CN106592425B - A kind of railway bridge-checking vehicle and its control method - Google Patents

Abstract

The embodiment of the present invention discloses a railway bridge inspection vehicle and its control method. The railway bridge inspection vehicle includes a vehicle, and the vehicle is provided with a controller, a sensor and a support leg; the support leg includes a first support member, The first support drive unit, the second support and the second support drive unit, the controller is electrically connected to the sensor, the first support drive unit and the second support drive unit, and the sensor is used to detect The working condition environment information of the railway bridge inspection vehicle, the controller is used to control the second support drive unit to drive the second support to engage or disengage from the first support according to the working condition environment information . The supporting leg of the railway bridge inspection car is designed with two supports on the supporting leg for the working conditions of the ballasted track and the ballastless track. The sensor detects the working environment of the railway bridge car inspection, and the controller controls the supporting leg according to the working environment Choose to use the first support or the second support to support on both sides of the rail.

Description

A railway bridge inspection vehicle and its control method

technical field

The invention relates to the technical field of railway bridge inspection vehicles, in particular to a railway bridge inspection vehicle and a control method thereof.

Background technique

Bridges are an important part of railway traffic, creating good conditions for the development of railways in harsh natural environments, but the aging of bridges or defects in design and construction will have a certain impact on traffic safety. In order to ensure the safety and reliability of bridges in long-term use, it is particularly important to carry out regular inspection and maintenance. In order to improve the maintenance efficiency of bridges in railways, railway bridge inspection vehicles are usually used to carry out maintenance on bridges.

Figures 1A and 1B are schematic diagrams of a maintenance scene of a railway bridge inspection vehicle in the prior art. As shown in Figures 1A and 1B, the railway bridge inspection vehicle includes a vehicle 101, and the vehicle 101 is provided with a first working arm 102 connected in sequence , The second working arm 103 and the third working arm 104, the first working arm 102, the second working arm 103 and the third working arm 104 can relatively swing, and the end of the third working arm 104 is provided with a hanging basket 105. During work, the maintenance personnel stand in the hanging basket 105, and the driver of the vehicle 101 sends the maintenance personnel to the corresponding position of the bridge 106 by controlling the swing angles of the first working arm 102, the second working arm 103 and the third working arm 104, In turn, bridge 106 can be overhauled. Wherein, when the bridge 106 is overhauled, in order to improve the stability of the railway bridge inspection vehicle, it is usually necessary to support the railway bridge inspection vehicle on the upper surface of the bridge by means of the supporting legs of the railway bridge inspection vehicle.

In order to stably support the railway bridge inspection car on the upper surface of the bridge, a stable fit relationship needs to be maintained between the support legs of the railway bridge inspection car and the support surface (the surface used to support the support legs of the railway bridge inspection car). But the working condition environment of railway has diversity (such as ballasted track and ballastless track), correspondingly, the supporting surface that is used to support railway bridge inspection vehicle support leg has diversity equally, the railway bridge inspection vehicle in the prior art It cannot meet the needs of diverse working conditions and environments.

Contents of the invention

Embodiments of the present invention provide a railway bridge inspection vehicle and its control method to solve the problem that the railway bridge inspection vehicle in the prior art cannot meet the requirements of diverse working conditions and environments.

In the first aspect, the embodiment of the present invention provides a railway bridge inspection vehicle, which includes a vehicle, and the vehicle is provided with a controller, a sensor and a support leg; the support leg is arranged at the bottom of the vehicle, and the support leg It includes a support leg main body and a first support coaxially arranged with the support leg main body, one end of the first support is connected to the support leg main body through a first support drive unit, and the first support The other end is a tip, and the driving unit of the first support is used to drive the first support to move along the axis of the main body of the support leg;

The first support is provided with a second support assembly, the second support assembly includes a disc-shaped second support and a second support drive unit, and the second support is provided with a The first groove matched with the tip, the second support driving unit is used to drive the second support to engage with or disengage from the first support;

Wherein, when the second support member is fastened with the first support member, the tip is inserted into the first groove, and the plane where the second support member is located is in line with the axis of the main body of the support leg vertical;

The controller is electrically connected to the sensor, the first support drive unit and the second support drive unit, the sensor is used to detect the working condition environment information of the railway bridge inspection car, and the controller is used to The working condition environment information controls the driving unit of the second support to drive the second support to engage with or disengage from the first support.

Preferably, the sensor includes an image acquisition unit configured to acquire image information of a bridge surface corresponding to the bottom of the vehicle;

The controller is used to analyze the image information to determine the working condition environment of the railway bridge inspection vehicle.

Preferably, the sensor includes a first laser range finder and a second laser range finder, the first laser range finder and the second laser range finder are arranged at the bottom of the vehicle, on the The outer side of the track wheel, and the line connecting the first laser range finder and the second laser range finder is perpendicular to the direction of travel of the vehicle;

The first laser rangefinder and the second laser rangefinder are used to emit a laser beam in a direction away from the vehicle, and the laser beam is perpendicular to the plane where the bottom of the vehicle is located;

The controller is used to analyze the distance information collected by the first laser range finder and the second laser range finder, and determine the working condition environment of the railway bridge vehicle inspection.

Preferably, the controller is configured to analyze the distance information collected by the first laser range finder and the second laser range finder, and determine the working condition environment of the railway bridge vehicle inspection, specifically including:

The controller is used to calculate the difference between the distance information collected by the first laser range finder and the second laser range finder;

When the difference is greater than the preset first threshold and smaller than the preset second threshold, it is determined that the working environment of the railway bridge inspection vehicle is a ballasted track;

When the difference is less than or equal to a preset first threshold, or greater than or equal to a preset second threshold, it is determined that the working environment of the railway bridge inspection is a ballastless track.

Preferably, the second support assembly further includes a connecting rod, one end of the connecting rod is connected to the driving unit of the second support, the other end of the connecting rod is connected to the second support, and the The axis of the connecting rod is perpendicular to the plane where the first support member is located;

The second support member driving unit is used to drive the connecting rod to drive the second support member to swing along the first rotating shaft, and the first rotating shaft is perpendicular to the axis of the main body of the supporting leg;

Wherein, at the first limit position of the swing, the axis of the connecting rod is parallel to the axis of the main body of the supporting leg, and at the second limit position of the swing, the axis of the connecting rod is parallel to the axis of the supporting leg The axes of the bodies are perpendicular to each other.

Preferably, the connecting rod includes a connecting rod driving unit, and the connecting rod driving unit is used to drive the connecting rod to extend or shorten.

Preferably, the second support is in the shape of "Ω", and the opening of the second support is an elastic member.

Preferably, a claw assembly is provided inside the first support, and the claw assembly includes a claw drive unit and a claw, and a through hole matching the claw is provided on the side wall of the tip;

The claw driving unit is used to drive the claw to extend out of the through hole, or to shrink inside the through hole.

Preferably, the number of the claws and the through holes is 3 or more.

In the second aspect, the embodiment of the present invention provides a control method for railway bridge inspection vehicle, which is applied to the railway bridge inspection vehicle described in the first aspect above, and the method includes:

When the sensor detects that the working condition environment information of the railway bridge inspection vehicle is a ballasted track, the controller sends a first work instruction to the first support drive unit, and the first work instruction is used to instructing the first support drive unit to drive the tip of the first support into the ballast of the ballasted track;

When the sensor detects that the working condition environment information of the railway bridge inspection vehicle is a ballastless track, the controller sends a second work instruction to the second support drive unit, and the second work instruction is used to Instructing the driving unit of the second support to drive the second support to engage with the first support.

Preferably, after the second support driving unit drives the second support to engage with the first support, it further includes:

The controller sends a third work instruction to the first support driving unit, the third work instruction is used to instruct the first support driving unit to drive the first support to drive the second support Extending until the second supporting member abuts against the upper surface of the rectangular base plate or the rectangular track plate on both sides of the rail of the ballastless track.

Preferably, after the tip of the first support member extends into the ballast of the ballasted track, it further includes:

The controller sends a fourth working instruction to the claw driving unit, and the fourth working instruction is used to instruct the claw driving unit to drive the claw to protrude from the through hole.

It can be seen from the above technical solutions that the railway bridge inspection vehicle support leg provided by the embodiment of the present invention is designed with two supports (the first support and the second support) on the support legs for the working conditions of the ballasted track and the ballastless track. ), during the working process, the sensor detects the working condition environment of the railway bridge inspection car, and the controller controls the supporting legs according to the working condition environment to choose to use the first support member or the second support member to support on both sides of the rail, so that the railway bridge inspection vehicle The car can be applied to a variety of working conditions.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings on the premise of not paying creative work.

Figure 1A and Figure 1B are schematic diagrams of a maintenance scene of a railway bridge inspection vehicle in the prior art;

Fig. 2A is a schematic diagram of a working environment of a ballasted track provided by an embodiment of the present invention;

Fig. 2B is a schematic diagram of a working environment of a ballastless track provided by an embodiment of the present invention;

Fig. 2C is a schematic diagram of a distance measurement of a laser range finder in a working environment of a ballasted track provided by an embodiment of the present invention;

Fig. 2D is a schematic diagram of distance measurement of a laser range finder in the working environment of ballastless track provided by the embodiment of the present invention;

Fig. 2E is a schematic diagram of distance measurement of another laser range finder in the working environment of ballastless track provided by the embodiment of the present invention;

3A-3E are schematic diagrams of the support leg structure of a railway bridge inspection vehicle provided by an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a second support provided by an embodiment of the present invention;

Figure 5A and Figure 5B are schematic diagrams of the structure of another railway bridge inspection car support leg provided by the embodiment of the present invention;

Fig. 6 is a schematic structural view of a claw provided by an embodiment of the present invention;

7A and 7B are schematic structural views of a first support provided by an embodiment of the present invention;

The symbols in the figure are represented as: 101-vehicle, 102-first working arm, 103-second working arm, 104-third working arm, 105-hanging basket, 106-bridge, 201-rail, 202-trapezoidal track bed, 203-first support surface, 204-rectangular track plate, 205-second support surface, 206-rectangular base plate, 207-vehicle, 208-first laser range finder, 209-second laser range finder, 210- Rail wheel, 301-support leg main body, 302-first support member, 303-first support member drive unit, 304-second support member, 305-second support member drive unit, 306-connecting rod, 307-first Groove, 308-tip, 401-claw, 402-claw drive unit, 403-through hole.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

Because in the actual working process, the railway bridge inspection vehicle always walks along the steel rails, so the supporting legs of the railway bridge inspection vehicle can only be supported on both sides of the steel rails. Among them, when the railway bridge inspection vehicle is fixed by means of supporting legs, the stability of the supporting legs is affected by the working conditions on both sides of the rail. The working conditions and environments that may be involved in the embodiments of the present invention will first be described below.

Fig. 2A is a schematic diagram of a working condition environment of a ballasted track provided by an embodiment of the present invention. As shown in Fig. 2A, the bottom of the rail 201 is a trapezoidal ballast bed 202 (the cross section perpendicular to the extension direction of the rail is trapezoidal), and the trapezoidal ballast bed 202 Usually formed by accumulation of ballast. Because in the working environment of ballasted track, the two sides of the rail 201 are the inclined surfaces of the trapezoidal ballast bed 202, and the railway bridge inspection vehicle is often operated on the bridge, which is often limited by the space of the bridge deck, and it is impossible to move the supporting legs away from the vehicle body. Therefore, when the railway bridge inspection car is fixed by means of supporting legs, the supporting legs can only be fixed on the inclined surface of the trapezoidal ballast bed 202 (hereinafter referred to as "the first supporting surface 203").

Figure 2B is a schematic view of the working environment of a ballastless track provided by the embodiment of the present invention. As shown in Figure 2B, the bottom of the rail 201 is followed by a rectangular track plate 204 and a rectangular base plate 206 (cross-section perpendicular to the extending direction of the rail is a rectangle), the rectangular track plate 204 and the rectangular base plate 206 are usually a complete cement plate respectively, wherein the rectangular base plate 206 is longer than the rectangular track plate 204 in the direction perpendicular to the extension of the rail. Because in the working environment of the ballastless track, the two sides of the rail 201 are the two ends of the rectangular track plate 204 and the rectangular base plate 206, and the upper surfaces of the two ends of the rectangular track plate 204 and the rectangular base plate 206 are horizontal planes, and the railway bridge When the inspection vehicle works on the bridge, it is often limited by the space of the bridge deck, and it is impossible to extend the supporting legs for a long distance away from the car body. Therefore, when the railway bridge inspection vehicle is fixed with the support legs, the support legs are fixed on the rail 201 On the upper surface of the rectangular track plate 204 or the rectangular base plate 206 on both sides (hereinafter simply referred to as “second support surface 205 ”).

In a preferred solution, the supporting legs are fixed on the rectangular base plate 206 on both sides of the rail 201 .

As shown in Figures 2A and 2B, in the working environment of ballasted track and ballastless track, there is a large gap between the first support surface 203 and the second support surface 205 for supporting the support legs of the railway bridge inspection vehicle. From the perspective of shape, the first support surface 203 is an inclined surface, and the second support surface 205 is a horizontal plane; from the perspective of composition, the first support surface 203 is a loose surface piled up by ballast, and the second support surface 205 is integrally formed. surface.

If the bottom of the railway bridge inspection vehicle support leg (hereinafter referred to as "support leg") is designed as a plane structure, since the second support surface 205 is a horizontal plane, the support leg can be stably supported on the second support surface 205 . However, since the first supporting surface 203 is an inclined surface and is a loose surface accumulated by ballast, it is obvious that the supporting leg cannot be stably supported on the first supporting surface 203 . That is to say, the support leg whose bottom is designed as a planar structure can only be applied to the working environment of the ballastless track, and is not suitable for the working environment of the ballasted track.

If the end of the support leg is designed to be tapered, since the first support surface 203 is a loose surface piled up by ballast, the support leg can be embedded in the inside of the first support surface 203 until the level ground. get a stable support. However, due to the integrated surface of the second support surface 205, the support leg cannot be embedded in the second support surface 205, and the contact area between the tapered structure and the second support surface 205 is small, causing the support leg to be in the second support surface 205. Stable support cannot be obtained on the support surface 205 . That is to say, the support leg whose bottom is designed as a tapered structure can only be applied to the working environment of the ballasted track, and is not suitable for the working environment of the ballastless track.

In view of this phenomenon, an embodiment of the present invention provides a railway bridge inspection vehicle applicable to various working conditions and environments. The railway bridge inspection vehicle includes a vehicle, and the bottom of the vehicle is provided with supporting legs. In a preferred solution, the number of supporting legs is four, which are respectively arranged at four corners of the bottom of the vehicle. Wherein, the supporting leg includes a supporting leg main body 301 and a first supporting member 302 coaxially arranged with the supporting leg main body 301, and one end of the first supporting member 302 is connected to the supporting member through a first supporting member driving unit 303. The leg bodies 301 are connected, the other end of the first support member 302 is a tip 308, and the first support member drive unit 303 is used to drive the first support member 302 to move along the axis direction of the support leg body 301; The first support 302 is provided with a second support 304 assembly, the second support 304 assembly includes a disc-shaped second support 304 and a second support drive unit 305, the second support 304 is provided with a first groove 307 matching the tip 308, and the second support member driving unit 305 is used to drive the second support member 304 to engage or disengage from the first support member 302; wherein , when the second support 304 is engaged with the first support 302, the tip 308 is embedded in the first groove 307, and the plane where the second support 304 is located is in line with the support The axis of the leg body 301 is vertical.

That is to say, the supporting legs provided by the embodiment of the present invention are respectively designed with two support members (the first support member 302 and the second support member 304) for the working conditions of the ballasted track and the ballastless track. During the working process, Depending on the actual working conditions, the first supporting member 302 or the second supporting member 304 can be used to support both sides of the rail, so that the supporting legs can be used in various working conditions.

In addition, in order to improve the automation degree of the railway bridge inspection vehicle, a controller and sensors are also provided on the vehicle 207, and the sensor is used to detect the working condition environment information of the railway bridge inspection vehicle, and send the detected working condition environment information to the controller The controller controls the second support member driving unit 305 to drive the second support member 304 to engage with or disengage from the first support member 302 according to the working condition environment information. For example, when the working condition environment information corresponds to a ballasted track, the controller controls the second support member drive unit 305 to drive the second support member 304 away from the first support member 302, so that the support legs can use the first support The component 302 is supported on both sides of the rail 201; when the working condition environment information corresponds to the ballastless track, the controller controls the second support component drive unit 305 to drive the second support component 304 to buckle the first support component 302 , make the supporting legs supported on both sides of the steel rail 201 by using the second supporting member 304 .

That is to say, in the embodiment of the present invention, the railway bridge inspection vehicle has the recognition function of the working condition environment, and the railway bridge inspection vehicle can independently choose to use the first support member 302 or the second support member 304 to support on the rail according to the identified working condition environment. 201 on both sides to increase its degree of automation. Among them, the identification of the working condition environment can be realized in the following two ways.

In a first possible implementation manner, the sensor includes an image acquisition unit configured to acquire image information of a bridge surface corresponding to the bottom of the vehicle 207 and send the image information to the controller. Afterwards, the controller analyzes the image information, and determines that the working environment of the railway bridge inspection vehicle is a ballasted track or a ballastless track. Specifically, it may include comparing the image information with the standard images of ballasted track or ballastless track stored in the database, and if the similarity between the image information and the standard image of ballasted track is relatively high, determine the working condition environment It is a ballasted track; otherwise, it is determined that the working environment is a ballastless track.

In a second possible implementation, the distance between the bottom of the vehicle 207 and the trapezoidal track bed 202 of the ballasted track, or the rectangular track plate 204 or the rectangular base plate 206 of the ballastless track is detected by means of a laser rangefinder, and according to The distance difference detected by the two detection points perpendicular to the traveling direction of the vehicle 207 determines the working condition environment of the railway bridge inspection vehicle.

Specifically, the sensor includes a first laser range finder 208 and a second laser range finder 209, and the first laser range finder 208 and the second laser range finder 209 are arranged at the bottom of the vehicle 207 , the outside of the track wheel 210 of the vehicle 207, and the line connecting the first laser rangefinder 208 and the second laser rangefinder 209 is perpendicular to the direction of travel of the vehicle 207; the first laser The rangefinder 208 and the second laser rangefinder 209 are used to emit a laser beam in a direction away from the vehicle 207 , and the laser beam is perpendicular to the plane where the bottom of the vehicle 207 is located. In order to achieve a better detection effect, a small distance should be kept between the first laser range finder 208 and the second laser range finder 209 . In an optional embodiment, the distance between the first laser range finder 208 and the second laser range finder 209 is less than or equal to 10 cm.

The variation of the distance information collected by the first laser range finder 208 and the second laser range finder 209 under different working conditions will be analyzed below in conjunction with FIGS. 2C-2E .

Figure 2C is a schematic diagram of a laser range finder in a ballasted track working environment provided by an embodiment of the present invention. As shown in Figure 2C, the first laser range finder 208 and the second laser range finder 209 Detect the vertical distance between it and the inclined surface of the trapezoidal ballast bed 202 respectively. It is easy to understand that in this working environment, there must be a certain difference in the distance information collected by the first laser range finder 208 and the second laser range finder 209, because the first laser range finder 208 and the second laser range finder The lateral distance from meter 209 is small so this difference will not be large.

Figure 2D is a schematic diagram of a laser range finder in the working environment of a ballastless track provided by an embodiment of the present invention. As shown in Figure 2D, the first laser range finder 208 and the second laser range finder 209 Both detect the vertical distance between them and the upper surface of the rectangular track plate 204 . It is easy to understand that in this working environment, the distance information collected by the first laser range finder 208 and the second laser range finder 209 are equal, that is, the distance information difference is 0.

Correspondingly, when both the first laser range finder 208 and the second laser range finder 209 detect the vertical distance between them and the upper surface of the rectangular base plate 206, similar to the working environment shown in FIG. 2D , the second The distance information collected by the first laser range finder 208 and the second laser range finder 209 are equal, that is, the distance information difference is 0.

Fig. 2E is a schematic diagram of distance measurement of another laser rangefinder in the working environment of ballastless track provided by the embodiment of the present invention. As shown in Fig. 2E, the first laser rangefinder 208 detects its contact with the rectangular base plate 206 The vertical distance between the upper surface of the second laser range finder 209 detects the vertical distance between it and the upper surface of the rectangular track plate 204 . Since there is a thickness difference of a rectangular track plate 204 between the two, under this working condition, the difference in distance information collected by the first laser range finder 208 and the second laser range finder 209 is relatively large.

To sum up, when the distance information collected by the first laser range finder 208 and the second laser range finder 209 has a difference of 0 or greater, it can be determined that the working conditions of the railway bridge vehicle inspection are all ballastless tracks; Otherwise, it is determined that the working environment of the railway bridge inspection vehicle is the ballasted track.

Based on this principle, in the embodiment of the present invention, the controller's determination of the working condition environment of the railway bridge vehicle inspection specifically includes: the controller is used to calculate the first laser range finder 208 and the second laser range finder 209 to collect The difference of the distance information; when the difference is greater than the preset first threshold and less than the preset second threshold, it is determined that the working condition environment of the railway bridge inspection vehicle is a ballasted track; when the difference When it is less than or equal to the preset first threshold, or greater than or equal to the preset second threshold, it is determined that the working condition environment of the railway bridge vehicle inspection is a ballastless track. Wherein, the first threshold may be 0. 3A-3E are schematic diagrams of the structure of a railway bridge inspection support leg provided by an embodiment of the present invention, wherein FIG. 3A is a schematic diagram of a state where the first support 302 and the second support 304 are separated, and FIG. 3D is a schematic diagram of the first support 302. A schematic diagram of the state of buckling with the second support member 304 .

As shown in FIGS. 3A-3E , the supporting leg of the railway bridge inspection vehicle provided by the embodiment of the present invention includes a supporting leg main body 301 and a first supporting member 302 coaxially arranged with the supporting leg main body 301 , and the first supporting member 302 One end of the first support member 302 is connected to the main body of the support leg 301 through the first support member driving unit 303, the other end of the first support member 302 is a tip 308, and the first support member drive unit 303 is used to drive the first support member The member 302 moves along the axis direction of the main body 301 of the supporting leg.

Wherein, the supporting leg main body 301 is used to be connected to the bottom of the railway bridge inspection vehicle, and the first supporting member 302 is used to be supported on the first supporting surface 203 of the ballasted track. Specifically, when the working environment of the railway bridge inspection vehicle is a ballasted track, the first support member 302 is driven to move toward the first support surface 203 by the first support member driving unit 303 . Since the end of the first support 302 close to the first support surface 203 is a tip 308, and the first support surface 203 is a loose surface piled by ballast, under the action of the first support drive unit 303, the first The supporting member 302 is embedded in the first supporting surface 203 (ballast) until the ground, so that the supporting legs can be stably supported in the working environment of the ballasted track.

In addition, in order to enable the supporting legs to be stably supported in the working environment of the ballastless track, a second supporting member 304 assembly is also provided on the first supporting member 302, and the second supporting member 304 assembly includes a disc-shaped The second support 304, the second support 304 is provided with the first groove 307 matching the tip 308, in the working environment of the ballastless track, the first support 302 and the second support 304 buckle Together, the tip 308 of the first support 302 is inserted into the first groove 307 of the second support 304 . In this case, when the support leg is supported on the second support surface 205 (the upper surface of the rectangular track plate 204 or the rectangular base plate 206 on both sides of the rail 201), the second support member 304 is directly connected to the second support surface 205. touch. Since the bottom of the second support member 304 is a plane, and the second support surface 205 is a horizontal plane, there is a larger contact area between the second support member 304 and the second support surface 205, thereby enabling the support legs to move on the ballastless track. Stable support in the working environment.

Among them, in order to make the supporting legs switch flexibly in the working environment of the ballasted track and the ballastless track, it is necessary to provide a driving unit for the second support 304, so that the second support 304 can be flexibly engaged with or disengaged from the first Support 302 .

Based on this, the second support member 304 assembly provided in the embodiment of the present invention further includes a connecting rod 306 and a second support member driving unit 305, one end of the connecting rod 306 is connected with the second support member driving unit 305, the The other end of the connecting rod 306 is connected to the second support member 304, and the axis of the connecting rod 306 is perpendicular to the plane where the first support member 302 is located, and the second support member driving unit 305 is used to drive the The connecting rod 306 drives the second supporting member 304 to swing along the first rotating shaft, and the first rotating shaft is perpendicular to the axis of the supporting leg main body 301 .

Wherein, the positional relationship of the second support member driving unit 305, the connecting rod 306, the second support member 304 and the first support member 302 is configured as follows: when the second support member driving unit 305 drives the second support member 304 to swing to At the first limit position, the axis of the connecting rod 306 is parallel to the axis of the supporting leg body 301; when the second support member driving unit 305 drives the second support member 304 to swing to the second limit position, the link The axis of the rod 306 is perpendicular to the axis of the supporting leg body 301 .

It is easy to understand that when the second support 304 swings to the first extreme position (as shown in Figure 3D), the first support 302 and the second support 304 are snapped together, which is suitable for ballastless track; when the second support When the member 304 swings to the second extreme position (as shown in FIG. 3A ), the first supporting member 302 and the second supporting member 304 are disengaged, which is suitable for ballasted track.

However, when the second support member 304 swings from the second limit position to the first limit position or from the first limit position to the second limit position, it will interfere with the first support member 302, as shown in FIG. 3E , causing the first supporting member 302 and the second supporting member 304 to fail to engage or disengage normally.

To solve this problem, in the embodiment of the present invention, the connecting rod 306 is further provided with a connecting rod 306 driving unit for driving the connecting rod 306 to extend or shorten. Correspondingly, before the second support member 304 swings from the second limit position to the first limit position, the connecting rod 306 is driven by the drive unit of the connecting rod 306 to extend, as shown in FIG. 3B , at this time, the second support member 304 In the process of swinging from the second limit position to the first limit position or from the first limit position to the second limit position, the second support member 304 and the first support member 302 will not interfere, as shown in FIG. 3C . Afterwards, the driving unit of the connecting rod 306 drives the connecting rod 306 to shrink until the tip 308 of the first support 302 is embedded in the first groove 307 of the second support 304, as shown in FIG. The fastening of the two supports 304 .

On the contrary, when the first support member 302 and the second support member 304 need to be disengaged, the connecting rod 306 is first driven by the connecting rod 306 to extend to the position shown in FIG. 3C ; then the second support member drives the unit 305 Drive the second support member 304 to swing from the first limit position to the second limit position, reaching the position shown in Figure 3B; finally, the connecting rod 306 is driven by the driving unit to shrink the connecting rod 306, reaching the position shown in Figure 3A, realizing the second Detachment of the first support 302 and the second support 304 .

Although the above method can realize the snap-in and disengagement of the first support member 302 and the second support member 304, since the first support member 302 and the second support member 304 need to be driven by the drive unit of the connecting rod 306 when switching between the two states The elongation of the connecting rod 306 requires a large space for the transition between the two states. However, in some specific environments for bridge maintenance, the space is limited, and the corresponding space cannot be provided for the elongation of the connecting rod 306, resulting in the first support member 302 and the second supporting member 304 cannot be switched between snap-in and disengagement states. At this time, the driver can only drive the railway bridge inspection vehicle to an open environment for state conversion, and then drive the railway bridge inspection vehicle to the original position, resulting in low maintenance efficiency.

In response to this phenomenon, in another possible implementation of the present invention, the second support 304 is designed as an "Ω" shape (as shown in FIG. 4 ), and the opening of the second support 304 is an elastic member , and its working principle will be described below in conjunction with FIG. 5A and FIG. 5B .

Fig. 5A and Fig. 5B are schematic diagrams of the structure of another railway bridge inspection car support leg provided by the embodiment of the present invention. The structure of the embodiment of the present invention is basically similar to the embodiment shown in Fig. In the embodiment of the present invention, the second supporting member 304 adopts the structure shown in FIG. 4 .

When the second support member driving unit 305 drives the second support member 304 to swing to the position shown in FIG. 5A, the first support member 302 and the second support member 304 interfere, but because the opening of the second support member 304 is elastic part, so that the second support member driving unit 305 can drive the second support member 304 to continue to swing, during which the tip 308 of the first support member 302 can squeeze through the opening of the second support member 304, and then enter the second support member 304 In the groove, the first supporting member 302 and the second supporting member 304 are snapped together to reach the position shown in FIG. 5B . On the contrary, the detachment process of the first support member 302 and the second support member 304 is similar to the above working principle, and will not be repeated here.

In the embodiment of the present invention, since the first support member 302 and the second support member 304 are fastened or disengaged, the connecting rod 306 does not need to be stretched or retracted, so the conversion space required is small.

In general, in the embodiment shown in FIGS. 3A-3E , since the second support 304 is of a rigid structure, in order to avoid interference during the fastening or disengagement of the first support 302 and the second support 304 , a connecting rod 306 driving unit is arranged in the connecting rod 306, and the driving connecting rod 306 expands and contracts. In the embodiment shown in FIG. 5A and FIG. 5B, since the second support member 304 is in the shape of “Ω” and the opening of the second support member 304 is an elastic member, even if the first support member 302 and the second support member 304 In case of interference, the tip 308 of the first support 302 can still squeeze through the opening of the second support 304 , so that the first support 302 and the second support 304 snap together.

In a preferred embodiment of the present invention, a claw assembly is provided inside the first support member 302, and the claw assembly includes a claw drive unit 402 and a claw 401, and the side wall of the tip 308 is provided with The through hole 403 matched with the claw 401 ; the claw driving unit 402 is used to drive the claw 401 to extend out of the through hole 403 , or shrink inside the through hole 403 .

Figure 6 is a schematic structural view of a sharp claw provided by an embodiment of the present invention. As shown in Figure 6, in the embodiment of the present invention, the number of sharp claws 401 is three, and correspondingly, the sharp claw 401 on the tip 308 is The number of matched through holes 403 should also be three. Of course, those skilled in the art can design other numbers of claws 401 and through holes 403 according to actual needs, such as 5, 6 or 8, etc., which should fall within the protection scope of the present invention.

FIG. 7A and FIG. 7B are schematic structural views of a first support provided by an embodiment of the present invention. As shown in FIG. 7A , under normal conditions, the claw 401 shrinks inside the through hole 403 . After the first support member driving unit 303 drives the first support member 302 to insert into the ballast, the claw drive unit 402 drives the claw 401 to extend out of the through hole 403, as shown in FIG. Improve the grip force of the first support member 302, that is, improve the stability of the supporting feet. On the contrary, when the first support leg needs to be retracted, firstly, the claw driving unit 402 drives the claw 401 to shrink into the through hole 403, and then the first support member driving unit 303 drives the first support member 302 to retract from the ballast.

On the basis of the above-mentioned device embodiment, the embodiment of the present invention also provides a control method for railway bridge inspection vehicle, the method is applied to the railway bridge inspection vehicle described in the above-mentioned device embodiment, and the method includes:

When the sensor detects that the working condition environment information of the railway bridge inspection vehicle is a ballasted track, the controller sends a first work instruction to the first support drive unit 303, and the first work instruction uses Instructing the first support member driving unit 303 to drive the tip 308 of the first support member 302 into the ballast of the ballasted track;

When the sensor detects that the working environment of the railway bridge inspection vehicle is a ballastless track, the controller sends a second work instruction to the second support drive unit 305, and the second work instruction is used to Instruct the second support member driving unit 305 to drive the second support member 304 to engage with the first support member 304 .

Preferably, after the second support member driving unit 305 drives the second support member 304 to engage with the first support member 304, it further includes:

The controller sends a third work instruction to the first support member driving unit 303, the third work instruction is used to instruct the first support member drive unit 303 to drive the first support member 302 to drive the first support member 302. The second supporting member 304 extends until the second supporting member 304 abuts against the upper surface of the rectangular base plate or the rectangular track plate on both sides of the rail of the ballastless track.

Preferably, after the tip 308 of the first support member 302 extends into the ballast of the ballasted track, it further includes: the controller sends a fourth work instruction to the claw drive unit 402, the The fourth working instruction is used to instruct the claw driving unit 402 to drive the claw 401 to extend out of the through hole 403 .

The contents of the method embodiment and the device embodiment can be referred to each other, and for the sake of concise description, details are not repeated here.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only specific embodiments of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. a kind of railway bridge-checking vehicle, including vehicle, the vehicle is equipped with controller, sensor and support leg, the support leg It is arranged on the bottom of the vehicle, which is characterized in that

First supporting item of the support leg including support leg main body and with support leg main body coaxial arrangement, described first One end of support member is connected by the first supporting item driving unit with the support leg main body, and the other end of first supporting item is Tip, the first supporting item driving unit are used to that first supporting item to be driven to transport along the axis direction of the support leg main body It is dynamic；

First supporting item is equipped with the second support body assembly, and second support body assembly includes the second discoid support Part and the second supporting item driving unit, second supporting item are equipped with the first groove for matching with the tip, and described the Two supporting item driving units are used to that second supporting item to be driven to fasten or depart from first supporting item；

Wherein, when second supporting item and first supporting item fasten, the tip is embedded in first groove, and Plane where second supporting item is vertical with the axis of the support leg main body；

The controller is electrically connected with the sensor, the first supporting item driving unit and the second supporting item driving unit, described Sensor is used to detect the work condition environment information of the railway bridge-checking vehicle, and the controller is used for according to the work condition environment information Control the second supporting item driving unit that second supporting item is driven to fasten or depart from first supporting item.

2. railway bridge-checking vehicle according to claim 1, which is characterized in that the sensor includes image acquisition units, institute State image acquisition units for gather and the corresponding bridge surface of the vehicle bottom image information；

The controller determines the work condition environment of the railway bridge-checking vehicle for analyzing described image information.

3. railway bridge-checking vehicle according to claim 1, which is characterized in that the sensor include first laser rangefinder and Second laser rangefinder, the first laser rangefinder and the second laser rangefinder are arranged on the bottom of the vehicle, institute On the outside of the rail wheel for stating vehicle, and the line of the first laser rangefinder and the second laser rangefinder is perpendicular to the vehicle Direct of travel；

The first laser rangefinder and the second laser rangefinder are used to emit laser beam towards away from the direction of the vehicle, The laser beam is perpendicular to the plane where the bottom of the vehicle；

The controller is used to carry out the range information that the first laser rangefinder and the second laser rangefinder gather Analysis determines the work condition environment of the railway bridge-checking vehicle.

4. railway bridge-checking vehicle according to claim 3, which is characterized in that the controller is used to survey the first laser Distance meter and the range information of second laser rangefinder acquisition are analyzed, and determine the work condition environment of the railway bridge-checking vehicle, It specifically includes：

The controller is used to calculate the range information of the first laser rangefinder and second laser rangefinder acquisition Difference；

When the difference is more than default first threshold and is less than default second threshold, the work of the railway bridge-checking vehicle is determined Condition environment is Ballast track；

When the difference is less than or equal to default first threshold or more than or equal to default second threshold, institute is determined The work condition environment for stating railway bridge-checking vehicle is non-fragment orbit.

5. railway bridge-checking vehicle according to claim 1, which is characterized in that second support body assembly further includes connecting rod, One end of the connecting rod is connected with the second supporting item driving unit, the other end of the connecting rod and the second supporting item phase Even, and the axis of the connecting rod is vertical with the plane where first supporting item；

The second supporting item driving unit is for driving the connecting rod that second supporting item is driven to be swung along first rotating shaft, institute The axis for stating first rotating shaft and the support leg main body is mutually perpendicular to；

Wherein, in the first extreme position of the swing, the axis of the connecting rod and the axis of the support leg main body are mutually flat Row, in the second extreme position of the swing, the axis of the connecting rod and the axis of the support leg main body are mutually perpendicular to.

6. railway bridge-checking vehicle according to claim 5, which is characterized in that the connecting rod includes connecting rod driving unit, described Controller is used to control the connecting rod driving unit that the connecting rod is driven to elongate or shorten.

7. railway bridge-checking vehicle according to claim 5, which is characterized in that second supporting item is " Ω " shape, described the The opening of two supporting items is elastic component.

8. according to claim 1-7 any one of them railway bridge-checking vehicles, which is characterized in that be equipped with point in first supporting item Claw assembly, the point pawls component include point pawls driving unit and point pawls, and the side wall at the tip is equipped with and the point pawls phase The through hole matched somebody with somebody；

The controller is electrically connected with the point pawls driving unit, and the controller is used to that the point pawls driving unit to be controlled to drive The point pawls are stretched out the through hole or are contracted in inside the through hole.

9. a kind of control method of railway bridge-checking vehicle, which is characterized in that applied to claim 1-8 any one of them railway bridges Vehicle is examined, the described method includes：

When it is Ballast track that the sensor, which detects the work condition environment information of the railway bridge-checking vehicle, the controller is to institute It states the first supporting item driving unit and sends the first work order, first work order is used to indicate first supporting item and drives Moving cell drives the tip of first supporting item to stretch into the railway ballast of the Ballast track；

When it is non-fragment orbit that the sensor, which detects the work condition environment information of the railway bridge-checking vehicle, the controller is to institute It states the second supporting item driving unit and sends the second work order, second work order is used to indicate second supporting item and drives Moving cell drives second supporting item to be fastened with first supporting item.