CN109334710B - Double-actuator train water feeding robot and implementation method - Google Patents
Double-actuator train water feeding robot and implementation method Download PDFInfo
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- CN109334710B CN109334710B CN201811360367.9A CN201811360367A CN109334710B CN 109334710 B CN109334710 B CN 109334710B CN 201811360367 A CN201811360367 A CN 201811360367A CN 109334710 B CN109334710 B CN 109334710B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 211
- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000012636 effector Substances 0.000 claims abstract description 43
- 210000001503 joint Anatomy 0.000 claims abstract description 14
- 238000002347 injection Methods 0.000 claims abstract description 12
- 239000007924 injection Substances 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000013519 translation Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005086 pumping Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K11/00—Serving peculiar to locomotives, e.g. filling with, or emptying of, water, sand, or the like at the depots
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Abstract
The invention belongs to the technical field of railway passenger train water supply, and particularly relates to a double-actuator train water supply robot, wherein a robot body is connected with a control cabinet; the lower end of the first mechanical arm is connected with the robot base, and the upper end of the first mechanical arm is connected with the cross rod; one end of each of the two second mechanical arms is connected with the cross rod, and the other ends of the two second mechanical arms are respectively connected with a first end effector and a second end effector; the first end effector is provided with a water supply joint communicated with a water supply hose, and the second end effector is provided with a vacuum pipe joint communicated with a vacuum hose. The invention also provides a water feeding method of the double-actuator train water feeding robot, after the train is stopped, the water feeding connector is in butt joint with the water injection port, the vacuum pipe connector is in butt joint with the overflow port, the water is injected, the water tank of the train is pumped, and the initial pose of the robot is recovered after the water feeding is finished. The double-actuator train water feeding robot provided by the invention is matched with the vacuum tube connector through the water feeding connector, so that the water feeding speed is effectively improved.
Description
Technical Field
The invention belongs to the technical field of railway passenger train water supply, and particularly relates to a double-actuator train water supply robot and an implementation method thereof.
Background
At present, railway passenger train water supply mainly adopts traditional manual water supply, needs the manual work to insert the water supply plug of water supply pipe into the water filling port of the train, opens the water supply valve and starts water supply, closes the water supply valve after the water tank of the train overflows, takes down the water supply pipe, and a train is usually only provided with 3-5 water supply workers, and on average, the water supply workers are responsible for the water supply task of 4 carriages, so that the labor intensity of the workers is high, the water supply efficiency is low, the workers shuttle among the tracks has potential safety hazards, in addition, the manual water supply mode efficiency is low, the parking time of the gradually popularized motor train sets is shorter, and the current manual water supply mode can not meet the water supply requirement.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the double-actuator train water feeding robot and the implementation method thereof, wherein the water feeding speed is high, unmanned operation can be realized in the whole water feeding process, and potential safety hazards are eliminated.
In order to achieve the above purpose, the technical scheme of the invention is that the double-actuator train water feeding robot comprises a robot body and a control cabinet, wherein the robot body is connected with the control cabinet; the robot body comprises a robot base, a cross rod, a first mechanical arm and two second mechanical arms; the lower end of the first mechanical arm is connected with the robot base, and the upper end of the first mechanical arm is connected with the cross rod; one end of each of the two second mechanical arms is connected with the cross rod, and the other ends of the two second mechanical arms are respectively connected with a first end effector and a second end effector; a water supply connector is arranged on the first end effector and is communicated with a water supply hose; the second end effector is provided with a vacuum tube joint for exhausting air from the train water tank, and the vacuum tube joint is communicated with a vacuum hose.
Further, two z-direction telescopic mechanisms are arranged on the cross rod, and telescopic ends of the two z-direction telescopic mechanisms are respectively connected with the two second mechanical arms.
Further, the z-direction telescopic mechanism comprises a vertical rod and a telescopic rod, the bottom of the vertical rod is fixed on the cross rod, the top of the vertical rod is provided with the telescopic rod, and the telescopic rod is retractably arranged in the vertical rod.
Further, the double-actuator train water-feeding robot further comprises a robot walking shaft arranged between station tracks, and the robot body is arranged on the robot walking shaft.
Further, the first mechanical arm comprises a first joint, a first arm rod and a second arm rod; one end of the first joint is rotationally connected with the robot base, and the other end of the first joint is rotationally connected with the first arm rod through the second joint; the first arm rod is rotationally connected with the second arm rod through a third joint; and one end of the second arm rod, which is far away from the third joint, is connected with the cross rod.
Further, the second mechanical arm comprises a third arm lever, a fourth arm lever and a fifth arm lever; one end of the third arm rod is connected with the cross rod, and the other end of the third arm rod is rotationally connected with the fourth arm rod through a fourth joint; the fourth arm rod is rotationally connected with the fifth arm rod through a fifth joint; the fifth arm is coupled to the first end effector or the second end effector via a sixth joint.
Further, the water supply hose and the vacuum hose are both laid along the outer surface of the robot body.
Further, a water supply main pipe is arranged on the side wall of the drainage ditch between station tracks, a plurality of water supply branch pipes are connected to the water supply main pipe, the water supply branch pipes, the water supply hoses and the robot body are in one-to-one correspondence, and each water supply branch pipe is respectively communicated with the corresponding water supply hose.
Further, vacuum main pipes are laid on the side walls of the drainage ditches between station tracks, a plurality of vacuum branch pipes are connected to the vacuum main pipes, the vacuum branch pipes, the vacuum hoses and the robot body are in one-to-one correspondence, and each vacuum branch pipe is respectively communicated with the corresponding vacuum hose.
The invention also provides a water feeding method of the double-actuator train water feeding robot, which comprises the following steps:
1) After the train enters the station and stops, the double-actuator train water feeding robot positioned near each carriage searches a water injection port and an overflow port of a train water tank through a vision system;
2) The water feeding connector on the first end effector is in butt joint with the water injection port of the train water tank, and the vacuum tube connector on the second end effector is in butt joint with the overflow port of the train water tank through translation of the robot body, rotation of the first mechanical arm, rotation of the second mechanical arm and expansion of the expansion mechanism;
3) The water supply hose is used for injecting water into the train water tank through the water supply joint, and meanwhile, the vacuum hose is used for exhausting air from the train water tank through the vacuum pipe joint;
4) After water feeding is completed, the water feeding connector is separated from the water injection port of the train water tank and the vacuum tube connector is separated from the overflow port of the train water tank through the second mechanical arm, so that the initial pose is recovered, and the standby state is maintained.
Compared with the prior art, the invention has the following beneficial effects:
(1) The whole water feeding process of the double-actuator train water feeding robot can realize unmanned operation, so that water feeding workers are prevented from shuttling among tracks, and potential safety hazards of driving and personnel are eliminated;
(2) According to the double-actuator train water feeding robot, the water feeding connector is matched with the vacuum tube connector, and the vacuum tube connector is used for pumping air to the train water tank when the water feeding connector feeds water, so that the air pressure in the train water tank is reduced, and the water feeding speed is effectively improved;
(3) The double-actuator train water feeding robot provided by the invention moves through the robot walking shaft, so that the water feeding working range of the robot is further enlarged, and certain differences between train stopping positions of different train numbers are allowed;
(4) The service life of the double-actuator train water-feeding robot provided by the invention can reach 10-15 years, the later operation and maintenance cost is far lower than the labor cost, and the cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a double-actuator train water-feeding robot provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a double-actuator train water-feeding robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a z-direction telescoping mechanism of a double-actuator train water-feeding robot provided by an embodiment of the invention;
fig. 4 is a schematic structural diagram of a water-feeding robot with dual actuators provided by an embodiment of the present invention;
in the figure: 1. the robot comprises a robot base, 2, a first joint, 3, a second joint, 4, a first arm, 5, a third joint, 6, a second arm, 7, a cross bar, 8, a third arm, 9, a fourth joint, 10, a fourth arm, 11, a fifth joint, 12, a fifth arm, 13, a sixth joint, 14, a first end effector, 15, a second end effector, 16, a water supply branch pipe, 17, a vacuum branch pipe, 18, a control cabinet, 19, a control cable, 20, a pipe hoop, 21, a robot walking shaft, 22, a water supply dry pipe, 23, a vacuum dry pipe, 24, a vertical rod, 25, a telescopic rod, 26, a water supply joint, 27, a vacuum pipe joint, 28, a water supply hose, 29 and a vacuum hose.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1-2, an embodiment of the present invention provides a dual-actuator train water-feeding robot, which includes a robot body and a control cabinet 18, wherein the robot body is connected with the control cabinet 18; the robot body comprises a robot base 1, a cross rod 7, a first mechanical arm and two second mechanical arms; the lower end of the first mechanical arm is rotationally connected with the robot base 1, and the upper end of the first mechanical arm is connected with the cross rod 7; one end of each of the two second mechanical arms is connected with the cross rod 7, and the other ends of the two second mechanical arms are respectively connected with a first end effector 14 and a second end effector 15; a water supply connector 26 is arranged on the first end effector 14, and the water supply connector 26 is communicated with a water supply hose 28; the second end effector 15 is provided with a vacuum tube joint 27 for pumping air from a train water tank, and the vacuum tube joint 27 is communicated with a vacuum hose 29. The specific positions and the number of the water feeding robots of the double-actuator train provided by the embodiment can be adjusted according to the positions and the number of water injection ports of different vehicle types, namely, each carriage corresponds to one or more water feeding robots, the water feeding robots are fixed between two adjacent water feeding tracks and keep a safe distance from the tracks, and each robot can be responsible for water feeding work of two adjacent water feeding tracks; the water feeding robot is matched with the vacuum tube joint through the water feeding joint, and the vacuum tube joint pumps air from the train water tank when the water feeding joint feeds water, so that the air pressure in the train water tank is reduced, and the water feeding rate is effectively improved; the whole water feeding process can realize unmanned operation, avoid the water feeding workers to shuttle among the tracks, and eliminate the potential safety hazards of driving and personnel. In this embodiment, the vacuum hose 29 is connected to a vacuum generator, and the train water tank is evacuated by a vacuum pump or other evacuation device.
Further, the first mechanical arm comprises a first joint 2, a first arm lever 4 and a second arm lever 6; one end of the first joint 2 is rotationally connected with the robot base 1, and the other end of the first joint is rotationally connected with the first arm lever 4 through the second joint 3; the first arm lever 4 is rotatably connected with the second arm lever 6 through a third joint 5; the end of the second arm 6 remote from the third joint 5 is connected to the cross bar 7. The first joint 2 can freely rotate in a 360-degree range in the horizontal direction (namely around the z-axis), the second joint 3 is positioned on the first joint 2 and can rotate in a certain angle range in the vertical direction (namely around the x-axis), the specific rotation range is determined according to the actual conditions of each station, and the rotation direction of the third joint 5 is vertical to the second joint 3 (namely around the y-axis).
Further, the second mechanical arm comprises a third arm lever 8, a fourth arm lever 10 and a fifth arm lever 12; one end of the third arm rod 8 is connected with the cross rod 7, and the other end of the third arm rod is rotatably connected with the fourth arm rod 10 through a fourth joint 9; the fourth arm 10 is rotatably connected with the fifth arm 12 through a fifth joint 11; the fifth arm 12 is connected to the first end effector 14 or the second end effector 15 via a sixth joint 13. Wherein the fourth joint 9 can rotate around the z-axis, the fifth joint 11 can rotate around the y-axis, and the sixth joint 13 can rotate around the x-axis. The robot body of this embodiment is a joint robot, and each end effector corresponds 6 degrees of freedom, so that the butt joint of the water supply connector 26 and the water filling port of the train and the butt joint of the vacuum tube connector 27 and the overflow port of the train can be accurately realized.
Further, the water supply hose 28 and the vacuum hose 29 are laid along the outer surface of the robot body, and the water supply hose 28 and the vacuum hose 29 are fixed to the arm bars of the first and second robot arms through the pipe hoop 20.
Further, the water supply main pipe 22 is disposed on the side wall of the drainage ditch between station tracks, the water supply main pipe 22 is connected with a plurality of water supply branch pipes 16, the water supply hoses 28 and the robot body are in one-to-one correspondence, and each water supply branch pipe 16 is respectively communicated with the corresponding water supply hose 28. In this embodiment, the number of the water supply branch pipes 16 corresponds to the number of the robot body one by one, each water supply branch pipe 16 is provided with a flowmeter and an electromagnetic valve, the flowmeter and the electromagnetic valve are connected with the control cabinet 18, and the opening and closing of the electromagnetic valve are controlled by the control cabinet 18 to finish water supply, so that each carriage can be controlled independently.
Further, vacuum main pipes 23 are laid on the side walls of the drainage ditches between station tracks, a plurality of vacuum branch pipes 17 are connected to the vacuum main pipes 23, the vacuum branch pipes 17, the vacuum hoses 29 and the robot body are in one-to-one correspondence, and each vacuum branch pipe 17 is respectively communicated with the corresponding vacuum hose 29. In the embodiment, the number of the vacuum branch pipes 17 corresponds to that of the robot body one by one, each vacuum branch pipe 17 is provided with an electromagnetic valve, the electromagnetic valve is connected with a control cabinet 18, the opening of the electromagnetic valve is controlled by the control cabinet 18 to realize the vacuumizing of the train water tank, and each carriage is convenient to control independently.
Example two
As shown in fig. 1-3, an embodiment of the present invention provides a dual-actuator train water-feeding robot, which includes a robot body and a control cabinet 18, wherein the robot body is connected with the control cabinet 18; the robot body comprises a robot base 1, a cross rod 7, a first mechanical arm and two second mechanical arms; the lower end of the first mechanical arm is rotationally connected with the robot base 1, and the upper end of the first mechanical arm is connected with the cross rod 7; one end of each of the two second mechanical arms is connected with the cross rod 7, and the other ends of the two second mechanical arms are respectively connected with a first end effector 14 and a second end effector 15; a water supply connector 26 is arranged on the first end effector 14, and the water supply connector 26 is communicated with a water supply hose 28; the second end effector 15 is provided with a vacuum tube joint 27 for exhausting air from a train water tank, and the vacuum tube joint 27 is communicated with a vacuum hose 29; the transverse rod 7 is provided with two z-direction telescopic mechanisms, and the telescopic ends of the two z-direction telescopic mechanisms are respectively connected with the two second mechanical arms. The first mechanical arm and the second mechanical arm of the double-actuator train water feeding robot can slide up and down along the z axis, so that the working radius of the robot is increased, and the working blind area of the robot is reduced.
Still further, z is to telescopic machanism includes montant 24 and telescopic link 25, the bottom of montant 24 is fixed in on the horizontal pole 7, the top of montant 24 is equipped with telescopic link 25, telescopic link 25 telescopically set up in within the montant 24. In the embodiment, the control cabinet 18 controls the expansion amount of the expansion link 25 to realize the accurate butt joint of the water supply joint 26 on the first end effector 14 and the water injection port of the train water tank and the accurate butt joint of the vacuum tube joint 27 on the second end effector 15 and the overflow port of the train water tank; the control cabinet 18 is mounted near the robot body and connected to the robot body by a control cable 19.
Example III
As shown in fig. 1-2, the embodiment of the invention provides a mobile double-actuator train water-feeding robot, which comprises a robot body, a control cabinet 18 and a robot walking shaft 21 arranged between station tracks, wherein the robot body is connected with the control cabinet 18, and the robot body is arranged on the robot walking shaft 21; the robot body comprises a robot base 1, a cross rod 7, a first mechanical arm and two second mechanical arms; the lower end of the first mechanical arm is rotationally connected with the robot base 1, and the upper end of the first mechanical arm is connected with the cross rod 7; one end of each of the two second mechanical arms is connected with the cross rod 7, and the other ends of the two second mechanical arms are respectively connected with a first end effector 14 and a second end effector 15; a water supply connector 26 is arranged on the first end effector 14, and the water supply connector 26 is communicated with a water supply hose 28; the second end effector 15 is provided with a vacuum tube joint 27 for pumping air from a train water tank, and the vacuum tube joint 27 is communicated with a vacuum hose 29. The double-actuator train water feeding robot provided by the embodiment can horizontally translate along the robot walking shaft 21, so that the water feeding working range of the robot can be further enlarged, and certain differences in train stopping positions of different train numbers are allowed.
Example IV
As shown in fig. 1-4, the present invention further provides a water feeding method for the double-actuator train water feeding robot, which comprises the following steps:
1) After the train enters the station and stops, the double-actuator train water feeding robot positioned near each carriage searches a water injection port and an overflow port of a train water tank through a vision system;
2) The water supply joint 26 on the first end effector 14 is in butt joint with a water injection port of a train water tank, and the vacuum tube joint 27 on the second end effector 15 is in butt joint with an overflow port of the train water tank through translation of the robot body, rotation of the first mechanical arm, rotation of the second mechanical arm and expansion and contraction of the expansion mechanism;
3) The water supply hose 28 is used for filling water into the train water tank through the water supply joint 26, and meanwhile, the vacuum hose 29 is used for pumping air from the train water tank through the vacuum pipe joint 27, so that the air pressure in the train water tank is reduced, and the water supply rate is improved;
4) After the water feeding is completed, the water feeding connector 26 is separated from the water injection port of the train water tank and the vacuum tube connector 27 is separated from the overflow port of the train water tank through the second mechanical arm, and the robot body is restored to the initial pose and kept in a standby state.
In the water feeding method provided by the embodiment, two CCD cameras are respectively arranged on two sides of the first end effector 14, two CCD cameras are respectively arranged on two sides of the second end effector 15, the two CCD cameras are connected with the control cabinet 18, the three-dimensional image information in the operation environment is obtained and transmitted to the monitoring computer of the central control room, the monitoring computer calculates the translation amount of the robot body, the rotation angle of each joint of the first mechanical arm, the rotation angle of each joint of the second mechanical arm and the expansion amount of the expansion mechanism according to the relative positions of the water feeding joint 26 and the water filling port and the relative positions of the vacuum tube joint 27 and the overflow port, and the calculation result is sent to the corresponding control cabinet 18 of the station, and the control cabinet 18 controls the translation of the robot body, the rotation of the first mechanical arm, the rotation of the second mechanical arm and the expansion of the expansion mechanism to realize the butt joint of the water feeding joint 26 and the train water filling port and the butt joint of the vacuum tube joint 27 and the train overflow port.
The water tank of the train is internally provided with a liquid level sensor, the water feeding branch pipe 16 is provided with a flowmeter, a monitoring computer of a central control room calculates the current water feeding amount and the current water feeding time according to the liquid level information of the water tank of the train, when water feeding is started, the control cabinet 18 controls and opens electromagnetic valves on the water feeding branch pipe 16 and the vacuum branch pipe 17, water is injected into the water tank of the train through a water feeding joint 26, and the water tank of the train is pumped out through a vacuum pipe joint 27, so that the air pressure in the water tank of the train is reduced, and the water feeding rate is improved; after the water supply reaches the preset time, the control cabinet 18 controls and closes the electromagnetic valves on the water supply branch pipe 16 and the vacuum branch pipe 17 to finish the water supply, and the control cabinet 18 simultaneously controls the rotation of the first mechanical arm and the second mechanical arm and the contraction of the telescopic mechanism to realize that the water supply joint 26 and the vacuum pipe joint 27 are far away from the water tank of the train, restore the initial pose, keep the standby state and wait for the arrival of the next train.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. The utility model provides a two executor train robot that water on, its characterized in that: the robot comprises a robot body and a control cabinet (18), wherein the robot body is connected with the control cabinet (18); the robot body comprises a robot base (1), a cross rod (7), a first mechanical arm and two second mechanical arms; the lower end of the first mechanical arm is connected with the robot base (1), and the upper end of the first mechanical arm is connected with the cross rod (7); one end of each of the two second mechanical arms is connected with the cross rod (7), and the other ends of the two second mechanical arms are respectively connected with a first end effector (14) and a second end effector (15); a water supply joint (26) is arranged on the first end effector (14), and the water supply joint (26) is communicated with a water supply hose (28); the second end effector (15) is provided with a vacuum tube joint (27) for exhausting air from a train water tank, and the vacuum tube joint (27) is communicated with a vacuum hose (29).
2. A dual-actuator train water-supply robot as set forth in claim 1, wherein: the transverse rod (7) is provided with two z-direction telescopic mechanisms, and the telescopic ends of the two z-direction telescopic mechanisms are respectively connected with the two second mechanical arms.
3. A dual-actuator train water-supply robot as set forth in claim 2, wherein: the z-direction telescopic mechanism comprises a vertical rod (24) and a telescopic rod (25), wherein the bottom of the vertical rod (24) is fixed on the cross rod (7), the top of the vertical rod (24) is provided with the telescopic rod (25), and the telescopic rod (25) is telescopically arranged in the vertical rod (24).
4. A dual-actuator train water-supply robot as set forth in claim 1, wherein: the robot is characterized by further comprising a robot walking shaft (21) arranged between station tracks, and the robot body is arranged on the robot walking shaft (21).
5. A dual-actuator train water-supply robot as set forth in claim 1, wherein: the first mechanical arm comprises a first joint (2), a first arm rod (4) and a second arm rod (6); one end of the first joint (2) is rotationally connected with the robot base (1), and the other end of the first joint is rotationally connected with the first arm lever (4) through the second joint (3); the first arm lever (4) is rotationally connected with the second arm lever (6) through a third joint (5); one end of the second arm lever (6) far away from the third joint (5) is connected with the cross bar (7).
6. A dual-actuator train water-supply robot as set forth in claim 1, wherein: the second mechanical arm comprises a third arm lever (8), a fourth arm lever (10) and a fifth arm lever (12); one end of the third arm lever (8) is connected with the cross bar (7), and the other end of the third arm lever is rotationally connected with the fourth arm lever (10) through a fourth joint (9); the fourth arm lever (10) is rotationally connected with the fifth arm lever (12) through a fifth joint (11); the fifth arm (12) is connected to the first end effector (14) or the second end effector (15) by a sixth joint (13).
7. A dual-actuator train water-supply robot as set forth in claim 1, wherein: the water supply hose (28) and the vacuum hose (29) are both laid along the outer surface of the robot body.
8. A dual-actuator train water-supply robot as set forth in claim 1, wherein: and a water supply main pipe (22) is arranged on the side wall of the drainage ditch between station tracks, a plurality of water supply branch pipes (16) are connected to the water supply main pipe (22), the water supply branch pipes (16), the water supply hoses (28) and the robot body are in one-to-one correspondence, and each water supply branch pipe (16) is respectively communicated with the corresponding water supply hose (28).
9. A dual-actuator train water-supply robot as set forth in claim 1, wherein: vacuum main pipes (23) are laid on the side walls of the drainage ditches between station tracks, a plurality of vacuum branch pipes (17) are connected to the vacuum main pipes (23), the vacuum branch pipes (17) correspond to the vacuum hoses (29) and the robot body one by one, and each vacuum branch pipe (17) is communicated with the corresponding vacuum hose (29) respectively.
10. The water feeding method of the double-actuator train water feeding robot is characterized by comprising the following steps of:
1) After the train enters the station and stops, the double-actuator train water feeding robot positioned near each carriage searches a water injection port and an overflow port of a train water tank through a vision system;
2) The water feeding connector (26) on the first end effector (14) is in butt joint with the water injection port of the train water tank, and the vacuum tube connector (27) on the second end effector (15) is in butt joint with the overflow port of the train water tank through the translation of the robot body, the rotation of the first mechanical arm, the rotation of the second mechanical arm and the expansion of the expansion mechanism;
3) The water supply hose (28) is used for filling water into the train water tank through the water supply joint (26), and meanwhile, the vacuum hose (29) is used for exhausting air from the train water tank through the vacuum pipe joint (27);
4) After water feeding is completed, the water feeding connector (26) is separated from the water injection port of the train water tank and the vacuum tube connector (27) is separated from the overflow port of the train water tank through the second mechanical arm, so that the initial pose is recovered, and the standby state is maintained.
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| CN201811360367.9A CN109334710B (en) | 2018-11-15 | 2018-11-15 | Double-actuator train water feeding robot and implementation method |
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| CN201811360367.9A CN109334710B (en) | 2018-11-15 | 2018-11-15 | Double-actuator train water feeding robot and implementation method |
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| CN109334710B true CN109334710B (en) | 2023-12-22 |
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| CN105460036A (en) * | 2016-01-06 | 2016-04-06 | 长春市朗瑞斯铁路装备有限公司 | Vacuum holding type dejectas collecting system |
| CN107933609A (en) * | 2017-12-06 | 2018-04-20 | 中国铁道科学研究院电子计算技术研究所 | Compartment automatic loading water system and method |
| CN209274611U (en) * | 2018-11-15 | 2019-08-20 | 中铁第四勘察设计院集团有限公司 | A kind of double actuator train waters robot |
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| CN109334710A (en) | 2019-02-15 |
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