CN106320112A - Medium and low speed maglev auxiliary operation robot - Google Patents
Medium and low speed maglev auxiliary operation robot Download PDFInfo
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- CN106320112A CN106320112A CN201610786436.7A CN201610786436A CN106320112A CN 106320112 A CN106320112 A CN 106320112A CN 201610786436 A CN201610786436 A CN 201610786436A CN 106320112 A CN106320112 A CN 106320112A
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- less important
- important work
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- rail
- module
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B25/00—Tracks for special kinds of railways
- E01B25/30—Tracks for magnetic suspension or levitation vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a medium and low speed maglev auxiliary operation robot. The auxiliary operation robot comprises a rack, folding and bending mechanisms, an auxiliary operation mechanism and an autonomous cruise module. The rack stretches across two F rails of a medium and low speed maglev; the two folding and bending mechanisms are arranged at the two ends of the rack respectively and located on the F rails, and each folding and bending mechanism is provided with a walking wheel pair and a detent wheel pair; the auxiliary operation mechanism comprises an auxiliary operation platform and auxiliary operation equipment, wherein the auxiliary operation platform is installed on the rack, the auxiliary operation equipment is installed on the auxiliary operation platform and used for completing auxiliary operation; the autonomous cruise module is installed below the rack and used for making the auxiliary operation robot walk along the F rails freely. Auxiliary operation of on-site maintenance and autonomous cruise can be achieved, and the medium and low speed maglev auxiliary operation robot has the advantages of being simple in structure, convenient to operate and the like.
Description
Technical field
The invention belongs to magnetic suspension work business area of maintenance, more particularly, to low speed magnetic suspension less important work machine in one
Device people.
Background technology
Magnetic suspension traffic is a kind of carbon-free traffic of low noise, is one of the important directions of future city transport development.In low
Speed electromagnetic suspension technology is that the electric magnet by being arranged on car body mutually constitutes magnetic field closed magnetic circuit, by air gap sense with F type track
Answer the exciting current of device device regulating magnet, adjust the suction between electric magnet and track (make magnetic float gap be maintained at 8～
10mm), to keep the stable distance between electric magnet and track, it is achieved train stable suspersion.Therefore, railway maintenance is that work business is made
The important content of industry.
Owing to middle low speed magnetic suspension mostly is overhead, open track structure, at the scene in maintenance process, need to coordinate and carry out
Less important work, such as, when monitoring F rail and there is crackle, need to carry out welding operation, need to be from carrying out welding and maintenance process
Ground lifting material or equipment are on track, and when night time operation, need to provide the less important works such as illumination.For complete above-mentioned respectively
Less important work, needs research design one to be applicable to middle low speed magnetic suspension less important work robot, various auxiliary to have coordinated
Help operation.It addition, the medium-and low-speed maglev section of track mostly is overhead unsettled Open architecture, sleeper pitch is about 600mm, nothing on track
Operating personnel walks line position, and general robot is difficult to freely walk on magnetic-levitation, and therefore, the auxiliary of research design is made
Industry robot need to be adapted to the medium-and low-speed maglev of Open architecture.
Summary of the invention
For disadvantages described above or the Improvement requirement of prior art, the invention provides a kind of less important work robot, wherein
The feature of low speed magnetic suspension self in conjunction with, respective design is applicable to middle low speed magnetic suspension auxiliary equipment, and to its crucial group
Part such as frame, folding bending mechanism, less important work mechanism and the structure of autonomous cruise module and concrete set-up mode thereof grind
Study carefully and design, can effectively realize work business accordingly and safeguard less important work, and the autonomous of robot can be realized, there is structure letter
The advantage such as single, easy to operate.
For achieving the above object, the present invention proposes low speed magnetic suspension less important work robot in one, including frame, folding
Folded bending mechanism, less important work mechanism and autonomous cruise module, wherein:
Described frame is used for installing described folding bending mechanism, less important work mechanism and autonomous cruise module, its across
Between two F rails of middle low speed magnetic suspension；
Described folding bending mechanism is provided with two groups altogether, and it is divided into the two ends of described frame, and is positioned at the top of F rail, often
Organize be provided with on described folding bending mechanism road wheel to and screens wheel right, the wherein upper surface of road wheel pair and described F rail
Contact, and moving along the upper surface of F rail, described screens wheel to two screens wheels respectively with the lateral surface of described F rail and under
Surface contacts, and moves along lateral surface and the lower surface of F rail；
Described less important work mechanism includes less important work platform and Auxiliary equipment, and wherein said less important work platform is pacified
Being contained in described frame, described Auxiliary equipment is arranged on this less important work platform, has been used for less important work；
Described autonomous cruise module is arranged on the lower section of described frame, and it is used for realizing less important work robot along F rail
Freely walking, this autonomous cruise module includes that navigation system, cruise calculate task control module and ground control station communication module,
Described navigation system includes inertial navigation unit, GPS receiver module and walking range measuring unit, and described inertial navigation unit is used
In the 3-axis acceleration of the described robot of measurement, described GPS receiver module is used for the longitude of robot measurement, latitude and height,
Described walking range measuring unit is for the walking mileage of robot measurement；Described cruise calculates task control module and includes cruise
Module and control module, described cruise module is measured single with described inertial navigation unit, GPS receiver module and walking range respectively
Unit is connected, and the data that described inertial navigation unit, GPS receiver module and walking range measuring unit are measured are defeated as input signal
Entering to cruise module, this cruise module judges the particular location of described robot according to the signal of input, and by robot
Particular location feeds back to ground control station, and described control module is connected with ground control station communication module, and it is according to ground control
Stand communication module travel commands control robot walking.
As it is further preferred that be additionally provided with video camera in described frame, this video camera is arranged on institute by expansion link
State the top of frame.
As it is further preferred that be additionally provided with distance measuring sensor in described frame, this distance measuring sensor is the most ultrasonic
Ripple or infrared distance sensor, it is arranged in side before and after described frame.
As it is further preferred that often organize be provided with on described folding bending mechanism two groups of road wheels to two groups of screens
It is right to take turns, and the bearing of trend along described F rail is arranged by two groups of road wheels, and with the upper surface of F rail, two groups of screens wheels to
Sample is arranged along the bearing of trend of described F rail, and contacts with lateral surface and the lower surface of F rail.
As it is further preferred that described folding bending mechanism includes road wheel installing plate and screens wheel folded sheet, described
Road wheel installing plate is vertically arranged and is arranged in described frame, and described road wheel is to being arranged under described road wheel installing plate
Side, described screens wheel folded sheet connects support by screens wheel and is arranged on the side of described road wheel installing plate, and described screens is taken turns
To being arranged on described screens wheel folded sheet, and contact with lateral surface and the lower surface of described F rail.
As it is further preferred that described Auxiliary equipment includes welding equipment, crane gear, luminaire and generating
Machine.
As it is further preferred that described luminaire includes lamp adapter assembly and elevating mechanism, this elevating mechanism uses four
Joint telescopic cylinder is as lift adjustment mode, and maximal regulated height is 3 meters, and described lamp adapter assembly is by 4 5W high efficiency LED lamp bars
Composition, its light covering radius reaches 15 meters-35 meters, and each LED lamp bar can individually do angular adjustment up and down, rotates and realizes
360 degree of all-directional illuminations.
As it is further preferred that described welding equipment is located at the side of described less important work platform, described crane gear
Being located at the opposite side of described less important work platform, the lower section of described less important work platform is located at by described electromotor.
In general, by the contemplated above technical scheme of the present invention compared with prior art, mainly possess following
Technological merit:
1. the feature that the present invention is directed to middle low speed magnetic suspension is specially provided with the less important work being applicable to middle low speed magnetic suspension
Robot, to complete the less important works such as the welding operation to F rail, equipment hoisting, night illumination, has that volume is little, structure light, takes
Carrying convenient feature, the most also have simple in construction, the advantage such as easy to operate, can arrive the operating location rail that falls with car can be carried out
Using, the work business that can be effectively used for medium-and low-speed maglev is safeguarded and safe operation.
2. the present invention is applicable to folding bending mechanism and the autonomous cruise module of less important work robot by setting, can be real
Existing robot, along F rail autonomous, by specializing in the autonomous cruise module of design, can realize being accurately positioned of robot
With reliable walking, it is adaptable to the overhead unsettled Open architecture of middle low speed magnetic suspension, solve nothing on middle low speed magnetic suspension track
The problem that operating personnel walks line position and cannot realize less important work robot ambulation.
3. the folding bending mechanism of the present invention is provided with two groups altogether, is divided into the two ends of frame, screens wheel folded sheet during use
Can open downwards to clasp the edge, side of F rail when track falls rail, and move along F rail, use after terminating, can when it leaves track
It is folded up, to reduce the overall volume of running gear, there is feature easy to carry, that the rail that falls gets final product work.
4. the road wheel folded on bending mechanism of the present invention is to being designed to Double-wheel structure, can effectively prevent robot from passing through
Producing during the bolt that F rail is connected with sleeper and jolt, make flaw detection more accurate, screens wheel is installed on F rail to the mode using holding card
On, can effectively prevent robot from derailing.
5. the frame of the present invention be provided above video camera, this video camera can realize track and track image along the line is adopted
Collection, and it liftable is arranged in frame, can realize multi-faceted, the image taking of multi-angle.
It is provided with distance measuring sensor before and after less important work robot the most of the present invention, less important work machine can be made by range finding
Automatic stopping when device people meets obstacle, it is achieved the collision prevention function of robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the middle low speed magnetic suspension less important work robot of the embodiment of the present invention；
Fig. 2 is the rearview of the middle low speed magnetic suspension less important work robot of the embodiment of the present invention；
Fig. 3 is the left view of the middle low speed magnetic suspension less important work robot of the embodiment of the present invention；
Fig. 4 is the autonomous cruise modular structure block diagram of the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.If additionally, technical characteristic involved in each embodiment of invention described below
The conflict of not constituting each other just can be mutually combined.
As it is shown in figure 1, low speed magnetic suspension less important work robot in the one of embodiment of the present invention offer, it mainly includes
Frame 11, folding bending mechanism, less important work mechanism and autonomous cruise module 7, wherein, frame 11, as supporting mechanism, is used for
Fixed installation folds bending mechanism and less important work mechanism, and it is right that described folding bending mechanism is used for installing wheel, makees to realize assisting
The movement on F rail 4 of the industry robot, described less important work mechanism has been used for various less important work, described autonomous cruise module 7
For realizing, less important work is robot autonomous cruises in medium-and low-speed maglev F rail.By cooperating of each mechanism above-mentioned, can be real
All kinds of auxiliary operations during existing F rail monitoring, and can realize the autonomous of robot, have simple in construction, easy to operate
Etc. advantage.
Each mechanism and parts will be described in detail and describe below.
As it is shown in figure 1, frame 11 is as the support member of miscellaneous part, it is horizontally disposed with, and across to be detected
Between two F rails of middle low speed magnetic suspension, its arranged direction is vertical with the bearing of trend of F rail.
As Figure 1-3, folding bending mechanism and be provided with two groups altogether, it is divided into the two ends of described frame, concrete, often group
Road wheel it is provided with right to 5 and screens wheel on described folding bending mechanism.Wherein, road wheel includes a pair road wheel to 5, its
With the upper surface of described F rail, and move along the upper surface of F rail, one of them be follower one be drivewheel, actively
Wheel is to being motor wheel.This road wheel, to being designed to Double-wheel structure, can effectively prevent robot from passing through the bolt that F rail is connected with sleeper
Time produce jolt, make result of detection more accurate.To 2, described screens wheel includes that a pair screens take turns, two screens take turns respectively with institute
The lateral surface stating F rail contacts with lower surface, and moves along lateral surface and the lower surface of F rail, and this screens is taken turns ensureing machine
People is along track travel, and can provide differential function in corner.Screens wheel is not have dynamic follower to 2, a screens,
Spacing and derailment-proof effect.
Further, in embodiments of the invention, often group folds on bending mechanism and is provided with two groups of road wheels to 5 and two
Group screens is taken turns 2, and thus four road wheels in 5 are arranged by two groups of road wheels along the bearing of trend of described F rail, and can be along
F rail moves, and the movement to less important work robot guides reliably, and two groups of screens wheel in 2 with F rail contacts side surfaces
Screens wheel arrange along the bearing of trend of described F rail, and moving along the lateral surface of F rail, two groups of screens wheels are in 2 and F
The screens wheel of rail lower surface contact is arranged along the bearing of trend of described F rail, and moves along the lower surface of F rail, can have with this
Effect ensures the reliability that less important work robot moves.
Concrete, fold bending mechanism and include road wheel installing plate 12 and screens wheel folded sheet 3, wherein road wheel installing plate
12 are vertically arranged and are arranged in described frame, described road wheel to being arranged on the lower section of road wheel installing plate 12, described screens
Wheel folded sheet 3 is arranged on the side of described road wheel installing plate by screens wheel connection support, and is coated on the periphery of F rail, so
After by screens wheel to be arranged on screens wheel folded sheet 12 on so that one of them screens wheel contact with the lateral surface of F rail, another
Screens wheel contacts with the lower surface of F rail, with this screens wheel to using holding card mode to be installed on F rail, can effectively prevent rescue
Robot derails.When folding bending mechanism does not uses, two groups of screens wheel folded sheets 1 are folded up, to reduce the whole of running gear
Body volume, during use, two groups of screens wheel folded sheets 1 are opened, and make screens wheel be installed on lateral surface and the lower surface of F rail, it is achieved outer
Side is embraced rail and interior embraces rail on the side.
Described less important work mechanism includes less important work platform 14 and Auxiliary equipment, and wherein less important work platform 14 is made
For the mounting platform of Auxiliary equipment, it is located at the top of frame 11, and described Auxiliary equipment is arranged on this less important work
On platform 14, being used for less important work, this Auxiliary equipment includes luminaire, crane gear, welding equipment and generating
Machine.
Luminaire is arranged on less important work platform 14, for providing illumination for less important work, including lamp adapter assembly 16 He
Elevating mechanism 15, elevating mechanism 15 is selected four joint telescopic cylinders to be 3 meters as lift adjustment mode, maximum height, is rotated upwardly and downwardly
Lamp adapter assembly 16 adjustment beam irradiating angle, light covering radius reaches 15-35 rice, and lamp adapter assembly 16 is by 4 5W high efficiency
LED lamp bar forms, and needs individually to make each lamp holder angle regulation up and down by scene, rotates and realize 360 degree of all-directional illuminations,
Also lamp holder can be illuminated to four direction at the uniform cloth of lamp panel.
Crane gear is arranged on the side of less important work platform, and it is for lifting the material on ground, operation instrument, equipment etc.
On track, mainly including hoisting apparatus and have the hoisting mechanism of free off the hook function, hoisting apparatus is installed on robot and props up
Frame top, surrounding fixes, and flexible lifting cable stretches out from middle part, it is achieved hanging device from bridge end the to bridge on lifting, and hang
The handling of dress article are mainly by being accomplished manually.During operation, robot operates control valve according to instruction by controller so that behaviour
Making hoisting apparatus band when being downloaded from by off the hook, off the hook distance is specified by control system, in operator hang up rated load by the time
After weight, remote notification robot lifting operation, robot controls elevator hydraulic controller, starts weight, starts stopping of weight
Only by remotely controlling, last distance is that sensor detection puts in place and jointly judges with rope closing length to stop.
Welding equipment is the content of robot delivery, performs welding operation during for scene needs weld job, convenient existing
The use of field workmen, the equipment that welding is relevant, also by robotic conveyance to specifying position, related personnel can also be in auxiliary
The operation of the welding achieved above of Work robot.Electromotor is arranged on the lower section of less important work platform 14, and it is in robot
Electrical equipment provide emergence power.
Autonomous cruise module 7 is arranged on the lower section of frame, and it is by controlling the road wheel drivewheel motion band movement machine to 5
People moves, and moves along F rail with driven machine people, it is achieved the autonomous of robot controls, so that the auxiliary of the present invention
Work robot is adapted to the overhead unsettled Open architecture of middle low speed magnetic suspension, and it is steady that this autonomous cruise module 7 is integrated with walking
The various functions such as fixed control (controlling two drivewheels output moments of torsion, make vehicle traction balance), navigation and task control, have many
Individual task way point, speed can be separately provided, and is that the track machine people of the high-performance of complete set, low cost and miniaturization is autonomous
Traveling control system.
Autonomous cruise module 7 includes that navigation system, cruise calculate task control module and ground control station communication module, leads
Boat system includes inertial navigation unit, GPS receiver module and walking range measuring unit, and described inertial navigation unit is used for measuring
(i.e. xyz three-dimensional acceleration, xyz direction sets the 3-axis acceleration of described robot according to actual needs, as set prolonging of F rail
Stretching direction is x-axis, vertical with F rail bearing of trend, and horizontal distribution for y-axis, vertical with F rail bearing of trend, and vertical distribution
For z-axis), described GPS receiver module is for the longitude of robot measurement, latitude and height, described walking range measuring unit
Walking mileage for robot measurement.Described cruise calculates task control module and realizes data with ground control station communication module
Alternately, cruise calculates task control module can feed back to ground control station communication module by the particular location of robot, and ground is controlled
System station communication module can send instructions to cruise and calculate task control module, so that robot runs to specifying position；This cruise
Calculate task control module and mainly include that cruise module and control module, cruise module and control module are similar to two microcomputers
Calculation machine, cruise module is cruise computer based on built-in Linux, for navigation and task control and and ground control station
Communication, control module is to control computer, for the travelling control of robot, augmentation control and logical with ground control station
News, it is achieved the motor control of mobile robot, specifically realize the control of the servomotor of drivewheel in road wheel, by controlling
The servomotor of drivewheel realizes the motion of drivewheel, and then realizes the motion of robot, and it is applicable to what pulse width signal controlled
Various moment of torsion three-phase brushless motors, this control module also can realize the information gathering (data of distance measuring sensor 6) of sensor, figure
As information gathering (data of video camera 10) and the acquisition of navigation data.Concrete, cruise module respectively with inertial navigation unit,
GPS receiver module is connected with walking range measuring unit, inertial navigation unit, GPS receiver module and walking range measuring unit
The data measured are as in input signal input to cruise module, and this cruise module judges described robot according to the signal of input
Particular location, and the particular location of robot is fed back to ground control station, described control module and ground control station communication
Module is connected, and it controls the walking of robot according to the travel commands of ground control station communication module.
Concrete, the navigation system in autonomous cruise module 7 is according to the cruise mileage inputted, and GPS is automatically positioned needs
The location coordinates arrived, then robot is according to the location coordinates real-time matching fortune of walking mileage with remote earth station communication input
Calculating, the position that combination inertial navigation is walked in real time simultaneously calculates with set coordinate position real-time matching, and uses walking amount
The distance that journey measuring unit robot measurement moves, determines, with the initial value according to robot starting point, the position that robot is current
Put, according to the particular location that robot is current, then carry out PID matching primitives with known according to the operation destination of establishment in advance
Control the direction of motion of robot and distance, thus realize autonomous cruise, the speed of cruise by robot according to arriving at
Distance calculate.The navigation system of the present invention is mainly based on range designation, the navigation being auxiliary with GPS and inertial navigation
System, it is simple that it controls logic, compact conformation, and volume is little, and robot can be made to walk according to the path planning of navigation.
It is additionally provided with the battery 8 that power supply is provided for autonomous cruise module 7 in described frame, but autonomous cruise module 7 is also
Can be connected with external power source by cable, the power needed for providing cruise module to cruise by external power source.
Be additionally provided with distance measuring sensor 6 and video camera 10 in described frame, described distance measuring sensor 6 be positioned at two F rails it
Between, it is specially ultrasound wave or infrared distance sensor, and arranges in array fashion, uniform before and after less important work robot
Put this distance measuring sensor.Concrete, in the range of safe distance, distance measuring sensor 6 detects that travel line has obstacle, robot
Controlling the brake of automatically controlled driver element, the different set safe distance according to speed is different, and speed is the fastest, and safe distance is the most remote, can
Automatic safety parking when making flaw detection robot meet obstacle, it is achieved the collision prevention function of robot.Described video camera 10 is arranged on described
The top of frame, it is for carrying out image acquisition along the line to track and track, can to foreign body intrusion, invade the limit situation such as cross the border and enter
Row observation, image carries out real-time Transmission or storage this locality, and camera type concretely 2D or 3D video camera, it is especially by stretching
Contracting bar 9 is arranged on the top of frame, can realize the lifting of video camera, it is achieved the shooting of Multi-orientation multi-angle.Wherein, autonomous cruise
Module 7 can receive the detection data of distance measuring sensor 6 and video camera 10, and is analyzed detection data, it is thus achieved that required number
According to.
Additionally, the data in order to realize being recorded by robot are transmitted timely and preserve, described frame also sets
It is equipped with external interface 13, to realize writing to each other of robot and remote console, it is achieved the remote interaction of data.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should comprise
Within protection scope of the present invention.
Claims (8)
1. low speed magnetic suspension less important work robot in a kind, it is characterised in that include frame (11), fold bending mechanism, auxiliary
Help Working mechanism and autonomous cruise module (7), wherein:
Described frame (11) is used for installing described folding bending mechanism, less important work mechanism and autonomous cruise module (7), its across
Between two F rails of middle low speed magnetic suspension；
Described folding bending mechanism is provided with two groups altogether, and it is divided into the two ends of described frame (11), and is positioned at the top of F rail, often
Organizing and be provided with road wheel on described folding bending mechanism and take turns (5) and screens to (2), wherein road wheel is to (5) and described F rail
Upper surface, and move along the upper surface of F rail, described screens wheel to two screens wheels of (2) respectively with described F rail
Lateral surface contacts with lower surface, and moves along lateral surface and the lower surface of F rail；
Described less important work mechanism includes less important work platform (14) and Auxiliary equipment, wherein said less important work platform
(14) being arranged in described frame (11), described Auxiliary equipment is arranged on this less important work platform (14), has been used for
Less important work；
Described autonomous cruise module (7) is arranged on the lower section of described frame (11), and it is used for realizing less important work robot along F
Rail is freely walked, and this autonomous cruise module (7) includes that navigation system, cruise calculate task control module and ground control station communication
Module, described navigation system includes inertial navigation unit, GPS receiver module and walking range measuring unit, described inertial navigation
Unit for measuring the 3-axis acceleration of described robot, described GPS receiver module for the longitude of robot measurement, latitude and
Highly, described walking range measuring unit is for the walking mileage of robot measurement；Described cruise calculates task control module bag
Include cruise module and control module, described cruise module respectively with described inertial navigation unit, GPS receiver module and walking range
Measuring unit is connected, and the data that described inertial navigation unit, GPS receiver module and walking range measuring unit are measured are as input
Signal inputs to cruise module, and this cruise module judges the particular location of described robot according to the signal of input, and by machine
The particular location of device people feeds back to ground control station, and described control module is connected with ground control station communication module, its base area
The travel commands of face control station communication module controls the walking of robot.
2. low speed magnetic suspension less important work robot in as claimed in claim 1, it is characterised in that also set up in described frame
Having video camera (10), this video camera (10) is arranged on the top of described frame by expansion link (9).
3. low speed magnetic suspension less important work robot in as claimed in claim 1 or 2, it is characterised in that in described frame also
Being provided with distance measuring sensor (6), this distance measuring sensor (6) is specially ultrasound wave or infrared distance sensor, and it is arranged in described
Side before and after frame.
4. low speed magnetic suspension less important work robot in as claimed in claim 3, it is characterised in that often organize and described fold bending
Being provided with two groups of road wheels in mechanism to take turns (5) and two groups of screens to (2), (5) are prolonged by two groups of road wheels along described F rail
Stretch direction to arrange, and with the upper surface of F rail, (2) arranged by two groups of screens wheels equally along the bearing of trends of described F rail,
And contact with lateral surface and the lower surface of F rail.
5. low speed magnetic suspension less important work robot in as claimed in claim 4, it is characterised in that described folding bending mechanism
Taking turns folded sheet (3) including road wheel installing plate (12) and screens, described road wheel installing plate is vertically arranged and is arranged on described machine
On frame (11), described road wheel is arranged on the lower section of described road wheel installing plate to (5), and described screens wheel folded sheet (3) is passed through
Screens wheel connects support and is arranged on the side of described road wheel installing plate, and described screens wheel is arranged on described screens wheel folding to (2)
On lamination (12), and contact with lateral surface and the lower surface of described F rail.
6. low speed magnetic suspension less important work robot in as claimed in claim 5, it is characterised in that described Auxiliary equipment
Including welding equipment, crane gear, luminaire and electromotor.
7. low speed magnetic suspension less important work robot in as claimed in claim 6, it is characterised in that described luminaire includes
Lamp adapter assembly (16) and elevating mechanism (15), this elevating mechanism (15) use four joint telescopic cylinders as lift adjustment mode,
Big regulation height is 3 meters, and described lamp adapter assembly (16) is made up of 4 5W high efficiency LED lamp bars, and its light covering radius reaches 15
-35 meters of rice, each LED lamp bar can individually be done angular adjustment up and down, rotate and realize 360 degree of all-directional illuminations.
8. the middle low speed magnetic suspension less important work robot as described in any one of claim 1-7, it is characterised in that described welding
Equipment is located at the side of described less important work platform (14), and another of described less important work platform (14) be located at by described crane gear
Side, the lower section of described less important work platform (14) is located at by described electromotor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786436.7A CN106320112B (en) | 2016-08-31 | 2016-08-31 | A kind of middle low speed magnetic suspension less important work robot |
| PCT/CN2017/080873 WO2018040581A1 (en) | 2016-08-31 | 2017-04-18 | Auxiliary operation robot for medium and low speed maglev |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786436.7A CN106320112B (en) | 2016-08-31 | 2016-08-31 | A kind of middle low speed magnetic suspension less important work robot |
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| Publication Number | Publication Date |
|---|---|
| CN106320112A true CN106320112A (en) | 2017-01-11 |
| CN106320112B CN106320112B (en) | 2018-01-26 |
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| CN201610786436.7A Active CN106320112B (en) | 2016-08-31 | 2016-08-31 | A kind of middle low speed magnetic suspension less important work robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018040581A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Auxiliary operation robot for medium and low speed maglev |
| CN108755307A (en) * | 2018-06-20 | 2018-11-06 | 北京磁浮交通发展有限公司 | The safety device of track maintenance |
| WO2020253199A1 (en) * | 2019-06-21 | 2020-12-24 | 赣州德业电子科技有限公司 | Data acquisition system for space structure member of suspension magnetic levitation track, and determination method |
| CN112631290A (en) * | 2020-12-14 | 2021-04-09 | 云南昆船智能装备有限公司 | Mobile robot and method for automatically calibrating and setting navigation marker |
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| CN112631290A (en) * | 2020-12-14 | 2021-04-09 | 云南昆船智能装备有限公司 | Mobile robot and method for automatically calibrating and setting navigation marker |
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| CN106320112B (en) | 2018-01-26 |
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