阅读说明：本技术 一种自行走遥控式高速磁浮轨道检测装置 (Self-walking remote control type high-speed magnetic levitation track detection device ) 是由 吴峻 洪小波 李中秀 李洪鲁 孙向东 于 2019-12-10 设计创作，主要内容包括：本发明公开一种自行走遥控式高速磁浮轨道检测装置,包括机架,还包括：轮式行走机构,用于支撑所述机架并在动力装置驱动下带动机架在高速磁浮轨道上行走；动力装置,连接到驱动源,动力输出端连接所述轮式行走机构；控制系统,包括无线传输系统、无线遥控系统、图像监测系统以及移动终端。本发明自带行走机构、动力装置、摄像头、检测记录仪和控制系统,可独立进行检测工作而不需要动用运营车辆,采用无线遥控方式,可快速检测记录高速磁浮轨道的状况、采集数据并通过移动终端实时显示,避免人员直接上线操作,可大大减少人员的工作强度和提高工作的安全性,对提升高速轨道线路的维护效率,保障高速磁浮车辆运行安全稳定,具有重要意义。(The invention discloses a self-walking remote control type high-speed magnetic levitation track detection device, which comprises a frame and also comprises: the wheel type travelling mechanism is used for supporting the rack and driving the rack to travel on the high-speed magnetic suspension track under the driving of the power device; the power device is connected to a driving source, and a power output end is connected with the wheel type travelling mechanism; the control system comprises a wireless transmission system, a wireless remote control system, an image monitoring system and a mobile terminal. The high-speed magnetic levitation railway system is provided with the travelling mechanism, the power device, the camera, the detection recorder and the control system, can independently perform detection work without using an operating vehicle, adopts a wireless remote control mode, can rapidly detect and record the condition of the high-speed magnetic levitation railway, collect data and display the data in real time through the mobile terminal, avoids direct online operation of personnel, can greatly reduce the working intensity of the personnel and improve the working safety, and has important significance for improving the maintenance efficiency of a high-speed railway line and ensuring the safe and stable operation of the high-speed magnetic levitation railway.)

1. The utility model provides a high-speed magnetic levitation track detection device of self-walking remote control formula, includes the frame, its characterized in that still includes and directly or indirectly installs in the frame:

the wheel type travelling mechanism is used for supporting the rack and driving the rack to travel on the high-speed magnetic suspension track (32) under the driving of the power device;

the power device is connected to a driving source, and a power output end is connected with the wheel type travelling mechanism;

a control system comprising a wireless transmission system, a wireless remote control system (35), an image monitoring system (14) and a mobile terminal which are communicated with each other,

the wireless transmission system is used for realizing the network interconnection of all the components in the detection device;

the wireless remote control system (35) is used for receiving wireless remote control signals of the mobile terminal to all the components of the detection device;

an image monitoring system (14) for processing and collecting images and data detected by the detection device;

and the mobile terminal is used for sending signals to realize the wireless remote control of all the components of the detection device and displaying the detected images and data in real time.

2. The self-propelled remote-control high-speed magnetic levitation track detection device as recited in claim 1, further comprising:

the image detection recorder (1) is arranged at the bottom of one side, far away from the power device, of the rack through a first recorder mounting plate (2a), is opposite to a long stator (33) arranged on a high-speed magnetic suspension track (32) in a spaced mode and is used for collecting image information on the surface of the long stator;

the irregularity detection recorder (21) is arranged at the bottom of one side, close to the power device, of the rack through a second recorder mounting plate (2b), is opposite to a long stator (33) arranged on a high-speed magnetic levitation track (32) in a spaced mode, and is used for collecting vertical and guide irregularity data on the surface of the long stator;

the camera (7) is installed in the middle of the rack and comprises a forward camera and a backward camera which are respectively used for acquiring real-time images in the front and the back of the high-speed magnetic levitation track (32).

3. The self-walking remote-control high-speed magnetic levitation track detection device as claimed in claim 1, wherein: the rack comprises a cross beam frame (8), a longitudinal beam frame (15), a first cantilever frame (3a) and a second cantilever frame (3b), wherein the longitudinal beam frame (15) is fixed at one end of the cross beam frame (8) through a second connecting plate (18) and forms a T-shaped rack structure; the first cantilever frame (3a) and the second cantilever frame (3b) are respectively fixed on two sides of the beam frame (8) through a first connecting plate (5) and a second connecting plate (18) to form a C-shaped rail holding structure; guide cantilevers (16) are symmetrically arranged on two sides of the longitudinal beam frame (15).

4. A self-walking remote-control high-speed magnetic levitation track detection device as claimed in claim 3, wherein: the guide cantilever (16) is rotationally connected with a rigid guide wheel set (17); an elastic guide mechanism (4) which can generate elastic deformation to one side far away from the high-speed magnetic suspension track (32) is arranged on the first cantilever frame (3 a); the rigid guide wheel set (17) and the elastic guide mechanism (4) are positioned on the same horizontal plane and respectively press the side wall of the high-speed magnetic suspension track (32) from two sides so as to adapt to the change of track gauge and track direction.

5. The self-walking remote-control high-speed magnetic levitation track detection device as claimed in claim 4, wherein: the elastic guide mechanism (4) comprises an elastic guide mounting bottom plate (26) fixed on the first cantilever frame (3a) through a guide mounting rod (25); the elastic guide mounting bottom plate (26) is connected with an elastic guide mounting top plate (28) through an elastic guide locking assembly (29); a spring (27) is sleeved on the outer side of the elastic guide locking assembly (29) which is positioned at the middle section of the elastic guide mounting bottom plate (26) and the elastic guide mounting top plate (28); and a guide wheel pair (24) rotating along the traveling direction of the wheel type traveling mechanism is arranged on the elastic guide mounting top plate (28), and the excircle of the guide wheel pair (24) is tightly attached to the side wall of the high-speed magnetic suspension track (32).

6. The self-walking remote-control high-speed magnetic levitation track detection device as claimed in claim 4, wherein: the rigid guide wheel set (17) comprises a rigid guide wheel mounting plate (30) fixed on the guide cantilever (16), rigid guide wheels (31) which are symmetrically mounted on the rigid guide wheel mounting plate (30) and rotate along the traveling direction of the wheel type traveling mechanism, and the outer circle of each rigid guide wheel (31) is tightly attached to the side wall of the high-speed magnetic levitation track (32).

7. A self-walking remote-control high-speed magnetic levitation track detection device as claimed in any one of claims 3-6, wherein: the power device comprises a brushless direct current motor (13) and a motor driver (11) which are fixed on the second connecting plate (18) and are electrically connected with each other, a power output shaft of the brushless direct current motor (13) is in power connection with a driving connecting sleeve (34) through a transmission module (20), and two ends of the driving connecting sleeve (34) are fixedly connected with a driving wheel set (19).

8. The self-walking remote-control high-speed magnetic levitation track detection device as claimed in claim 7, wherein: the driving source is a storage battery assembly (12).

9. The self-walking remote-control high-speed magnetic levitation track detection device as claimed in claim 4, wherein: supporting wheel mounting panel (10) are installed to longeron frame (15) both ends symmetry, supporting wheel mounting panel (10) are close to unsmooth detection record appearance (21) one side is rotated and is connected second free supporting wheel (9), crossbeam frame (8) are close to the one end of elastic guide mechanism (4) be provided with first free supporting wheel (6) that drive wheelset (19) are parallel, first free supporting wheel (6) and second free supporting wheel (9) are in along high-speed magnetic levitation track (32) roll under drive wheelset (19) drive.

10. The self-walking remote-control high-speed magnetic levitation track detection device as claimed in claim 9, wherein: the detection device further comprises a guide sensor mounting seat (23) fixed on the second cantilever frame (3b), and a guide sensor (22) is fixedly mounted on the guide sensor mounting seat (23) and used for detecting whether the guide is smooth or not; the wheel type travelling mechanism is also provided with a photoelectric encoder for recording relative mileage data of the travelling of the detection device; the guide sensor (22) and the photoelectric encoder are respectively electrically connected to the storage battery assembly (12) and are in wireless communication connection with the control system.

Technical Field

The invention relates to the technical field of detection systems of high-speed magnetic levitation track lines, in particular to a self-walking remote control type high-speed magnetic levitation track detection device.

Background

The high-speed magnetic suspension traffic system is essentially a synchronous linear motor system for ground control traction operation, the track of the system is greatly different from that of wheel-rail traffic, and the system mainly comprises a prestressed concrete beam, a connecting piece, a functional piece and a stator with a tooth space structure and segmented splicing. The long stator and the cable laid on the track are long stators of a linear synchronous motor system, and play an important role in the suspension guidance and traction system of the vehicle.

With the development and further market application of a high-speed magnetic suspension traffic system, a batch of overhaul and maintenance equipment is needed for guaranteeing the stability, comfort and safety of the system, but at present, the maintenance devices of vehicles are developed more, and the overhaul and maintenance devices of magnetic suspension track lines are developed less. Along with the increasingly prominent importance of magnetic levitation track line maintenance, it is the current urgent measure to develop corresponding maintenance device.

Although such an important high speed magnetic levitation track is important, there is no simple and convenient device for effectively detecting the high speed magnetic levitation track. The Shanghai high-speed maglev demonstration operation line directly introduces a German track detection system GMS (guide waymonitoring system), the system detects the track long wave irregularity and partial short wave deviation by using a vehicle-mounted measuring method, the detection is realized by using a part of existing suspension, guide control and speed measurement and positioning sensors which are independently installed with an acceleration sensor and a vehicle system, the structure is complex, and the equipment cost is high. In addition, the Shanghai maglev company develops a maglev track inspection vehicle specially for the demonstration line, but the inspection vehicle is huge in vehicle body, and a detection system is carried on the vehicle body and needs to be driven by personnel. Both the two devices are carried systems, and need personnel and vehicles to work on the line, so that the operation is complicated and a large amount of time is occupied.

Therefore, it is a feasible strategy to design a self-walking remote control type high-speed magnetic levitation track detection device.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the device is suitable for high-speed magnetic levitation track detection, can travel under the power of the device, and can realize automatic detection of the track state by personnel through remote control.

In order to solve the technical problems, the invention is realized by the following technical scheme: the utility model provides a high-speed magnetic levitation track detection device of self-walking remote control formula, includes the frame, still includes directly or indirectly installs in the frame:

the wheel type travelling mechanism is used for supporting the rack and driving the rack to travel on the high-speed magnetic suspension track under the driving of the power device;

the power device is connected to a driving source, and a power output end is connected with the wheel type travelling mechanism;

the control system comprises a wireless transmission system, a wireless remote control system, an image monitoring system and an external mobile terminal which are arranged on the frame and are communicated with each other,

the wireless transmission system is used for realizing the network interconnection of all the components in the detection device;

the wireless remote control system is used for receiving wireless remote control signals of the mobile terminal to all the components of the detection device;

an image monitoring system for processing and collecting images and data detected by the detection device;

and the mobile terminal is used for sending signals to realize the wireless remote control of all the components of the detection device and displaying the detected images and data in real time.

Further, the self-walking remote control type high-speed magnetic levitation track detection device further comprises:

the image detection recorder is arranged at the bottom of one side of the rack far away from the power device through a first recorder mounting plate a, is opposite to the long stator arranged on the high-speed magnetic suspension track in a spaced mode, and is used for collecting image information on the surface of the long stator;

the irregularity detection recorder is arranged at the bottom of one side, close to the power device, of the rack through a second recorder mounting plate, is opposite to the long stator arranged on the high-speed magnetic levitation track in a spaced mode, and is used for collecting vertical and guide irregularity data of the surface of the long stator;

the camera, install in the middle part of frame, including preceding camera and backward camera, be used for gathering the real-time image in high-speed magnetic levitation track place ahead and rear respectively.

Furthermore, the rack is made of sectional materials and comprises a cross beam frame, a longitudinal beam frame, a first cantilever frame and a second cantilever frame, wherein the longitudinal beam frame is fixed at one end of the cross beam frame through a second connecting plate and forms a T-shaped rack structure; the first cantilever frame and the second cantilever frame are fixed on two sides of the beam frame through a first connecting plate and a second connecting plate respectively and form a C-shaped rail holding structure; and guide cantilevers are symmetrically arranged on two sides of the longitudinal beam frame.

Further, the guide cantilever is rotatably connected with a rigid guide wheel set; the first cantilever frame is provided with an elastic guide mechanism which can generate elastic deformation towards one side far away from the high-speed magnetic suspension track; the rigid guide wheel set and the elastic guide mechanism are positioned on the same horizontal plane and respectively press the side wall of the high-speed magnetic suspension track from two sides so as to adapt to the change of track gauge and track direction.

Furthermore, the elastic guide mechanism comprises an elastic guide mounting bottom plate which is fixed on the first cantilever frame through a guide mounting rod; the elastic guide mounting bottom plate is connected with the elastic guide mounting top plate through an elastic guide locking assembly; the elastic guide locking assembly is sleeved with a spring at the outer side of the middle section of the elastic guide mounting bottom plate and the elastic guide mounting top plate; and the elastic guide mounting top plate is provided with a guide wheel pair rotating along the traveling direction of the wheel type traveling mechanism, and the outer circle of the guide wheel pair is tightly attached to the side wall of the high-speed magnetic levitation track.

Furthermore, the rigid guide wheel group comprises a rigid guide wheel mounting plate fixed on the guide cantilever, rigid guide wheels rotating along the traveling direction of the wheel type traveling mechanism are symmetrically mounted on the rigid guide wheel mounting plate, and the outer circle of each rigid guide wheel is tightly attached to the side wall of the high-speed magnetic levitation track.

Furthermore, the power device comprises a brushless direct current motor and a motor driver which are fixed on the second connecting plate and electrically connected with each other, a power output shaft of the brushless direct current motor is in power connection with a driving connecting sleeve through a transmission module, and two ends of the driving connecting sleeve are fixedly connected with a driving wheel set.

Further, the driving source is a battery pack.

Furthermore, the self-walking remote control type high-speed magnetic levitation track detection device also comprises a guide sensor mounting seat fixed on the second cantilever frame, and a guide sensor is fixedly mounted on the guide sensor mounting seat and used for detecting whether the guide is smooth or not; the wheel type travelling mechanism is also provided with a photoelectric encoder for recording relative mileage data of the travelling of the detection device; the guide sensor and the photoelectric encoder are respectively and electrically connected to the storage battery assembly and are in wireless communication connection with the control system.

Compared with the prior art, the invention has the advantages that:

the self-walking remote control type high-speed magnetic levitation track detection device provided by the invention is provided with the walking mechanism, the power device, the camera, the detection recorder and the control system, and can independently perform detection work without using an operating vehicle; adopt wireless remote control mode, through mobile terminal remote control and data reading, but the high-speed magnetic levitation orbital situation of short-term test record, collection image and data and show through mobile terminal real-time, avoid personnel's direct online operation, personnel's that can significantly reduce working strength and the security that improves work have important meaning to the maintenance efficiency who promotes high-speed track circuit, guarantee high-speed maglev vehicle operation safety and stability.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

The invention is further described below with reference to the accompanying drawings:

FIG. 1 is a diagram illustrating the overall system configuration of the detecting device of the present invention;

FIG. 2 is an oblique view of the detecting device of the present invention;

FIG. 3 is a side view of the test device of the present invention;

FIG. 4 is a perspective view of the power unit;

FIG. 5 is a perspective view of the elastic guide mechanism;

FIG. 6 is a perspective view of a rigid guide wheel set;

FIG. 7 is a block diagram of the electrical and drive system components;

FIG. 8 is a block diagram of a wireless remote control and image monitoring system;

1-image detection recorder; 2 a-a first recorder mounting plate; 2 b-a second recorder mounting plate; 3 a-a first cantilever frame; 3 b-a second cantilever frame; 4-an elastic guide mechanism; 5-a first connection plate; 6-a first free-standing wheel; 7-a camera; 8-a beam frame; 9-a second free-standing wheel; 10-a support wheel mounting plate; 11-a motor driver; 12-a battery pack; 13-a brushless dc motor; 14-an image monitoring system; 15-longitudinal beam frames; 16-a guide cantilever; 17-a rigid guide wheel set; 18-a second connecting plate; 19-a drive wheel set; 20-a transmission module; 21-irregularity detecting recorder; 22-a guide sensor; 23-a guide sensor mount; 24-a pair of guide wheels; 25-a guide mounting bar; 26-an elastic guide mounting base plate; 27-a spring; 28-elastically guiding and mounting the top plate; 29-a resiliently guided locking assembly; 30-a rigid guide wheel mounting plate; 31-a rigid guide wheel; 32-high speed magnetic levitation track; 33-a long stator; 34-a drive connection sleeve; 35-wireless remote control system.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.