CN115649210A - Intelligent roof train inspection system of hydrogen energy rail vehicle - Google Patents

Abstract

The application discloses intelligent roof train inspection system of hydrogen energy rail vehicle. This roof train inspection system includes: a running track; the intelligent robot is configured to walk on the walking track; the steering mechanism is used for realizing the switching of connection among different running rails; the intelligent robot comprises a suspension bracket, a walking wheel fixedly connected to the suspension bracket, a mechanical arm assembly fixedly connected to the suspension bracket, a camera and a hydrogen detector which are arranged on the mechanical arm assembly. According to the technical scheme, the special walking track is arranged, the intelligent train inspection robot walks on the special walking track, the intelligent robot is provided with the mechanical arm assembly with multiple degrees of freedom, the camera and the hydrogen detector which are installed on the mechanical arm assembly are utilized, the hydrogen-related equipment and other roof equipment are inspected, and the purposes of reducing labor intensity and improving inspection efficiency and effect are achieved.

Description

Intelligent roof train inspection system of hydrogen energy rail vehicle

Technical Field

The application relates to the technical field of urban rail transit vehicle maintenance, in particular to an intelligent roof train inspection system for a hydrogen energy rail vehicle.

Background

The hydrogen energy is used as an environment-friendly, clean and efficient energy, and the hydrogen energy rail vehicle is used as a clean energy urban rail transit vehicle, has a wide application market, and is an important direction for responding to the national double-carbon development strategy and greening development direction. However, hydrogen is flammable and explosive, and the safety of the hydrogen energy rail vehicle must be ensured. In order to ensure the safe operation of the vehicle, the vehicle needs to be periodically maintained and overhauled during its entire life cycle. Train inspection, which is the most frequent inspection work for vehicle inspection and maintenance, needs to be completed quickly in a short time, especially for inspection of hydrogen-related equipment such as a hydrogen storage tank and a fuel cell mounted on the roof of a vehicle.

The hydrogen fuel cell and the hydrogen storage tank of the hydrogen energy rail vehicle are arranged on the roof, key components such as a vehicle air conditioner and a high-pressure tank are also arranged on the roof, and the inspection of roof equipment is important content of train inspection work of the vehicle. The roof structure of the vehicle is complex, the number of parts is large, and the existing roof inspection mode of the hydrogen energy railway vehicle is mainly manual inspection. Generally, after eliminating static electricity, a maintainer gets on the car roof, and inspects and maintains equipment on the car roof by using a column inspection tool such as a flashlight and a wrench, and the method has the problems of low efficiency, high possibility of error and leakage, high safety risk and the like. With the rapid development of rail transit, the overhauling workload and the labor cost are increased day by day, the manual inspection is difficult to meet the requirements of high quality, high efficiency and high safety, and a technology or related equipment capable of flexibly, rapidly, high-quality and efficiently inspecting the roof of the hydrogen energy rail vehicle is urgently needed.

Disclosure of Invention

In view of this, the application provides a hydrogen energy rail vehicle intelligent roof train inspection system, can realize improving the purpose of patrolling and examining efficiency and effect.

The application provides a hydrogen energy rail vehicle intelligent roof train inspection system, includes:

a running rail;

an intelligent robot configured to walk on the walking track;

the steering mechanism is used for communicating the connection switching among different walking tracks;

the intelligent robot comprises a suspension bracket, a walking wheel fixedly connected with the suspension bracket, a mechanical arm assembly fixedly connected with the suspension bracket, a camera and a hydrogen detector mounted on the mechanical arm assembly, wherein the walking wheel is used for supporting and rolling in the walking track.

Optionally, the intelligent robot further comprises a guide wheel fixedly connected to the suspension bracket, and the guide wheel is used for guiding the walking of the walking wheel.

Optionally, the mechanical arm assembly is fixedly connected with the suspension bracket through a vehicle body, a control main board and a storage battery are arranged in the vehicle body, and a touch screen electrically connected with the control main board is arranged on the outer surface of the vehicle body.

Optionally, a cooling fan is mounted on the vehicle body.

Optionally, the steering mechanism includes a steering traveling rail and a rail steering motor, the steering traveling rail can be butted with the traveling rail, and the rail steering motor is used for driving the steering traveling rail to rotate, so that the steering traveling rail is switched to be connected with different traveling rails of the steering traveling rail

Optionally, the running rails include a main running rail, a cross-track end running rail and a charging running rail, the cross-track end running rail is used for connecting different main running rails, and the charging running rail is used for connecting with the main running rail.

According to the intelligent roof train inspection system for the hydrogen energy rail vehicle, the intelligent train inspection robot runs on the special running track by arranging the special running track, and the intelligent robot can detect roof equipment with different sizes and complexity in multiple directions and without dead angles by arranging the mechanical arm assembly with multiple degrees of freedom. The camera and the hydrogen detector which are installed on the mechanical arm assembly are utilized to realize the inspection of hydrogen-involved equipment and other roof equipment, and the purposes of reducing labor intensity and improving inspection efficiency and effect are achieved.

Drawings

The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.

FIG. 1 is a schematic view of the general assembly of the present invention;

FIG. 2 is a system configuration diagram of the present invention;

FIG. 3 is a schematic diagram of the interior of an intelligent robot;

FIG. 4 is an assembly view of the intelligent robot;

FIG. 5 is a cross-track steering state diagram;

FIG. 6 is a cross-track end head running state diagram;

FIG. 7 is a side elevational view of the roof for inspection;

FIG. 8 is a schematic view of a hydrogen detection operation;

fig. 9 is a robot recharge bitmap.

Wherein the elements in the figures are identified as follows:

the method comprises the following steps of 1-vehicle body, 2-control main board, 3-cooling fan, 4-touch screen, 5-storage battery, 6-suspension bracket, 7-walking wheel, 8-walking motor, 9-guide wheel, 10-mechanical joint, 11-mechanical arm, 12-binocular camera, 13-hydrogen detector, 14-main walking track, 15-steering walking track, 16-track steering motor, 17-charging walking track and 18-cross-track end walking track.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all 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 application.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

The following disclosure provides many different embodiments or examples for implementing different features of the application. To simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

Referring to fig. 1-9, the intelligent roof train inspection system for the hydrogen energy railway vehicle comprises an intelligent train inspection robot, a walking track and a steering mechanism device. The intelligent robot extends a camera 12 (which may be abinocular camera 12, for example) and ahydrogen detector 13 mounted on the robot arm.

Thecamera 12 is used for shooting and scanning the car roof equipment, thehydrogen detector 13 is used for detecting whether the hydrogen storage tank leaks or not, sensing the state of the equipment, and the equipment is parked and charged at a charging position after the detection is finished. The intelligent robot can carry out checking work according to a preset program and can be remotely controlled by a master control center or a handheld terminal.

The walking track is of a cavity structure, the bottom surface of the walking track is slotted, a walking part of the intelligent robot walks in the walking track, and the walking track is suspended below a structural steel frame beam and above a parking track to provide a guiding and walking path for the intelligent robot; the steering mechanism enables the intelligent robot to cross the track to patrol, the aim of sharing patrol equipment by multiple tracks is achieved, cost is saved, and the utilization rate of the equipment is improved.

The intelligent robot can comprise asuspension bracket 6, traveling wheels 7,guide wheels 9, a travelingmotor 8, a vehicle body 1, acontrol mainboard 2, astorage battery 5, acooling fan 3, atouch screen 4 and amechanical arm 11 assembly.

Thesuspension frame 6 is provided with walking wheels 7,walking motors 8 and related axle boxes (not shown in the figure), and theguide wheels 9 are arranged on two sides of thewalking motors 8 and are in contact with two sides of a walking rail to guide the walking of the intelligent robot. The power of the running wheels 7 is provided by a walking motor. The walking wheels 7 are made of non-magnetic materials such as polyurethane, static electricity and sparks are not generated when the intelligent robot walks on the steel walking track, and the intelligent robot is driven to walk on the walking track to inspect the roof of the hydrogen energy rail vehicle.

The intelligent robot control system is characterized in that the vehicle body 1 is a main body structure of the intelligent robot and is suspended below asuspension bracket 6, a controlmain board 2, astorage battery 5, acooling fan 3 and atouch screen 4 are installed in the vehicle body, the controlmain board 2 is a control part of the intelligent robot, receives commands, controls the action of the intelligent robot through all module circuits integrated on the control main board, and positions the intelligent robot through a positioning device integrated on the control main board. Thestorage battery 5 stores electric energy, provides power for the intelligent robot to walk, operate and move of the mechanical arm assembly, and carries out wireless charging when the intelligent robot returns to a charging potential, so that sparks possibly generated in wired charging are prevented.Radiator fan 3 bloies through rotating and takes away the heat that intelligent robot work brought for intelligent robot can work for a long time more high-efficient. Touch-sensitive screen 4 makes things convenient for the staff to operate intelligent robot. Because the intelligent robot is in a hydrogen environment, all electrical components of the robot adopt explosion-proof components.

The robot arm assembly includes a robot joint 10 and arobot arm 11. The mechanical joint 10 rotates (in the figure) through a motor to drive themechanical arm 11 to stretch and turn, themechanical arm 11 is extended, whether the hydrogen storage tank is leaked or not is detected in a close range through abinocular camera 12 at the end part of the mechanical arm and ahydrogen detector 13, and high-definition images of visible parts on the roof are acquired. Thehydrogen detector 13 will detect whether the hydrogen storage tank is leaked, and report alarm information if leakage occurs. Thebinocular camera 12 collects high-definition images of visible components of the car roof, the high-definition images of the car roof are automatically identified and processed through an image identification module, an image processing module and a digital-to-analog conversion circuit which are integrated on the controlmain board 2, and the conditions of damage, foreign matters, bolt falling and the like are alarmed.

It should be added that, in this application, the arm assembly can adopt the arm assembly of multi freedom, realizes carrying out diversified, no dead angle detection to roof equipment that differs in size and is complicated.

The walking tracks comprise amain walking track 14, a cross-trackend walking track 18 and acharging walking track 17. Themain walking track 14 is suspended below the structural steel frame beam and above the parking track to provide a guiding and walking path for the intelligent robot to inspect the car roof; the cross-track end walking tracks 18 are arranged at two ends of themain walking track 14, and are connected with themain walking track 14 and thecharging walking track 17 through a steering walking track device, so that a guiding and walking path is provided for cross-track inspection of the intelligent robot; thecharging running rail 17 is connected with the main runningrail 14 and the cross-trackend running rail 18 through a steering running rail device, and provides a guiding and running path for the intelligent robot to run to a charging position.

The steering mechanism comprises asteering running rail 15 and arail steering motor 16. Thetrack turning motor 16 is used for driving theturning running track 15 to rotate, so that theturning running track 15 is switched to be connected with different running tracks. Thesteering walking track 15 can be in butt joint with different walking tracks to provide a reversing function for the intelligent robot. Specifically, for example, when the connection between the original main runningrail 14 and the originalcharging running rail 17 is switched to the connection between the main runningrail 14 and the cross-trackend running rail 18, the operation of therail turning motor 16 is started, and theturning running rail 15 rotates to adjust the posture, so that the state of the connection between the main runningrail 14 and thecharging running rail 17 is changed to the state of the connection between the main runningrail 14 and the cross-trackend running rail 18, and the running rails are connected to allow the intelligent robot to drive into another running rail.

It should be noted that, the steering mechanism switches connection with different running tracks, so that for inspection operation of the intelligent robot, detection of trains on multiple tracks by one car-top robot can be realized, and the utilization rate of the intelligent robot is improved.

Referring to fig. 5 to 9, the operation process of the roof train inspection of the present application will now be described with respect to a common application scenario. It should be noted that this common embodiment is not to be taken as an identification basis for understanding the essential features of the technical problem to be solved as claimed in the present application, which is merely exemplary.

When a hydrogen energy rail vehicle stops at a specified position, a controlmain board 2 of the intelligent robot receives a vehicle roof inspection command, thestorage battery 5 starts to supply power, the travelingmotor 8 moves, the traveling wheels 7 travel, theguide wheels 9 guide to drive the intelligent robot to move out of thecharging traveling tracks 17 from a charging position and reach a joint of thecharging traveling tracks 17 and thesteering traveling tracks 15, thetrack steering motor 16 rotates to drive thesteering traveling tracks 15 to adjust angles, the main traveling tracks 14 and thecharging traveling tracks 17 are connected, the intelligent robot travels onto the main traveling tracks 14, themechanical arm 11 stretches and steers, thebinocular camera 12 starts to inspect the vehicle roof, and when the intelligent robot travels to a hydrogen storage tank area, thehydrogen detector 13 mainly inspects the area, such as hydrogen leakage, sends out an audible and visual alarm, the controlmain board 2 sends a signal to a main control center, and the main control center indicates a next step command. After the inspection of the one-line train is finished, the intelligent robot runs to the joint of the main runningrail 14 and thesteering running rail 15 at the warehouse end, therail steering motor 16 drives thesteering running rail 15 to be rotationally connected with the main runningrail 14, the intelligent robot runs into thesteering running rail 15 and stops, therail steering motor 16 drives thesteering running rail 15 to be rotationally connected with the cross-trackend running rail 18, the intelligent robot enters the cross-trackend running rail 18 and runs to one end of the cross-trackend running rail 18, thesteering running rail 15 on the adjacent track is connected with the cross-trackend running rail 18 under the driving of therail steering motor 16, the intelligent robot enters thesteering running rail 15 and stops, therail steering motor 16 drives thesteering running rail 15 to be rotationally connected with the main runningrail 14, the intelligent robot runs into the main runningrail 14 of the adjacent track, and the inspection of the roof of the adjacent vehicle is started. After the inspection is finished, the intelligent robot returns to the charging position at the nearest position through the chargingwalking track 17 to perform self wireless charging, and waits for the next roof inspection.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.

Claims (6)

1. The utility model provides a hydrogen energy source rail vehicle intelligent roof train inspection system which characterized in that includes:

a running track;

a smart robot configured to walk on the walking track;

the steering mechanism is used for realizing the switching of connection between different walking tracks;

the intelligent robot comprises a suspension bracket, a walking wheel fixedly connected with the suspension bracket, a mechanical arm component fixedly connected with the suspension bracket, and a camera and a hydrogen detector which are arranged on the mechanical arm component.

2. The intelligent train inspection system for the roofs of the rail vehicles using the hydrogen energy as claimed in claim 1, wherein the intelligent robot further comprises a guide wheel fixedly connected to the suspension bracket, and the guide wheel is used for guiding the walking wheels.

3. The intelligent train inspection system for the roofs of the rail vehicles using the hydrogen energy as the energy according to claim 1, wherein the mechanical arm assembly is fixedly connected with the suspension bracket through a vehicle body, a control main board and a storage battery are arranged in the vehicle body, and a touch screen electrically connected with the control main board is arranged on the outer surface of the vehicle body.

4. The intelligent train roof inspection system for the hydrogen-powered railway vehicle as claimed in claim 3, wherein a cooling fan is mounted on the vehicle body.

5. The intelligent train roof inspection system of claim 1, wherein the steering mechanism comprises a steering track that can be interfaced with the running track and a track steering motor configured to drive rotation of the steering track to switch and connect the steering track to an adjacent running track.

6. The intelligent train roof inspection system for the hydrogen-energy rail vehicle as claimed in claim 1, wherein the running rails comprise main running rails, cross-track end running rails and charging running rails, the cross-track end running rails are used for connecting different main running rails, and the charging running rails are used for connecting the main running rails.

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