main or secondary purlins of the purlin structure via a track mounting structure. The inspection robot system also includes a charging device, and the inspection robot and the charging device are suspended on the robot track.

[0020] In one embodiment, the robot track is bolted to the upper chord in the cylindrical space structure via a track mounting structure. The track mounting structure includes a hanger and a clamp connector welded together. The clamp connector and the upper chord are bolted together. The hanger and the robot track are bolted together. The inspection robot is slidably mounted on the robot track via pulleys on both sides.

[0021] In one embodiment, the clamp connector is a steel component, fixed to the upper chord of the main steel structure or the main and secondary purlins of the purlin structure. The hanger rod can be a steel component or an aluminum alloy component, generally about 2 meters in length, with a hanger rod spacing generally between 1.5 meters and 3 meters. The track is generally an aluminum alloy component, connected to the hanger rod by bolts.

[0022] In one embodiment, the robot track can be arranged according to the spacing requirements of the disease identification objects, including circular track, straight track, high and low track, etc.; in order to cover the testing needs of different scenarios, the robot track can be disassembled and adjusted periodically.

[0023] In one embodiment, the charging device is designed to improve the robot's endurance and is typically placed at the starting point, midpoint, or end point, so as not to obstruct the robot's normal movement.

[0024] In one embodiment, the inspection robot includes a metal roof inspection robot and a steel structure inspection robot. The appropriate inspection robot can be selected for testing based on different structural heights and inspection and recognition distance requirements.

[0025] The advantages and positive effects of this invention are as follows: Through in-depth analysis of the application scenarios of steel structures and metal roofs in railway passenger stations, and combined with the common forms of steel structures and metal roofs in existing passenger stations, a physical testing platform has been established, covering the main application scenarios of existing passenger station steel structure and metal roof inspection. This physical testing platform can be used to verify the basic functions of the track robot, such as motion control, stability, and robustness. It can also be used to verify intelligent functions such as scene coverage, environmental perception, autonomous decision-making, autonomous navigation, and defect identification and diagnosis. The robot system verified through this testing platform can meet the needs of intelligent inspection of railway passenger station steel structures and metal roofs, replacing the original manual inspection, realizing scheduled and fixed-course inspections and real-time early warning, improving the operation and maintenance management level and decision-making efficiency of railway passenger stations, and ensuring the safe operation of railway passenger stations. Attached Figure Description

[0026] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of this utility model. In addition, unless otherwise specified, these drawings are intended only to conceptually illustrate the structural construction described herein and are not necessarily drawn to scale.

[0027] Figure 1 This is an overall diagram provided by an embodiment of the present utility model; Figure 2 This is a side view of the present invention; Figure 3 This is an exploded view of the present invention; Figure 4 This is a structural diagram of a space steel structure; In the diagram: 1-Stainless steel gutter; 2-Corrugated steel base plate layer; 3-TP0 waterproof layer; 4-Ultra-fine glass fiber cotton layer; 5-Metal roof aluminum-manganese-magnesium board layer; 6-Gutter keel; 7-Main purlin and secondary purlin; 8-Column top support; 9-Column surface space structure; 901-Bolt ball joint; 902-Welded ball joint; 903-Pipe truss structure; 904-Cantilevered upper chord; 905-Edge sealing steel beam; 10-Ceiling main and secondary keels; 11-Aluminum ceiling panel; 12-Aluminum square tube ceiling; 13-Robot track; 14-Inspection robot; 15-Charging device; 16-Roof inspection robot; 17-Track installation structure; 18-Steel column. Detailed Implementation

[0028] First, it should be noted that the specific structure, features, and advantages of this utility model will be described in detail below by way of examples. However, all descriptions are for illustrative purposes only and should not be construed as limiting the utility model in any way. Furthermore, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the accompanying drawings, can still be arbitrarily combined or deleted among these technical features (or their equivalents) to obtain more other embodiments of this utility model that may not be directly mentioned herein. Additionally, for the sake of simplifying the drawings, the same or similar technical features may be indicated only in one place in the same drawing.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," and "screw-on" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. The utility model will now be described in detail with reference to the accompanying drawings. Example

[0030] A physical testing device for a track robot, used as a simulation platform for the steel structure of a railway passenger station, includes a ceiling decorative layer, a spatial steel structure, a purlin structure, a metal roofing system, and an inspection robot system. The spatial steel structure comprises steel columns and column-faced spatial structures. The column-faced spatial structures rest on steel columns 18 via column-top supports 8. The column-faced spatial structures 9 are multi-triangular spatial grid frames formed by the assembly and connection of one or more of the following: bolted ball grid structure, welded ball grid structure, tubular truss structure, and cantilever structure. The inspection robot system includes a robot track 13 with adjustable height and slope, set on the column-faced spatial structure or purlin structure, and an inspection robot 14 that operates on the robot track 13 for inspection.

[0031] Furthermore, in this embodiment, the cylindrical space structure can be designed to simulate common structural forms used in railway passenger stations, including bolted spherical grid structures, welded spherical grid structures, tubular truss structures, and cantilever structures. It can include structural members such as upper chords, web members, lower chords, and beams, with cross-sections including round steel pipes, square steel pipes, I-beams, H-beams, steel tie rods, and channel steel. This cylindrical space structure is designed to simulate the robot's climbing, emergency braking, and hovering capabilities.

[0032] Furthermore, in this embodiment, the bolted ball space frame structure includes bolted ball nodes 901, upper chord, lower chord, and web members connected by welding or bolts. The bolted ball node includes a bolted ball and connecting bolts. It should be noted that the bolted ball node, upper chord, lower chord, and web members are partially connected by welding and partially by bolts, and the bolted ball can only be connected by bolts.

[0033] The welded ball grid structure includes welded ball nodes 902, upper chord, lower chord, and web members connected by welding; The tubular truss structure 903 includes an upper chord, a lower chord, and web members connected by welding; it should be noted that the welded spheres and the internal structure of the tubular truss are all connected by welding. The cantilever structure includes a cantilevered upper chord 904, lower chord, web members, cross bracing, and edge-sealing steel beam 905 connected by welding or bolts. One or more of the bolted spherical grid structure, welded spherical grid structure, tubular truss structure, and cantilever structure are connected to each other by welding or bolting to form a cylindrical space structure.

[0034] Furthermore, in this embodiment, when the cylindrical space structure contains a tubular truss structure and a welded spherical grid, the tubular truss structure and the welded spherical grid are welded together; when the cylindrical space structure contains a cantilever structure, the cantilever structure is located on the outermost side.

[0035] Furthermore, in this embodiment, the steel column may include one or more of square steel pipe columns, rectangular steel pipe columns, and round steel pipe columns.

[0036] Furthermore, in this embodiment, the column top support may include one or more of the following: a ball joint support, a fixed steel support, a rubber support, and a flat plate support.

[0037] Furthermore, in this embodiment, the cross-sections of the upper chord, lower chord, web members, cross braces, and edge-sealing steel beams may include one or more of the following: round steel pipes, square steel pipes, I-beams, H-beams, steel tie rods, and channel steel.

[0038] For example: Figure 3-4 As shown, the columnar space structure contains a tubular truss structure, a bolted ball grid structure, and a welded ball grid structure. The steel columns include circular steel pipe columns and square steel pipe columns. One end of the tubular truss structure is connected to the circular steel pipe column through a welded ball joint, and the other end is connected to the square steel pipe column through a bolted ball joint. One side of the square steel pipe column extends outward to form a cantilever structure. The cantilever structure includes square steel as the upper chord of the cantilever, I-beams as edge-sealing steel beams, and circular steel pipes for cross-bracing.

[0039] like Figure 1 As shown, axes ③-⑤ are bolted ball space frame structures and welded ball space frame structures. The round steel tubes of the bolted ball space frame are connected by bolted balls and corresponding bolts, while the round steel tubes of the welded ball space frame are welded together by welded balls. Axes ②-③ are tubular truss structures. The round steel tubes of the tubular truss structure are connected to the welded balls of axis 3 by welding, and the round steel tubes form a triangular spatial structure by welding. Axes ①-② are cantilever structures, in which the upper chord is a square steel tube, the edge beam is an I-beam, and the cross bracing and lower chord are all round steel tubes, which are connected to the tubular truss and steel columns of axis ④ by welding.

[0040] Furthermore, in this embodiment, the ceiling decorative layer can be arranged below the spatial steel structure. The ceiling decorative layer includes the main and secondary ceiling joists 10 and the ceiling panel. The main and secondary ceiling joists are connected to the surface of the lower chord in the column space structure through hangers and connectors. The ceiling panel is connected to the main and secondary ceiling joists through self-tapping screws.

[0041] Furthermore, in this embodiment, the ceiling panel may include an aluminum ceiling panel 11 and an aluminum square tube ceiling panel 12.

[0042] Furthermore, in this embodiment, the purlin structure can be arranged above the spatial steel structure. The purlin structure includes a gutter 6 and several parallel main purlins and secondary purlins 7 that match the curvature of the top of the spatial steel structure. The main purlins are connected to the surface of the upper chord in the column space structure through purlin brackets. The secondary purlins are perpendicular to the main purlins and are connected to the main purlins by bolts or welding, either flush or stacked.

[0043] Furthermore, in this embodiment, the main purlin can be a square steel main purlin or a rectangular steel main purlin, and the secondary purlins can be square steel secondary purlins or C-shaped secondary purlins.

[0044] Furthermore, in this embodiment, the metal roofing system can be considered to be located above the purlin structure. The metal roofing system includes an aluminum-magnesium-manganese sheet, a stainless steel gutter 1, and a profiled steel base plate layer 2, a TPO waterproof layer 3, an ultra-fine glass fiber cotton layer 4, and a metal roof aluminum-manganese-magnesium sheet layer 5, which are laid sequentially from bottom to top and match the top curvature of the purlin structure. The profiled steel base plate layer 2 is fixed to the secondary purlins with stainless steel self-tapping screws. The gutter joists 6 of the purlin structure are interlocked with the stainless steel gutter 1 of the metal roofing system. The aluminum-magnesium-manganese sheet and the stainless steel gutter are fixed to the profiled steel base plate layer 5 through aluminum alloy supports and gutter joists.

[0045] Furthermore, in this embodiment, the robot track can be connected to the upper chord or main or secondary purlins of the main steel structure via a track mounting structure. The inspection robot system also includes a charging device 15, and the inspection robot 14 and the charging device 15 are suspended on the robot track 13. To simulate the passage capacity of the robot track, the connection between the robot track's suspension rod and the main structure is designed to be detachable, simulating different suspension heights and slopes to test the robot's climbing, emergency braking, and hovering capabilities.

[0046] The inspection robot system also includes a roof inspection robot 16 that operates on the metal roofing system.

[0047] To verify different test objectives, the robot track needs to be disassembled and reassembled. This is achieved by disassembling and reassembling the clamps, replacing the boom, and then fixing the clamps and aluminum alloy robot track.

[0048] Furthermore, in this embodiment, the robot track 14 can be bolted to the upper chord in the cylindrical space structure via a track mounting structure 17. The track mounting structure includes a hanger and a clamp connector welded together. The clamp connector and the upper chord are bolted together. The hanger and the robot track are bolted together. The inspection robot is slidably mounted on the robot track via pulleys on both sides.

[0049] Furthermore, in this embodiment, the robot track may include one or more of the following: a circular track, a straight track, and a high-low track.

[0050] The above embodiments have provided a detailed description of the present invention, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made in accordance with the claims of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A physical testing device for a tracked robot, characterized in that: It serves as a simulation platform for the steel structure of railway passenger stations, including a ceiling decorative layer, a spatial steel structure, a purlin structure, a metal roofing system, and an inspection robot system. The spatial steel structure comprises steel columns and a column-faced spatial structure. The column-faced spatial structure rests on the steel columns via column-top supports. The column-faced spatial structure is a multi-triangular spatial grid frame formed by the assembly and connection of one or more of the following: bolted spherical grid structure, welded spherical grid structure, tubular truss structure, and cantilever structure. The inspection robot system includes a robot track with adjustable height and slope, set on the column-faced spatial structure or purlin structure, and an inspection robot that operates on the robot track.

2. The physical testing device for a tracked robot according to claim 1, characterized in that: The bolted ball space frame structure includes bolted ball nodes, upper chords, lower chords, and web members connected by welding or bolts. The bolted ball nodes include bolted balls and connecting bolts. The welded ball grid structure includes welded ball nodes, upper chord, lower chord, and web members connected by welding; The tubular truss structure includes an upper chord, a lower chord, and web members connected by welding. The cantilever structure includes a cantilevered upper chord, lower chord, web members, cross bracing, and edge-sealing steel beams connected by welding or bolts. One or more of the bolted spherical grid structure, welded spherical grid structure, tubular truss structure, and cantilever structure are connected to each other by welding or bolting to form a cylindrical space structure.

3. The physical testing device for a track robot according to claim 2, characterized in that: When the cylindrical space structure contains a tubular truss structure and a welded spherical grid, the tubular truss structure and the welded spherical grid are welded together; when the cylindrical space structure contains a cantilever structure, the cantilever structure is located on the outermost side.

4. The physical testing device for a track robot according to claim 2, characterized in that: The steel columns include one or more of square steel pipe columns, rectangular steel pipe columns, and round steel pipe columns; the column top supports include one or more of ball joint supports, fixed steel supports, rubber supports, and flat plate supports; the cross-sections of the upper chord, lower chord, web members, cross braces, and edge-sealing steel beams include one or more of round steel pipes, square steel pipes, I-beams, H-beams, steel tie rods, and channel steel.

5. The physical testing device for a tracked robot according to claim 2, characterized in that: The ceiling decoration layer is located below the spatial steel structure. The ceiling decoration layer includes the main and secondary ceiling joists and the ceiling panel. The main and secondary ceiling joists are connected to the surface of the lower chord in the column space structure through hangers and connectors. The ceiling panel is connected to the main and secondary ceiling joists through self-tapping screws and bolts.

6. The physical testing device for a tracked robot according to claim 2, characterized in that: The purlin structure is installed above the spatial steel structure. The purlin structure includes gutter joists and several parallel main purlins and secondary purlins that match the curvature of the top of the spatial steel structure. The main purlins are connected to the surface of the upper chord in the column space structure through purlin brackets. The secondary purlins are perpendicular to the main purlins and are connected to the main purlins by bolts or welding, either flush or stacked.

7. The physical testing device for a tracked robot according to claim 6, characterized in that: The metal roofing system is installed above the purlin structure. The metal roofing system includes aluminum-magnesium-manganese panels, stainless steel gutters, and a profiled steel base plate layer, a TPO waterproof layer, a superfine glass fiber cotton layer, and an aluminum-manganese-magnesium metal roofing panel layer laid sequentially from bottom to top to match the curvature of the top of the purlin structure. The profiled steel base plate layer is fixed to the secondary purlins with stainless steel self-tapping screws. The aluminum-magnesium-manganese panels and stainless steel gutters are fixed to the profiled steel base plate layer through aluminum alloy supports and gutter joists.

8. A physical testing device for a track robot according to any one of claims 2-7, characterized in that: The robot track is connected to the upper chord of the main steel structure or the main or secondary purlins of the purlin structure via a track mounting structure. The inspection robot system also includes a charging device, and the inspection robot and the charging device are suspended on the robot track.

9. A physical testing device for a tracked robot according to claim 8, characterized in that: The robot track is bolted to the upper chord in the cylindrical space structure via a track mounting structure. The track mounting structure includes a hanger and a clamp connector welded together. The clamp connector and the upper chord are bolted together. The hanger and the robot track are bolted together. The inspection robot is slidably mounted on the robot track via pulleys on both sides.

10. A physical testing device for a tracked robot according to claim 8, characterized in that: The robot track includes one or more of the following: circular track, straight track, and high-low track.

Images