CN108638083A - Rail vehicle overhauls auxiliary robot - Google Patents
Rail vehicle overhauls auxiliary robot Download PDFInfo
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- CN108638083A CN108638083A CN201810463145.3A CN201810463145A CN108638083A CN 108638083 A CN108638083 A CN 108638083A CN 201810463145 A CN201810463145 A CN 201810463145A CN 108638083 A CN108638083 A CN 108638083A
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- rail
- level
- auxiliary robot
- rail vehicle
- pedestal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
A kind of rail vehicle maintenance auxiliary robot,Including robot body,Act executive device,Running gear,Image capturing system,Control system,Image processing system,Video monitoring apparatus,Positioning system,For electric installation,Monitoring system,Internal temperature humidity conditioner and walking track,Running gear is set to robot body lower part or top both sides,Running gear and walking track cooperation,Running gear is limited on walking track and can be moved along walking track,Action executive device includes being sequentially connected lifting gear,Translating device and multi-degree-of-freemechanical mechanical arm,Multi-degree-of-freemechanical mechanical arm end is equipped with image capturing system,Image processing system analysis acquisition image,Control system and internal temperature humidity conditioner are set in robot body,Control system is for controlling each component of auxiliary robot,For helping robot to power supplemented by electric installation,Monitoring system acquisition self information simultaneously feeds back to control system,Positioning is realized in running gear and positioning system cooperation.
Description
Technical field
The present invention relates to rail vehicle technical field, more particularly to a kind of rail vehicle overhauls auxiliary robot.
Background technology
In order to ensure that safe and stable, reliable operation, the rail vehicles such as EMU, urban rail, subway usually drive to centainly
It needs to carry out I and II maintenance, also referred to as daily test or row inspection according to railway operation relevant criterion after milimeter number.With operation rail
Road vehicle fleet size quickly increases and reaches the standard grade the growth of the car operation time limit year by year, and maintenance workload and pressure quickly increase therewith,
Each maintenance rolling stock section faces great test.
In I and II maintenance, the underbody vehicle side of the motor train unit train of a row 8 marshalling, which checks, takes about 60 minutes, accounts for entire
Overhaul the 40%~60% of used time.Wherein, bogie is the key position of safe train operation, key components and parts type is more,
Quantity is big, is the multiple area of underbody failure, therefore is also the keypoint part checked under vehicle.Currently, underbody inspection in I and II maintenance
Mainly parts appearance is checked, it is substantially manually traditional by eyes observation, flashlight video recording, ruler measurement etc.
Test mode operation is completed.
However, artificial maintenance has the following problems：(1) level-one upkeep operation personnel observe bogie by bottom and can check
To most of bogie surface information, but need to check the surface state of all components to bogie maintenance in principle, failure is even
Right property is strong, to be checked wide, and time-consuming, effort, efficiency are low；(2) since most vehicles are put in storage at night, service personnel makees at night
Industry inevitably will appear fatigue phenomenon, and labor intensity is big, more demanding to service personnel's quality and sense of responsibility, maintenance
Quality is difficult to ensure；(3) when level-one maintenance Inspection, service personnel is recorded by the flashlight with recording function and checks record
Picture, video recording are recorded as checking process, and foundation is provided for assessment upkeep operation quality, such as the checkpoint letter for including in video
Breath is not comprehensive, video quality is relatively low, increases the review difficulty of video analysis teacher；(4) it is limited to bogie labyrinth and narrow
Space, hand inspection difficulty is very big at the top of bogie, and the visual angle that service personnel observes from the bottom up in trench is difficult
Certain more hidden parts are checked, to cause missing inspection, security risk is brought for vehicle operation；(5) it manually overhauled
The failure of Cheng Zhong, discovery will separately take pictures, and fill in the paper documents such as Trouble Report list, maintenance request slip, need to handle more formality,
And it needs separately typing to achieve to information paper caused by the whole process for solving failure from checking to be out of order, and does not have
The information-based operation means such as work order distributes, fault statistics.
In the case where can not quickly increase maintenance manpower and operation station track, it is to improve service ability to improve overhaul efficiency
Key factor uses informationization and the higher repair apparatus of the degree of automation or robot to assist even substituting manual work,
It can effectively solve the above problems, meet Chinese Railway parent company《System-wide MTU depot (institute) is laid out medium-term and long-term plans》Requirement, symbol
Close the requirement of rail traffic overall situation healthy and sustainable development.
Invention content
In view of above-mentioned condition, it is necessary to a kind of novel, reasonable design rail vehicle maintenance auxiliary robot is provided, with
Solve artificial inspection and repair shop there are the drawbacks of.
The present invention provides a kind of rail vehicle maintenance auxiliary robot, and the rail vehicle maintenance auxiliary robot includes machine
Device human body, action executive device, running gear, image capturing system, control system, image processing system, video monitoring dress
Set, positioning system, for electric installation, monitoring system, internal temperature humidity conditioner and walking track, the running gear
It is set to lower part or the top both sides of the robot body, the structure and position phase of the running gear and the walking track
Cooperation, the running gear are limited on the walking track and can be moved along the walking track, the action executive device
Including lifting gear, translating device and multi-degree-of-freemechanical mechanical arm, the lifting gear is fixed on the robot body,
The translating device is fixed on the lifting gear, and the multi-degree-of-freemechanical mechanical arm is fixed on the translating device, described
The end set of multi-degree-of-freemechanical mechanical arm has the image capturing system, and described image processing system is to described image acquisition system
Image analysis processing is acquired, the control system and the internal temperature humidity conditioner are set in the robot body
Portion, for the control system for controlling rail vehicle maintenance each component of auxiliary robot, described for electric installation is the rail
The power supply of road car inspection and repair auxiliary robot, the monitoring system acquire self information and information are fed back to the control in real time
The coarse positioning and essence of the rail vehicle maintenance auxiliary robot are realized in system, the running gear and positioning system cooperation
Determine position.
Further, the lifting gear is that bimodulus group synchronizes active lift structure, controls two vertical-lifting servo motors
It respectively drives two vertical-lifting modules while moving or a vertical-lifting servo motor passes through vertical-lifting transmission mechanism band
The dynamic two vertical-lifting modules move simultaneously.
Further, the lifting gear is the passive lift structure in side active side, and drive end is by a vertical-lifting
Servo motor drives the movement of vertical-lifting module, and driven end parallel vertical is led by guide rail slide block, a horizontal guide rail, two
Rail is oriented to, and resist horizontal mobile mechanism it is overhanging caused by additional moment.
Further, the vertical-lifting module passes the structure of work(using ball-screw or belt.
Further, the multi-degree-of-freemechanical mechanical arm is the flexible mechanical arm of seven freedom or six degree of freedom, it is described mostly from
By degree mechanical arm include sequentially connected multi arm and the two sections of arms that are connected can be around joint relative rotation.
Further, the translating device be three-level synchronize driving structure, the translating device include level-one driving motor,
Pedestal, level-one rail, two level rail and load-carrying sliding block, the pedestal are fixed on the lifting gear, the level-one driving motor
Be fixed on the pedestal, the pedestal and the level-one rail by synchronous band connection, the two level rail and the level-one rail and
The pedestal synchronizes band connection by second, and the load-carrying sliding block passes through third synchronous belt with the two level rail and the level-one rail
Connection, the level-one driving motor drives the level-one rail to be moved relative to the pedestal, while the two level rail is relative to institute
State level-one rail, the load-carrying sliding block moves in the same direction relative to the two level rail.
Further, the translating device is that two-stage synchronizes driving and composite structure, the translation dress is operated alone in level-one
It sets including level-one driving motor, pedestal, level-one rail, two level rail, load-carrying sliding block and secondary drive motor, the pedestal is fixed
On the lifting gear, the level-one driving motor is fixed on the pedestal, and the pedestal passes through same with the level-one rail
Band connection is walked, the two level rail passes through the second synchronous band connection, the secondary drive motor installation with the level-one rail and pedestal
On the two level rail, the level-one driving motor drives the level-one rail to be moved relative to the pedestal, while the two level
Rail moves in the same direction relative to the level-one rail, and the load-carrying sliding block is driven by the secondary drive motor relative to the two level rail
Movement in the same direction.
Further, the translating device is that multiple modules or multiple linear motors are superimposed driving structure.
Further, the walking track is bottom hoofing part or hanging driving.
Further, the running gear includes traveling wheel, transmission device, servo drive unit and encoder, described
With the drive sprocket axle of the transmission device to connecting, driven wheel and the capstan drive of the transmission device connect servo drive unit
It connects, the driven wheel of the transmission device and the live axle drive traveling wheel to rotate to connecting, and then drive the track
Car inspection and repair auxiliary robot is walked, and the encoder is set on the transmission device, walks described in the encoder feedback
Take turns travel distance.
The advantageous effect that the technical solution of the embodiment of the present invention is brought is：Above-mentioned rail vehicle overhauls auxiliary robot, tool
It is improved maintenance area, overhaul efficiency is improved, improves repair quality and reliability, reduction hand labor intensity and improvement operation ring
Border, the level of IT application for improving service work, compatibility are strong, safe and reliable.
Description of the drawings
Fig. 1 is the structural schematic diagram of the rail vehicle maintenance auxiliary robot of the embodiment of the present invention；
Fig. 2 is the sectional view of Fig. 1；
Fig. 3 is the left view of the rail vehicle maintenance auxiliary robot of the embodiment of the present invention；
Fig. 4 is the right view of the rail vehicle maintenance auxiliary robot of the embodiment of the present invention；
Fig. 5 a are a kind of structural schematic diagrams of lifting gear of the embodiment of the present invention；
Fig. 5 b are the structural schematic diagrams of another lifting gear of the embodiment of the present invention；
Fig. 6 a are a kind of structural schematic diagrams of translating device of the embodiment of the present invention；
Fig. 6 b are the structural schematic diagrams of another translating device of the embodiment of the present invention；
Fig. 6 c are the structural schematic diagrams of another translating device of the embodiment of the present invention；
Fig. 7 a are a kind of structural schematic diagrams of multi-degree-of-freemechanical mechanical arm of the embodiment of the present invention；
Fig. 7 b are the structural schematic diagrams of another multi-degree-of-freemechanical mechanical arm of the embodiment of the present invention；
Fig. 8 a are a kind of running gear of the embodiment of the present invention and the structural schematic diagram for track paving of walking；
Fig. 8 b are another running gear of the embodiment of the present invention and the structural schematic diagram of walking track paving；
Fig. 9 is the schematic diagram of the control system of the embodiment of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to the embodiment of the present invention
It is described in further detail.
Fig. 1 to Fig. 4 is referred to, it includes robot body 11, action that rail vehicle of the invention, which overhauls auxiliary robot 100,
Executive device 12, running gear 13, image capturing system 14, control system 15, image processing system 16, video monitoring apparatus
17, positioning system 18, safety guard 19, for electric installation 20, monitoring system 21, internal temperature humidity conditioner 22, row
Walk track 23 and remote control terminal 24.
Robot body 11 is for carrying and the associated components of attachment rail car inspection and repair auxiliary robot 100.
It includes lifting gear 121, translating device 122 and multi-degree-of-freemechanical mechanical arm 123 to act executive device 12.Lifting
Device 121 is fixed on robot body 11, and translating device 122 is fixed on lifting gear 121, multi-degree-of-freemechanical mechanical arm 123
It is fixed on translating device 122.
Lifting gear 121 can be used bimodulus group and synchronize active lift structure or the passive lift structure in side active side.If
Lifting gear 121 synchronizes active lift structure using bimodulus group, is driven respectively by controlling two vertical-lifting servo motors 1212
Moving two 1211 groups of vertical-lifting moulds, (vertical) movement or a vertical-lifting servo motor 1212 are passed by vertical-lifting simultaneously
Motivation structure 1213 drives (vertical) movement simultaneously of two vertical-lifting modules 1211, shown in Fig. 5 a.If lifting gear 121 is adopted
With the passive lift structure in side active side, drive end drives vertical-lifting module by a vertical-lifting servo motor 1212 '
1211 ' movement, driven end by guide rail slide block 1214 ', a horizontal guide rail 1215 ', two parallel upright guide rails 1216 ' into
Row be oriented to, and resist horizontal mobile mechanism it is overhanging caused by additional moment.Wherein, the vertical-lifting module 1211 ' uses
Ball-screw or belt pass the structure of work(, and by being combined with upright guide rail 1216 ', additional matrix and protective cover are realized single free
The accurate reliable linear motion of degree.The vertical-lifting servo motor 1212 ' of drive end preferentially fills mode using motor side, effective
Total height is reduced in the case that stroke is certain, shown in Fig. 5 b.
Translating device 122 can be used three-level synchronize driving structure, two-stage synchronize driving and level-one be operated alone composite structure,
And multiple modules or multiple linear motors are superimposed driving structure.
If translating device 122 synchronizes driving structure using three-level, pedestal 1222 is fixed on 121 (vertical-lifting of lifting gear
Mould 1211,1211 ') on, level-one driving motor 1221 is fixed on pedestal 1222, level-one rail 1223 be set on pedestal 1222 and
It being slidably connected, level-one rail 1223 can be moved along pedestal 1222, and two level rail 1224 is set on level-one rail 1223 and is slidably connected, and two
Grade rail 1224 can be moved along level-one rail 1223, and load-carrying sliding block 1225 is set on two level rail 1224 and is slidably connected, load-carrying sliding block
1225 can move along two level rail 1224.Pedestal 1222 is connect with level-one rail 1223 by synchronous belt (not shown), when level-one drives
When motor 1221 drives synchronous belt movement, level-one rail 1223 is realized relative to pedestal 1222 and is moved.Two level rail 1224 and level-one rail
1223 the second synchronous belt (not shown) wound by two with pedestal 1222 connect, and realize when level-one rail 1223 is relative to pedestal
Two level rail 1224 moves in the same direction relative to level-one rail 1223 when 1222 movement.Same principle, load-carrying sliding block 1225 and two level rail
The 1224 third synchronous belt (not shown) wound by two with level-one rail 1223 connect, and realize when two level rail 1224 is relative to one
Load-carrying sliding block 1225 moves in the same direction relative to two level rail 1224 when grade rail 1223 moves.Pass through above-mentioned principle, level-one rail 1223, two
Grade rail 1224 and load-carrying sliding block 1225 are controlled by level-one driving motor 1221 realizes that three-level synchronizes left and right bidirectional-movement, referring to figure
Shown in 6a.
If translating device 122 synchronizes driving using two-stage and composite structure is operated alone in level-one, pedestal 1222 ' is fixed on liter
Falling unit 121 (vertical-lifting mould 1211,1211 ') upper level driving motor 1221 ' is fixed on pedestal 1222 '.Pedestal 1222 '
It is connect by synchronous belt (not shown) with level-one rail 1223 ', when the 1221 ' band of level-one driving motor being fixed on pedestal 1222 '
When dynamic synchronous belt movement, level-one rail 1223 ' is realized relative to pedestal 1222 ' and is moved.Two level rail 1224 ' and level-one rail 1223 ' and
The second synchronization band connection that pedestal 1222 ' is wound by two, is realized when level-one rail 1223 ' is mobile relative to pedestal 1222 '
Two level rail 1224 ' moves in the same direction relative to level-one rail 1223 '.Secondary drive motor 1226 ' is mounted on two level rail 1224 ', is carried
Weighty slider 1225 ' is driven by secondary drive motor 1226 ' relative to bidirectional-movement on two level rail 1224 ', shown in Fig. 6 b.
If translating device 122 is superimposed driving structure using multiple modules or multiple linear motors, pedestal 1222 " is fixed on liter
On falling unit 121 (vertical-lifting mould 1211,1211 '), edge-on module 1227 ", horizontal module 1228 ", linear motor 1229 " are set
Be placed on pedestal 1222 ", edge-on module 1227 ", horizontal module 1228 ", linear motor 1229 " can be used horizontal overlaying structure or
Person is edge-on with horizontal mixed structure, shown in Fig. 6 c.
123 one end of multi-degree-of-freemechanical mechanical arm is fixedly connected with translating device 122, and multi-degree-of-freemechanical mechanical arm 123 is seven free
The flexible mechanical arm of degree or six degree of freedom, shown in Fig. 7 a and 7b, 123 monnolithic case of multi-degree-of-freemechanical mechanical arm is elongated, each to close
Save it is compact-sized at 1234, multi-degree-of-freemechanical mechanical arm 123 include sequentially connected multi arm 1232 and the two sections of arms 1232 that are connected
Between can be around 1234 relative rotation of joint.Preferably, the diameter of each section of arm 1232 of multi-degree-of-freemechanical mechanical arm 123 is in 150mm models
It is in enclosing and the smaller the better, 123 working range of multi-degree-of-freemechanical mechanical arm between 600-1200mm, multi-degree-of-freemechanical mechanical arm 123
1234 rotation angle of joint is up to 360 °, and load-carrying is between 2-10kg.
Running gear 13 is set to the lower part of robot body 11, and running gear 13 includes traveling wheel 131, transmission device
132, servo drive unit 133 and encoder 134.The drive sprocket axle of servo drive unit 133 and transmission device 132 is to even
It connects, the driven wheel of transmission device 132 is connect with capstan drive, and the driven wheel of transmission device 132 is axially connect with traveling wheel 131
And traveling wheel 131 is driven to rotate, and then rail vehicle maintenance auxiliary robot 100 is driven to walk, encoder 134 is set to transmission
On device 132, encoder 134 feeds back 131 travel distance of traveling wheel, the reliable and stable closed-loop control of stroke.In other embodiment
In, running gear 13 can also be set to 11 top both sides of robot body, and running gear 13 is matched with walking track 23, row
Walking apparatus 13 is limited on walking track 23 and can be moved along walking track 23.
Under action executive device 12 and running gear 13 jointly cooperation so that rail vehicle overhauls auxiliary robot 100
It is movable to rail vehicle different location to be detected, to realize the complete detection of rail vehicle to be detected.
It is shown in Figure 1, image capturing system 14 include end image collecting device 141, line sweep photomoduel 142, with
And area array cameras component 143.Image capturing system 14 is used to acquire the high-definition image of rail vehicle concrete position to be detected.
End image collecting device 141 is set to the end of multi-degree-of-freemechanical mechanical arm 123, end image collecting device 141
Including camera, camera lens, light source and avoidance sensor.Pass through running gear 13, lifting gear 121, translating device 122 and more
Degree-of-freedom manipulator 123 coordinates, and can end image collecting device 141 be sent to any suspected location, to acquire the more of each position
A angle shot.
Line sweeps photomoduel 142 and sweeps camera apparatus and at least one laser generator including multiple lines, and multiple lines sweep camera
Device, which is arranged in a line, to be symmetrically disposed on robot body 11, and each line sweeps camera apparatus side, and respectively there are one laser to occur
Device, can also multiple lines sweep camera apparatus share a laser generator.Line sweeps photomoduel 142 for acquiring track to be detected
The underbody image of vehicle.
Area array cameras component 143 includes multiple area array cameras 1432 and multiple machine vision light sources 1434, multiple face battle array phases
Machine 1432 is in alignment to be symmetrically disposed on robot body 11, and machine vision light source 1434 is distributed in area array cameras 1432 weeks
It encloses, machine vision light source 1434 is used for uniform illumination shooting area.Area array cameras component 143 is for acquiring bogie bottom diagram
Picture.
Control system 15 is set to inside robot body 11, and control system 15 includes central control unit 151, at image
Manage unit 152, positioning unit 153, action control unit 154, communication unit 155, monitoring unit 156, video monitor unit
157, Temperature and Humidity Control unit 158 and power control unit 159.Control system 15 is for controlling rail vehicle maintenance auxiliary
100 each component of robot.Wherein, central control unit 151 transfers corresponding control file, to action control unit 154 and figure
As processing unit 152 says the word, action control unit 154 is distinguished at control action executive device 12 and running gear 13, image
The case where reason unit 152 controls image capturing system 14 and executed according to set plan, execution feeds back to center control list successively
Member 151 is handled.Monitoring unit 156, video monitor unit 157, positioning unit 153, power control unit 159, Temperature and Humidity Control
Unit 158 is interacted with central control unit 151, transmits information and instruction.Central control unit 151 will by communication unit 155
The work for the processing that entire rail vehicle maintenance auxiliary robot 100 acquires and rail vehicle overhaul auxiliary robot 100 itself
The case where, it is sent to background server 242 and carries out processing and used for staff.Central control unit 151 is single by communicating
The case where rail vehicle is overhauled auxiliary robot 100 itself by member 155 is sent to remote monitoring unit 241 and supplies other relevant peoples
Member uses, shown in Figure 9.
Image processing system 16 is used to carry out analyzing processing, image processing system to the image that image capturing system 14 acquires
16 include image processing apparatus and image procossing computing unit.Wherein, image processing apparatus can be industrial personal computer, board or monolithic
Machine.Image procossing computing unit includes but not limited to image comparison computing unit, machine learning computing unit, fault information flags
Computing unit etc..Image processing system 16 for analyzing the image of acquisition, in place of suspected fault in image into rower
Note feedback and alarm.Further, 16 bootable 12 shift position of action executive device of image processing system acquires new images again
Secondary confirmation failure.
Video monitoring apparatus 17 is set on robot body 11, and video monitoring apparatus 17 is IP Camera, is adopted in real time
Collect action and the image of rail vehicle underbody to be detected of multi-degree-of-freemechanical mechanical arm 123, and it is single to send an image to center control
Member 151, video is sent to background server 242 by central control unit 151 by communication unit 155, is monitored for service personnel
Field condition.
Positioning system 18 includes positioning device 181 and related algorithm.Positioning device 181 is laser range sensor or intelligence
Camera, positioning device 181 are fixed on robot body 11.It is solid to underbody or bogie by emitting laser or project structured light
On the structure member being sized, coarse positioning is carried out with rail vehicle to rail vehicle maintenance auxiliary robot 100, and control track
Car inspection and repair auxiliary robot 100 slows down in due course；Bogie by emitting laser or project structured light to rail vehicle is fixed
On the structure member of size, rail vehicle maintenance auxiliary robot 100 is accurately positioned with rail vehicle, and matching coding
The reading control rail vehicle maintenance auxiliary robot 100 of device 134 reaches precalculated position.
Safety guard 19 includes oneself safety protection device and personnel safety protection device.
Oneself safety protection device include multi-degree-of-freemechanical mechanical arm cross force moment protection, translating device both ends of the surface mechanical position limitation
Switch, translating device and the photoelectric limit switch and mechanical limit switch of lifting gear, the overload protection of servo motor, battery mistake
Carry Cross prevention and the protection of each circuit overcurrent vreaker etc..Wherein, multi-degree-of-freemechanical mechanical arm crosses torque protection setting in mostly certainly
By on each joint 1234 of degree mechanical arm 123, can effectively avoid multi-degree-of-freemechanical mechanical arm 123 along existing path or itself new planning
Path action when collide barrier, and cause rail vehicle, rail vehicle maintenance auxiliary robot 100 or other equipment damage
It is bad.
Personnel safety protection device includes multiple emergency stop switch 191, manual operator emergency stop and detection of obstacles sensor
192.Wherein, detection of obstacles sensor 192 is laser radar, ultrasonic sensor or laser range sensor.Wherein, hinder
Analyte detection sensor 192 is hindered to be set on 11 rear and front end of robot body, the barrier that the detection sensor that breaks the barriers 192 is sent out
Object distance signal control rail vehicle maintenance auxiliary robot 100 is hindered to slow down until shutting down, while it is auxiliary to control rail vehicle maintenance
It helps robot 100 to send out the acousto-optic warning of different stage, avoids bumping against the staff in original path.
It is responsible for the power supply that rail vehicle overhauls auxiliary robot 100 for electric installation 20, can divides for electric installation 20 wireless real-time
For electric installation and battery energy storage for electric installation.Wherein, for electric installation include in real time wirelessly fixed part and movable part, fixed part
Set up separately and be placed in the trench of 100 lower section of rail vehicle maintenance auxiliary robot, converts electrical energy into feeder ear, movable part
It is set to and pick up is converted on rail vehicle maintenance auxiliary robot 100 and is rail vehicle maintenance auxiliary robot 100
Power supply.Battery energy storage includes lithium battery group, battery management system, inverter, breaker, charger or charging pile for electric installation,
Battery management system plays balance and monitoring when being charged and discharged to lithium battery group modules, and to lithium battery group mistake
Fill, cross put, overcurrent, overheat etc. play the role of safeguard protection, charger or the optional self-action of charging pile or two kinds of hand,
Wired or wireless mode can be used in charging modes.
The acquisition self information and by status information Real-time Feedback to control system 15 in real time of monitoring system 21, Real-time Feedback
Status information includes but not limited to system job schedule, 100 instantaneous operating conditions of rail vehicle maintenance auxiliary robot, battery electricity
Measure information, circuit-breaker status, image variants state, servo condition, sensor information, control appliance of temperature and humidity work shape
State etc..
Internal temperature humidity conditioner 22 includes temperature controller, the humid control being set to inside robot body 11
Device, air-conditioning and dehumidifier, can effective adjustable track car inspection and repair auxiliary robot 100 each element manipulation environment.
Walking track 23 and running gear 13 are the structures worked in coordination.Walking track 23 is bottom hoofing part or hanging
Driving.Specifically, it is to be laid with base track 234 in trench bottom one is walking track 23, running gear 13 is set to machine
11 bottom of human body, traveling wheel 131 are moved along the base track 234 for being laid on trench bottom, as shown in Figure 7b.Another kind is to adopt
With hanging, walking track 23 is that top rail 232 is mounted on by fixture of the rail 233 on the track 231 that rail vehicle is advanced,
Corresponding running gear 13 is set to 11 top both sides of robot body, and robot body 11 is in trench, and traveling wheel 131 is along top
Portion's track 232 moves, as shown in Figure 7a.
Remote control terminal 24 includes remote monitoring unit 241 and background server 242, and remote control terminal 24 is set to maintenance
Personnel office or control and command center, remote monitoring unit 241 and background server 242 are handed over communication unit 155 respectively
Mutually.It is auxiliary that background server 242 and remote monitoring unit 241 receive the rail vehicle maintenance that communication unit 155 transmits respectively
The information of the work of 100 acquisition process of robot and rail vehicle maintenance 100 own situation of auxiliary robot is helped, it is shown in Figure 9.
It further includes control centre's integrated management unit (not shown) that rail vehicle, which overhauls auxiliary robot 100,.Control centre
Integrated management unit be software and algorithm, operate on background server 242, be mainly used for Train number recognition, data input achieve,
High-definition image is shown, fault picture is alarmed and it is artificial confirm, check work order distributes, fault inquiry and statistics, the inquiry of historical data,
System self-test, site environment real time monitoring, external interface and user management etc..Control centre's integrated management unit and control
The case where system 15 connects, the work for the processing that control system 15 acquires whole system and system itself, is sent in control
Heart integrated management unit carries out post-processing and is used for staff.
Rail vehicle maintenance auxiliary robot 100 further includes manual operator, and manual operator can be industrial tablet, tablet computer, hand
It grasps device directly to communicate with control system 15, manual operator is for staff's execute-in-place and debugging early period and path planning.
It is as follows that rail vehicle overhauls 100 workflow of auxiliary robot：Rail vehicle overhauls auxiliary robot 100 along traveling
Track 23 is advanced, and running gear 13 coordinates positioning system 18 to realize coarse positioning and essence of the robot body 11 relative to rail vehicle
Determine position, line sweeps photomoduel 142 and starts collecting vehicle base map picture, and the image after processing analysis is sent to control centre's synthesis
Management software is checked for staff.Line sweeps photomoduel 142 and starts collecting vehicle base map picture, and the image after processing analysis is sent out
It gives control centre's integrated management unit to check for staff, line is swept rail vehicle after photomoduel 142 completes work and overhauled
100 return of auxiliary robot is advanced, and after robot body 11 is moved to precalculated position, each section of action executive device 12 is pressed
Path planning in assigned tasks jointly controls, and takes and waits for that end image collecting device 141 acquires the multiple angle high definitions in region to be checked
Abort situation in image information is marked and is classified and do not alarmed by image, image processing system 16, is sent to control centre's synthesis
Administrative unit is checked for staff, and maintenance work order is assisted to distribute and Information Statistics, and rail vehicle overhauls auxiliary robot 100
It works on, until the task of completion, work completes rail vehicle maintenance auxiliary robot 100 and returns to initial position, and fills automatically
Electricity.The status information of rail vehicle maintenance auxiliary robot 100 is handled in real time by video monitoring apparatus 17 and monitoring system 21
It is shown on control centre's integrated management unit and manual operator.
The advantageous effect that the technical solution of the embodiment of the present invention is brought is：Above-mentioned rail vehicle overhauls auxiliary robot 100,
Area is overhauled, overhaul efficiency, raising repair quality and reliability, reduction hand labor intensity are improved and improves operation with improving
Environment, the level of IT application for improving service work, compatibility are strong, safe and reliable.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, it is right according to the technical essence of the invention
Any simple modification, equivalent change and modification made by above example, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of rail vehicle overhauls auxiliary robot, it is characterised in that：The rail vehicle maintenance auxiliary robot includes machine
Device human body, action executive device, running gear, image capturing system, control system, image processing system, video monitoring dress
Set, positioning system, for electric installation, monitoring system, internal temperature humidity conditioner and walking track, the running gear
It is set to lower part or the top both sides of the robot body, the structure and position phase of the running gear and the walking track
Cooperation, the running gear are limited on the walking track and can be moved along the walking track, the action executive device
Including lifting gear, translating device and multi-degree-of-freemechanical mechanical arm, the lifting gear is fixed on the robot body,
The translating device is fixed on the lifting gear, and the multi-degree-of-freemechanical mechanical arm is fixed on the translating device, described
The end set of multi-degree-of-freemechanical mechanical arm has the image capturing system, and described image processing system is to described image acquisition system
Image analysis processing is acquired, the control system and the internal temperature humidity conditioner are set in the robot body
Portion, for the control system for controlling rail vehicle maintenance each component of auxiliary robot, described for electric installation is the rail
The power supply of road car inspection and repair auxiliary robot, the monitoring system acquire self information and information are fed back to the control in real time
The coarse positioning and essence of the rail vehicle maintenance auxiliary robot are realized in system, the running gear and positioning system cooperation
Determine position.
2. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The lifting gear is bimodulus group
Synchronous active lift structure, two vertical-lifting servo motors of control respectively drive two vertical-lifting modules while moving or an institute
Vertical-lifting servo motor is stated to drive the two vertical-lifting modules by vertical-lifting transmission mechanism while moving.
3. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The lifting gear is side master
The dynamic passive lift structure in side, drive end drive vertical-lifting module to move by a vertical-lifting servo motor, and driven end is logical
It crosses guide rail slide block, a horizontal guide rail, two parallel upright guide rails to be oriented to, and resists that horizontal mobile mechanism is overhanging to be made
At additional moment.
4. rail vehicle as claimed in claim 3 overhauls auxiliary robot, it is characterised in that：The vertical-lifting module uses
Ball-screw or belt pass the structure of work(.
5. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The multi-degree-of-freemechanical mechanical arm is
The flexible mechanical arm of seven freedom or six degree of freedom, the multi-degree-of-freemechanical mechanical arm include sequentially connected multi arm and are connected
Two sections of arms can be around joint relative rotation.
6. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The translating device is that three-level is same
Driving structure is walked, the translating device includes level-one driving motor, pedestal, level-one rail, two level rail and load-carrying sliding block, described
Pedestal is fixed on the lifting gear, and the level-one driving motor is fixed on the pedestal, the pedestal and the level-one
Rail passes through the second synchronous band connection, the load-carrying by synchronous band connection, the two level rail with the level-one rail and the pedestal
Sliding block and the two level rail and the level-one rail drive the level-one rail by the synchronous band connection of third, the level-one driving motor
Relative to the pedestal move, while the two level rail relative to the level-one rail, the load-carrying sliding block relative to the two level
Rail moves in the same direction.
7. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The translating device is that two-stage is same
Step driving and level-one are operated alone composite structure, the translating device include level-one driving motor, pedestal, level-one rail, two level rail,
Load-carrying sliding block and secondary drive motor, the pedestal are fixed on the lifting gear, and the level-one driving motor is fixed on
On the pedestal, for the pedestal with the level-one rail by synchronous band connection, the two level rail and the level-one rail and pedestal are logical
The second synchronization band connection is crossed, the secondary drive motor is mounted on the two level rail, described in the level-one driving motor driving
Level-one rail is moved relative to the pedestal, while the two level rail moves in the same direction relative to the level-one rail, the load-carrying sliding block
It is driven by the secondary drive motor and is moved in the same direction relative to the two level rail.
8. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The translating device is multiple moulds
Group or multiple linear motors are superimposed driving structure.
9. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The walking track is bottom line
Walk driving or hanging driving.
10. rail vehicle as described in claim 1 overhauls auxiliary robot, it is characterised in that：The running gear includes row
Walk wheel, transmission device, servo drive unit and encoder, the driving wheel of the servo drive unit and the transmission device
Axial connection, the driven wheel of the transmission device are connect with capstan drive, the driven wheel of the transmission device and the walking
Wheel shaft drives traveling wheel to rotate to connection, and then drives the rail vehicle maintenance auxiliary robot walking, the encoder
It is set on the transmission device, traveling wheel travel distance described in the encoder feedback.
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| CN201810463145.3A CN108638083B (en) | 2018-05-15 | 2018-05-15 | Auxiliary robot for overhauling railway vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810463145.3A CN108638083B (en) | 2018-05-15 | 2018-05-15 | Auxiliary robot for overhauling railway vehicle |
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| CN108638083A true CN108638083A (en) | 2018-10-12 |
| CN108638083B CN108638083B (en) | 2020-06-23 |
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| CN201810463145.3A Active CN108638083B (en) | 2018-05-15 | 2018-05-15 | Auxiliary robot for overhauling railway vehicle |
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| CN109506964A (en) * | 2019-01-03 | 2019-03-22 | 北京康拓红外技术股份有限公司 | A method of intelligent base inspection is repaired for EMU level-one |
| CN110231180A (en) * | 2019-06-21 | 2019-09-13 | 浙江神汽电子商务有限公司 | A kind of intelligent overhaul robot |
| CN110370287A (en) * | 2019-08-16 | 2019-10-25 | 中铁第一勘察设计院集团有限公司 | Subway column inspection robot path planning's system and method for view-based access control model guidance |
| CN110418109A (en) * | 2019-07-17 | 2019-11-05 | 北京飞鸿云际科技有限公司 | Backpack intelligence individual soldier cruising inspection system, method for inspecting |
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| CN111103863A (en) * | 2018-10-29 | 2020-05-05 | 株洲中车时代电气股份有限公司 | Intelligent maintenance robot, maintenance system and method for rail transit vehicle |
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| CN111845864A (en) * | 2020-06-12 | 2020-10-30 | 佛山中国空间技术研究院创新中心 | Rail train identification and positioning method, system, device and storage medium |
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| CN110370287A (en) * | 2019-08-16 | 2019-10-25 | 中铁第一勘察设计院集团有限公司 | Subway column inspection robot path planning's system and method for view-based access control model guidance |
| CN110370287B (en) * | 2019-08-16 | 2022-09-06 | 中铁第一勘察设计院集团有限公司 | Subway train inspection robot path planning system and method based on visual guidance |
| CN111157534A (en) * | 2020-01-20 | 2020-05-15 | 北京主导时代科技有限公司 | Movable type detection platform for train bottom in warehouse |
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| CN111604916B (en) * | 2020-04-30 | 2024-04-02 | 杭州优云科技有限公司 | Machine room IT equipment fault cabinet U-position positioning system and method |
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| CN111845864A (en) * | 2020-06-12 | 2020-10-30 | 佛山中国空间技术研究院创新中心 | Rail train identification and positioning method, system, device and storage medium |
| CN113050654A (en) * | 2021-03-29 | 2021-06-29 | 中车青岛四方车辆研究所有限公司 | Obstacle detection method, vehicle-mounted obstacle avoidance system and method for inspection robot |
| CN113125442A (en) * | 2021-04-16 | 2021-07-16 | 中铁第一勘察设计院集团有限公司 | Bogie dynamic inspection card control device |
| WO2023045760A1 (en) * | 2021-09-27 | 2023-03-30 | 中国科学院自动化研究所 | Automatic train uncoupling robot and system |
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