CN109398412B - Water feeding robot with built-in water feeding pipe and train water feeding system - Google Patents
Water feeding robot with built-in water feeding pipe and train water feeding system Download PDFInfo
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- CN109398412B CN109398412B CN201811361151.4A CN201811361151A CN109398412B CN 109398412 B CN109398412 B CN 109398412B CN 201811361151 A CN201811361151 A CN 201811361151A CN 109398412 B CN109398412 B CN 109398412B
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/02—Bunkers; Tanks; Tenders; Water or fuel pick-up or scoop apparatus; Water or fuel supply fittings
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to a water feeding robot with a built-in water feeding pipe, which comprises a robot arm rod, a water feeding pipe and a water feeding connector arranged at the free end of the robot arm rod, wherein the robot arm rod is a hollow arm rod, and the water feeding pipe is laid in a rod cavity of the robot arm rod and is connected with the water feeding connector. The water supply pipe and the water supply connector are driven by the arm rod of the robot to be connected with the water supply port of the water tank of the train, so that automatic water supply and automatic rollback are realized, the manual water supply process is replaced, the water supply efficiency of the train is improved, and the waste of water resources is avoided. The water supply pipe is laid in the robot arm rod, the water supply pipe and the water supply pipe cannot be wound with the robot arm rod, the water supply pipe can be prevented from being damaged, and the operation flexibility of the robot is prevented from being influenced. In addition, the train water supply system comprises the water supply robot, and the positioning mechanism is used for conveniently searching and positioning the water supply port of the train, so that the train water supply automation is thoroughly realized, the labor intensity is reduced, and the train water supply efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of train water feeding, and particularly relates to a water feeding robot with a built-in water feeding pipe and a train water feeding system comprising the water feeding robot.
Background
The running train in China has early-stage common-speed hard seats, late-stage production express trains, CRH1, CRH2, double-train number and other motor train unit trains, and the water inlet specifications of the train carriages of different models are also different to a certain extent. According to incomplete statistics, the nominal diameter variation range of the water inlet of different specifications of the train is 22-36 mm, and the tail end of the water inlet pipe is usually a steel pipe with DN25mm, so that the water inlet pipe cannot be completely matched with the specification of part of the water inlet of the train, and the water leakage phenomenon in the water inlet process is serious.
The passenger train water-feeding plug that current is commonly used mainly inserts the water-feeding plug into the train water-feeding mouth through the water-feeding worker, opens the water-feeding valve and begins to water, closes the water-feeding valve again after the train water tank overflows, takes down the water-feeding pipe, and the operation process is wasted time and energy to a train is usually only equipped with 3 ~ 5 water-feeding workers, and on average, the water-feeding worker is responsible for the water-feeding task of 4 carriages, this results in the water-feeding worker to operate in other carriages when some carriages overflow, can't in time close the water-feeding valve of corresponding carriage, this has caused very big water waste. Taking Beijing railway bureau as an example, the water resource waste amount caused by water supply of the railway bureau under jurisdiction stations is about 62 ten thousand tons.
Disclosure of Invention
The embodiment of the invention relates to a water feeding robot with a built-in water feeding pipe and a train water feeding system comprising the water feeding robot, which at least can solve part of defects in the prior art.
The embodiment of the invention relates to a water feeding robot with a built-in water feeding pipe, which comprises a robot arm rod, a water feeding pipe and a water feeding connector arranged at the free end of the robot arm rod, wherein the robot arm rod is a hollow arm rod, and the water feeding pipe is laid in a rod cavity of the robot arm rod and is connected with the water feeding connector.
As one embodiment, the robotic arm has a plurality of degrees of freedom joints, each of the degrees of freedom joints is provided with a bearing hole for the water supply pipe to pass through, and the water supply pipe body at the position of at least one of the degrees of freedom joints adopts a deformable pipe section.
As one of the embodiments, the deformable tube section comprises a stainless steel annular bellows.
As one embodiment, the deformable tube section further comprises a flexible corrugated hose, and the stainless steel annular corrugated tube is sleeved outside the flexible corrugated hose.
As one embodiment, the deformable tube section further comprises a metal braided mesh tube, and the metal braided mesh tube is sleeved outside the stainless steel annular corrugated tube.
As one embodiment, the deformable pipe sections are adopted at the joints of each degree of freedom, and every two adjacent deformable pipe sections are connected through a straight pipe section.
As one embodiment, each of the straight tube sections is secured within the robotic arm by at least one arm sleeve.
As one of the embodiments, the arm rod sleeve comprises two arc clamping plates which are arranged on the inner wall of the robot arm rod and are opposite in notch, and the distance between the two arc clamping plates is adjustable.
As one embodiment, the water supply pipe body connected with the water supply joint is a deformable pipe section.
The embodiment of the invention relates to a train water supply system, which comprises a water supply robot with a built-in water supply pipe and a positioning mechanism for enabling the water supply robot to find and position a train water supply port.
The embodiment of the invention has at least the following beneficial effects:
the invention provides a water feeding robot, which is characterized in that a water feeding pipe and a water feeding joint are driven by a robot arm rod to be connected with a water feeding port of a water tank of a train, so that automatic water feeding and automatic rollback are realized, a manual water feeding process is replaced, the water feeding efficiency of the train is improved, and the waste of water resources is avoided. The water supply pipe is laid in the robot arm rod, the water supply pipe and the water supply pipe cannot be wound with the robot arm rod, the water supply pipe can be prevented from being damaged, and the operation flexibility of the robot is prevented from being influenced.
The invention provides a train water feeding system, which not only adopts the water feeding robot to obtain corresponding technical effects, but also facilitates the water feeding robot to find and position the water feeding port of the train through the positioning mechanism, thereby thoroughly realizing the automation of train water feeding, reducing the labor intensity and improving the water feeding efficiency of the train.
The embodiment of the invention further has the following beneficial effects:
the water supply pipe of the deformable pipe section is adopted to be matched with the freedom degree joint of the robot arm rod, so that the water supply pipe is ensured to be capable of adapting to the rotation characteristic of the robot arm rod joint, and the service life of the water supply pipe is effectively prolonged.
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 water feeding robot according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of another water feeding robot according to a first embodiment of the present invention;
FIG. 3 is a schematic view of a deformable tube section according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a water connector on a train according to a second embodiment of the present invention;
FIG. 5 is a schematic view of the structure of the water supply clamp in the water supply connector of the train of FIG. 4;
FIG. 6 is a force diagram of the water clamp of FIG. 5;
fig. 7 is a schematic structural diagram of another water-on-train joint according to the second embodiment of the present invention;
FIGS. 8 and 9 are schematic structural views of a water feeding jig in the train water feeding joint of FIG. 7;
fig. 10 is a schematic structural diagram of a water feeding fixture arranged outside a flexible inner wall cladding layer according to a second embodiment of the present invention;
fig. 11 is a schematic structural diagram of a train water supply system according to a third embodiment of the present invention;
FIG. 12 is a schematic view of a three-stage positioning assembly according to a third embodiment of the present invention;
fig. 13 is a schematic structural diagram of a three-stage positioning assembly according to a third embodiment of the present invention in a top view.
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
Referring to fig. 1 and 2, an embodiment of the present invention provides a water feeding robot with a built-in water feeding pipe, which includes a robot arm 100, a water feeding pipe 200, and a water feeding connector 300 disposed at a free end of the robot arm 100, wherein the robot arm 100 is a hollow arm, and the water feeding pipe 200 is disposed in a rod cavity of the robot arm 100 and connected to the water feeding connector 300.
The embodiment provides a water feeding robot, drives the water feeding pipe 200 and the water feeding connector 300 through the robot arm rod 100 and is connected with the water feeding port of the train water tank, realizes automatic water feeding and automatic rollback, replaces the manual water feeding process, improves the train water feeding efficiency, and avoids water resource waste. The water supply pipe 200 is laid in the robot arm 100, and the water supply pipe 200 itself and the water supply pipe 200 and the robot arm 100 are not wound, so that the water supply pipe 200 is prevented from being damaged, and the operation flexibility of the robot is prevented from being affected.
The above-described water feeding robot further includes a robot base 102 for mounting and supporting the robot arm 100. It will be appreciated that the water supply pipe 200 needs to be connected to a water source and a pressurizing device, as shown in fig. 1 and 2, the water supply pipe 200 is connected to the water supply pipe 400 through a water supply pipe 203, and the water supply pipe 400 may be selectively arranged according to practical situations, such as in a drain ditch, etc., in this embodiment, the water supply pipe 203 is a PE pipe, which extends out of the ground to be connected to the water supply pipe 200. Further, a control valve is provided at the junction of the water supply pipe 203 and the water supply main 400. Further preferably, the robot base 102 has a base cavity, and the water supply pipe 200 and the water supply pipe 203 extend into the base cavity and are connected, so that the space occupied by the pipe is reduced, and the pipe can be well protected. The water supply pipe 203 and the water supply pipe 200 may be connected by a screw connection, a flange connection, or the like.
Further optimizing the above-mentioned water supply robot, as shown in the figure, the robot arm 100 has a plurality of joints 101 with degrees of freedom, and the joint driving of the robot arm 100 may be performed in a conventional driving manner in the existing robot field, for example, one joint driving motor is configured for each joint 101 with degrees of freedom. As a preferred embodiment, the above-mentioned joint driving motor adopts a hollow linear motor, which can be built in the arm rod cavity in front of the corresponding degree of freedom joint 101, can reduce the occupied space and equipment weight of the robot arm rod 100, and does not affect the built-in arrangement of the water supply pipe 200. Each degree of freedom joint 101 is provided with a bearing hole for the water supply pipe 200 to pass through so as to facilitate the built-in arrangement of the water supply pipe 200; at least one of the degrees of freedom joints 101 is provided with a deformable tube section 201 at the top pipe 200.
The water feeding pipe 200 of the deformable pipe section 201 is adopted to be matched with the freedom degree joint 101 of the robot arm rod 100, so that the water feeding pipe 200 can adapt to the rotation characteristic of the joint of the robot arm rod 100, and the service life of the water feeding pipe 200 is effectively prolonged. And the flexibility of the water supply pipe 200 is ensured, thereby ensuring the smoothness of the water supply.
That is, the deformable tube section 201 is capable of rotation with a corresponding robotic joint, which has torsionally stretchable properties. Specifically, as shown in fig. 3, in the present embodiment, the deformable pipe section 201 includes a stainless steel annular bellows 2011. Further, as shown in fig. 3, the deformable pipe section 201 further includes a flexible corrugated hose 2012, the stainless steel annular corrugated pipe 2011 is sleeved outside the flexible corrugated hose 2012, that is, a double-layer pipe structure is adopted, and the flexible corrugated hose 2012 cannot expand outwards due to water pressure under the limiting effect of the stainless steel annular corrugated pipe 2011, so that the influence on the rotation of the robot joint is small. Further, as shown in fig. 3, the deformable pipe section 201 further includes a metal woven mesh tube 2013, the metal woven mesh tube 2013 is sleeved outside the stainless steel annular corrugated tube 2011, and the metal woven mesh tube 2013 further limits expansion of the pipe body, and simultaneously protects the inner stainless steel annular corrugated tube 2011 and the flexible corrugated tube 2012 better. Moreover, by adopting the multilayer pipe body structure, water resource waste caused by factors such as water pipe breakage can be effectively prevented. In addition, the flexible bellows 2012 and the stainless steel annular bellows 2011 have a certain elastic coefficient, that is, when the pipe section naturally sags, the deformation amounts of the flexible bellows 2012 and the stainless steel annular bellows 2011 are not too large, so that the deformable pipe section 201 is ensured to have a certain structural strength, and the rotational movement of the degree of freedom joint 101 is not interfered.
The deformable pipe section 201 is adopted in the embodiment, and has small bending resistance and can be repeatedly bent, so that the service life is long.
It will be appreciated that in alternative embodiments, the deformable tube section 201 may be made of a tube material such as rubber tubing that meets the requirements for torsionally and telescopically.
Further preferably, as shown in fig. 1, the deformable tube sections 201 are used at each of the degrees of freedom joints 101, and each two adjacent deformable tube sections 201 are connected by a straight tube section 202. On the one hand, the straight pipe section 202 can ensure the structural strength and rigidity of the water supply pipe 200, limit the deformation degree of the water supply pipe 200, ensure the flexibility of the water supply pipe 200, and on the other hand, can reduce the material cost of the water supply pipe 200. The straight pipe section 202 may be a rubber hose, a PE pipe or a steel pipe. The connection between the deformable tube section 201 and the straight tube section 202 may be a threaded connection, a flanged connection, or the like.
In addition, as shown in fig. 1, the pipe body of the water supply pipe 200 connected with the water supply joint 300 is a deformable pipe section 201, so that the reliability of the connection structure between the water supply pipe 200 and the water supply joint 300 can be ensured, and the reliable connection between the water supply joint 300 and the water supply pipe 200 can be realized without high dimensional accuracy of parts.
Continuing the structure of the above-mentioned water feeding robot, as shown in fig. 1, each straight pipe section 202 is fixed in the robot arm 100 through at least one arm sleeve 103, so that the laying of the water feeding pipe 200 is facilitated, the water feeding pipe 200 is better protected, the water feeding pipe 200 can be limited to slide relatively with the robot arm 100 along the axial direction, and the stability and reliability of the connecting structure of each part are ensured.
Further preferably, as shown in fig. 1, the arm sleeve 103 includes two arc-shaped clamping plates which are installed on the inner wall of the robotic arm 100 and are opposite to each other in terms of notch, and the distance between the two arc-shaped clamping plates is adjustable. The curvature of the arc-shaped clamping plate is preferably the same as that of the upper water pipe 200 so as to be attached to the outer wall of the upper water pipe 200; the central angle corresponding to the arc clamping plates is smaller than 180 degrees, namely, the two arc clamping plates are not spliced into a complete cylinder when clamping the water supply pipe 200, so that the structural design with adjustable space between the two arc clamping plates is facilitated. The adjustment of the clamping degree of the water supply pipe 200 can be realized by adjusting the interval between the two arc clamping plates, so that the water supply pipe 200 can be pulled out and inserted from the lower side of the robot base 102 by adjusting the clamping degree of the arm sleeve 103 without disassembling the robot body (the robot base 102, the robot arm 100, etc.) during maintenance. The above-mentioned mode of arc splint interval adjustment can adopt following preferred embodiment: the arc clamping plates are connected with the inner wall of the robot arm rod 100 through the mounting support posts, the mounting support posts are fixed on the robot arm rod 100 through the adjusting bolts, and the adjustment of the distance between the two arc clamping plates can be realized by adjusting the screwing quantity of the adjusting bolts. Other structures capable of realizing the relative linear motion of the two arc clamping plates are also suitable for the embodiment, and are not described here.
As shown in fig. 2, it can be understood that the water supply pipe 200 may have the above-mentioned deformable pipe section 201 structure for the whole length, and corresponding fixing measures may be performed in the rod cavity of the robotic arm 100.
In this embodiment, the water supply pipe 200 and the robot arm 100 are preferably coaxially installed; the inner diameter of the water supply pipe 200 may be selected in the range of 25 to 40 mm.
Example two
The present embodiment provides a train water supply connector 300, which can be used as the water supply connector 300 in the first embodiment.
As shown in fig. 4 and 7, the train water supply connector 300 comprises a connector housing 301, wherein a water supply end sleeve 302 is arranged at the outlet end of the connector housing 301 in an outward protruding manner, and the water supply end sleeve 302 is a flexible annular piece which can be sleeved on a water supply port of a train.
It will be readily appreciated that the inner wall diameter of the water head 302 is greater than the outer wall diameter of the train water inlet to ensure that the water head 302 can nest on the train water inlet. Generally, the water inlet of the train is a cylindrical straight pipe, and the water inlet end sleeve 302 can correspondingly adopt a cylindrical structure; in other embodiments, the device can also be in a truncated cone-shaped structure with the diameter gradually increasing along the water feeding direction, and the minimum inner diameter of the device is preferably larger than the outer diameter of the water feeding port of the train. The water feeding end sleeve 302 protrudes outwards from the outlet end of the connector housing 301, that is, the water feeding end sleeve 302 is connected to the outlet side of the connector housing 301 along the axial direction of the connector housing 301, and when the water feeding connector 300 is in butt joint with a water feeding port of a train, the water feeding end sleeve 302 is sleeved into the water feeding port of the train to be in contact with the outer wall of the water feeding port of the train or the water tank housing around the water feeding port of the train.
According to the train water feeding connector 300 provided by the embodiment, the flexible water feeding end sleeve 302 is arranged at the outlet end of the connector shell 301, and after the water feeding connector 300 is in butt joint with the water feeding port of the train, the water feeding end sleeve 302 can be subjected to compression deformation by applying certain pressure along the axial direction of the connector shell 301, so that sealing in the water feeding process is realized.
Further optimizing the structure of the water feeding connector 300 of the train, as shown in fig. 4-9, a water feeding clamp 303 for clamping the water feeding end sleeve 302 on the water feeding port of the train is arranged outside the water feeding end sleeve 302, so that on one hand, the reliable connection between the water feeding end sleeve 302 and the water feeding port of the train is ensured, and on the other hand, on the basis of axially compressing the water feeding end sleeve 302, the water feeding end sleeve 302 can be further compressed and deformed along the radial direction, thereby effectively ensuring the tightness in the water feeding process and preventing the water leakage phenomenon in the water feeding process.
The water feeding clamp 303 can be a manual clamp, for example, a pipe clamp is arranged, and the tightness of the pipe clamp is controlled manually. In the present embodiment, it is preferable to use a water feeding jig 303 that automatically clamps and releases; specifically, the following are examples of several kinds of the water feeding jigs 303:
(1) As shown in fig. 4-6, the water feeding fixture 303 includes a flexible collar 3032 having an annular inner cavity and a plurality of electromagnets 3031 embedded in the inner cavity of the collar 3032, wherein each electromagnet 3031 is arranged at intervals along the circumferential direction of the inner cavity of the collar 3032, and each two adjacent electromagnets 3031 are mutually close to each other and have different magnetic poles. Preferably, the flexible collar 3032 is a flexible composite film structure, the flexible composite film encloses an inner cavity of the collar 3032, and each electromagnet 3031 is covered by the flexible composite film; the flexible composite film is preferably formed to have a certain thickness, and is capable of shrinking and deforming and being restored to an original shape and size when the external force is removed, and for example, a rubber hose, a silicone hose, or the like can be used.
Specifically, as shown in fig. 6, when each electromagnet 3031 is energized, adjacent electromagnets 3031 are arranged in a manner of different-name magnetic poles, so that the adjacent electromagnets 3031 can attract each other, and finally the magnet rings formed by the electromagnets 3031 in an arrayed manner shrink to be smaller, and the flexible hoops 3032 shrink and deform along with the electromagnet rings, so that the water feeding end sleeve 302 clamps the water feeding port of the train. When each electromagnet 3031 is powered off, the reset of each electromagnet 3031 is realized under the recovery action of the flexible hoops 3032.
Each electromagnet 3031 is preferably an arc electromagnet 3031, and the electromagnets 3031 are uniformly arranged at intervals, so that the resultant force of the magnetic acting force received by each electromagnet 3031 is ensured to be directed to the center of the hoop 3032, and the electromagnets 3031 are always distributed in the form of circular magnet rings, so that the clamping effect between the water feeding end sleeve 302 and the water feeding port of the train is ensured.
(2) Referring to fig. 7-9, the water supply jig 303 includes a tightening member 3034 and an electromagnet assembly connected to a movable portion of the tightening member 3034 for driving the tightening member 3034 to tighten or loosen.
The hooping piece 3034 can be an anchor ear, and comprises two half-piece hoop plates, wherein each half-piece hoop plate is provided with two wing plates, the two wing plates opposite to each side are respectively provided with an electromagnet and are connected through a reset spring, when the two electromagnets are powered on, the two electromagnets attract each other and overcome the elastic force of the reset spring so that the two wing plates are close to each other, so that the anchor ear is held tightly, and when each electromagnet is powered off, the anchor ear is loosened under the action of the reset spring.
In this embodiment, as shown in fig. 8 and 9, the tightening member 3034 is a hose clamp 3034, a through hole is formed in the strap, one end of the strap passes through the through hole and makes the strap enclose into a ring, the electromagnet assembly includes two movable electromagnets 3036 respectively fixed at two ends of the strap and two fixed electromagnets 3035 respectively fixed on the strap outer surface, the two movable electromagnets 3036 are located between the two fixed electromagnets 3035 and respectively close to the two fixed electromagnets 3035, and each fixed electromagnet 3035 is connected with the adjacent movable electromagnet 3036 by a connecting rope 3038. Specifically, one end of the band has a smaller width than the other part of the band, so that the narrow end band body can pass through the through hole; the narrow end belt body has a certain length, so that the narrow end belt body can move relative to the penetrating hole to realize the adjustment of the size of the enclosed laryngeal opening. In the non-energized state, the fixed electromagnet 3035 and the adjacent movable electromagnet 3036 are far away from each other, the connecting rope 3038 between the fixed electromagnet 3035 and the adjacent movable electromagnet 3036 is in a tight state, and when the electromagnets are energized, the fixed electromagnet 3035 and the adjacent movable electromagnet 3036 are attracted to each other and close to each other, so that the hose clamp 3034 contracts and clamps the water feeding end sleeve 302.
Further preferably, as shown in fig. 8, the cuff 3034 is provided with a sliding cover 3037, and the sliding cover 3037 and an outer belt surface of the cuff 3034 enclose a sliding cavity for limiting the movable electromagnet 3036 to slide along the circumferential direction of the cuff, and each electromagnet is accommodated in the sliding cavity. It will be appreciated that the sliding cover 3037 may be broken into a relatively slidable configuration at an intermediate position (i.e., intermediate position of the sliding cover 3037 along the circumference of the ferrule 3034, i.e., between the two movable electromagnets 3036) or may be provided as a collapsible corrugated panel, etc., for the purpose of accommodating the scaling characteristics of the ferrule 3034, as will not be described in detail herein. By providing the sliding cover 3037 for restricting relative movement between the movable electromagnet 3036 and the fixed electromagnet 3035 in a particular direction, the clamping effect of the ferrule 3034 can be ensured.
It will be appreciated that the wires of the electromagnets described above may be routed on the outer wall of the connector housing 301 and further from within the arm of the water feeding robot 100.
Continuing the structure of the water supply connector 300 of the train, as shown in fig. 4, 7 and 10, the flexible inner wall coating layer 304 is provided on the inner wall of the connector housing 301, so as to further improve the tightness of the water supply connector 300 after being abutted with the water supply port of the train and reduce the collision friction between the connector housing 301 and the water supply port of the train. Preferably, the water-feeding end cap 302 and the flexible inner wall coating 304 are integrally formed, that is, the water-feeding end cap 302 is formed by extending the flexible inner wall coating 304 outwards, or the water-feeding end cap 302 extends into the diverging section 3011 and is fixedly connected with the inner wall of the diverging section 3011, so as to ensure sealing reliability. The flexible inner wall coating 304 and the connector housing 301 may be fixed by an adhesive. It is further preferred that the flexible inner wall cladding 304 is movable radially relative to the inner wall of the diverging section 3011 at the outlet end of the housing, i.e., not bonded to the inner wall of the diverging section 3011, preferably with a gap therebetween, so that the launch end cap 302 can radially grip the train launch gap.
Further preferably, as shown in fig. 4, 7 and 10, the connector housing 301 includes a diverging section 3011 that diverges in the water-feeding direction to the housing outlet end. The divergent water feeding connector 300 is adopted, so that the device can adapt to different train water feeding port models, realize a safe and convenient water feeding process, and eliminate the phenomenon of water resource waste caused by mismatching of the water feeding connector 300 and the train water feeding port model. Further, as shown in fig. 4, 7 and 10, the connector housing 301 further includes an equal diameter section 3012 connected to the small diameter end of the diverging section 3011, and the equal diameter section 3012 can be fixed to the water supply robot by a fixing structure (such as a pipe hoop, a collar, etc.) and is in butt joint with the water supply hose 200. The flexible inner wall cladding 304 may not be provided as the constant diameter section 3012 does not interface with the train nozzle.
As a preferred embodiment, as shown in fig. 10, at least one group of the water supply clamps 303 is sleeved on the flexible inner wall coating 304, and one end of the flexible inner wall coating 304, which is far away from the outlet end of the housing, is fixedly connected with the inner wall of the connector housing 301. The structure of the water feeding jig 303 will not be described here. Based on the structure, besides the water feeding end sleeve 302 can clamp the water feeding port of the train, the inner flexible inner wall coating layer 304 can also clamp the water feeding port of the train, so that multi-layer clamping sealing is realized, the sealing effect is remarkably improved, and the water resource waste is reduced. In particular, with the above-described structure in which the joint housing 301 includes the divergent section 3011, it is possible to prevent the water supply effect and the water supply tightness from being affected by the flush bulge between the outer wall of the train water supply port and the inner wall of the joint housing 301.
In addition, as shown in fig. 4, the outer wall of the connector housing 301 is further coated with an outer wall rubber coating 305, so that the water supply connector 300 can be well protected.
Example III
As shown in fig. 11, the embodiment of the invention relates to a train water supply system, which comprises the water supply robot with the built-in water supply pipe and the positioning mechanism for enabling the water supply robot to find and position the water supply port of the train, wherein the water supply robot is convenient to find and position the water supply port of the train through the positioning mechanism, the train water supply automation is thoroughly realized, the labor intensity is reduced, and the train water supply efficiency is improved.
The positioning mechanism comprises a first-stage positioning assembly, a second-stage positioning assembly, a third-stage positioning assembly and a control center; the primary positioning component is used for preliminarily positioning the parking position information of the current train in the station; the control center is used for receiving the parking position information transmitted by the primary positioning assembly, calculating the calculated coordinates of the carriage needing water adding by combining the train information of the train, and controlling the water feeding robot to move towards the calculated coordinates; the secondary positioning assembly is used for controlling the water feeding robot to stop moving after the carriage needing water feeding is positioned in the moving process; the three-stage positioning assembly is used for positioning the water inlet on the corresponding carriage and sending positioning information to the control cabinet 503 of the water feeding robot; after receiving the positioning information, the control cabinet 503 of the water feeding robot drives the water feeding connector 300 to butt against the water feeding port on the corresponding carriage and complete the water feeding task. The method is suitable for the situation when the number of the water feeding robots is not large, the water feeding work of the whole train can be finished by setting a small number of water feeding robots, and the method is particularly needed to be realized through three-level positioning. The primary positioning assembly is used for positioning the parking position of the train when the train enters the station, the water feeding robot is positioned near a carriage needing water feeding through the calculated coordinates calculated by the control center when the secondary positioning assembly is used for positioning the water feeding robot, and the tertiary positioning assembly is finally positioned at the position of the water feeding port, so that the water feeding robot can finish a water feeding task. Through this tertiary location for whole water feeding process full-automatic operation, not only saved the human cost, but also solved the potential safety hazard.
As an optimization scheme of the embodiment of the invention, the primary positioning component comprises a global camera 501 arranged above a track where a train is stopped, wherein the global camera 501 is used for extracting outline features of a train image. The first-stage positioning assembly further comprises a first image acquisition card, and the first image acquisition card processes the outline characteristics and converts the outline characteristics into first data information; the control center comprises an image processing system which receives the first data information and processes the first data information into two-dimensional coordinate information. In this embodiment, the train stops on the track after entering the station, so the global cameras 501 are installed above the track in advance, namely at the bottom of the station ceiling or the bottom of the beam, the specific installation number is determined according to the station scale, and the field of view after superposition of each global camera 501 can contain all the stopping ranges to the departure line. When a train arrives, the global camera 501 is started, the angle is adjusted to search for the train, and when the train appears in the global camera 501, the search is stopped, and at the moment, the contour features of the train are extracted through the global camera 501. Of course, besides the global camera 501, only the positions of the head and tail of the train after the stop of the train can be scanned, and the two-dimensional coordinates of the carriage needing water addition can be calculated according to the model of the train because the water inlet is at the fixed position of the train. The first image acquisition card is arranged in a control cabinet 503 of the water feeding robot, and is connected with the global camera 501 through a signal line, so as to convert image information into first data information. The "first" of the first image capture card and the first data information herein is to distinguish from the following image capture card and data information.
As an optimization scheme of the embodiment of the invention, the train information specifically comprises stop positions, grouping numbers, the length of each carriage, the relative position relation between the water inlet and the carriage and the water tank volume. In this embodiment, the parking position, which can reflect the rough location of the track where the train enters and stops; the number of groups, which is the number of cars; the length of each carriage can be convenient for the water feeding robot to quickly know the position of the carriage needing water feeding; the relative position between the water inlet and the carriage can accelerate the speed of the water feeding robot to find the corresponding water inlet position; the water tank volume can be convenient for the control of the water supply robot to the water yield in the water tank.
As an optimization scheme of the embodiment of the invention, the secondary positioning assembly includes a first distance sensor 5041, and the first distance sensor 5041 is used for judging the moving distance. In the present embodiment, the first distance sensor 5041 can assist in positioning the water supply robot during movement.
As an optimization scheme of the embodiment of the present invention, as shown in fig. 12 and 13, the three-stage positioning assembly includes a binocular camera 502 and a pan-tilt 505, the pan-tilt 505 is mounted at the free end of the robotic arm 100, and the binocular camera 502 is mounted on the pan-tilt 505; the cradle head 505 is configured to search a water inlet, extract contour features of the found image of the water inlet, and convert the contour features into three-dimensional coordinates. The three-stage positioning assembly further comprises an electric rotating shaft 5051 and a stand column, wherein the stand column is installed on the robot arm 100, the electric rotating shaft 5051 is installed on the stand column, and the cradle head 505 is installed on the electric rotating shaft 5051; the motorized spindle 5051 is capable of rotating in a plane perpendicular to the robotic arm 100. In this embodiment, the required structural parts specifically include: the robot arm 100, a cradle head 505, a binocular camera 502 and a water supply joint 300, wherein the binocular camera 502 is arranged on the cradle head 505. An electric rotating shaft 5051 is arranged below the cradle head 505, a support pillar 5052 is arranged below the electric rotating shaft 5051, the support pillar 5052 is arranged on the robot arm rod 100, the electric rotating shaft 5051 can rotate a certain angle on a plane perpendicular to the robot arm rod 100 so as to adjust the direction of the cradle head 505, and pitch adjustment is realized so as to accelerate the positioning speed. The three-dimensional coordinates are also obtained after processing by the image processing system.
Further optimizing the above, the three-stage positioning assembly further comprises a second distance sensor 5042, wherein the second distance sensor 5042 is disposed between the binocular cameras 502. The distance traveled by the robotic arm 100 is detected using a second distance sensor 5042 to prevent collision with the nozzle. In this embodiment, the second distance sensor 5042 may be the same as the first distance sensor 5041 described above, and the first and second sensors are merely used herein for convenience of reference. Of course, different distance sensors are also possible. Preferably, the number of the distance sensors may be two, and the distance sensors are arranged between the two cameras. It may be an infrared distance sensor, an ultrasonic distance sensor or other distance sensor.
As an optimization scheme of the embodiment of the present invention, the binocular cameras 502 are all CCD cameras. Of course, instead of using a CCD camera, a camera such as an infrared camera may be used as long as it can take an image.
As an optimization scheme of the embodiment of the invention, the mode of converting the contour features into three-dimensional coordinates is specifically as follows: processing the outline characteristics by adopting a second image acquisition card, and converting the outline characteristics into second data information; and receiving the second data information by adopting an image processing system in the control center and processing the second data information into three-dimensional coordinate information. In this embodiment, the second image capture card is the same as the first image capture card described above, and is also present in the control cabinet 503 for converting image information into data information for the image processing system to receive and process.
As an optimization scheme of the embodiment of the present invention, the control cabinet 503 of the water supply robot includes a hand-eye conversion and inverse motion analysis module, where the hand-eye conversion and inverse motion analysis module is configured to set a motion track for the robotic arm 100 according to positioning information received by the control cabinet 503. In this embodiment, after the three-dimensional coordinates are obtained, the trajectory planning can be performed through hand-eye transformation and inverse motion analysis, so as to obtain a path of motion of the robotic arm 100, and the robotic arm 100 moves along the path, so that the water feeding connector can be accurately docked into the water feeding port on the carriage to be fed with water, and the water feeding task is completed. When the water supply task is completed, the robot arm 100 is replaced again, reaches the initial position, and waits for the next action instruction.
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 water robot which characterized in that: the robot arm comprises a robot arm rod, a water feeding pipe and a water feeding connector arranged at the free end of the robot arm rod, wherein the robot arm rod is a hollow arm rod, and the water feeding pipe is arranged in a rod cavity of the robot arm rod and is connected with the water feeding connector;
the water feeding connector comprises a connector shell, wherein a water feeding end sleeve is outwards arranged at the outlet end of the connector shell in a protruding mode, and the water feeding end sleeve is a flexible annular piece which can be sleeved on a water feeding port of a train; the water feeding clamp comprises a flexible hoop with an annular inner cavity and a plurality of electromagnets embedded in the inner cavity of the hoop, wherein the electromagnets are arranged at intervals along the circumferential direction of the inner cavity of the hoop, and every two adjacent electromagnets are mutually close to each other and have different magnetic poles.
2. The water supply robot of claim 1, wherein: the robot arm rod is provided with a plurality of degrees of freedom joints, each degree of freedom joint is provided with a bearing hole for the water supply pipe to penetrate through, and at least one water supply pipe body at the degree of freedom joint adopts a deformable pipe section.
3. The water supply robot of claim 2, wherein: the deformable tube section comprises a stainless steel annular bellows.
4. A water feeding robot according to claim 3, wherein: the deformable pipe section further comprises a flexible corrugated hose, and the stainless steel annular corrugated pipe is sleeved outside the flexible corrugated hose.
5. The water supply robot of claim 3 or 4, wherein: the deformable pipe section further comprises a metal woven mesh tube, and the metal woven mesh tube is sleeved outside the stainless steel annular corrugated pipe.
6. The water supply robot of claim 2, wherein: the deformable pipe sections are adopted at the joints of the degrees of freedom, and every two adjacent deformable pipe sections are connected through a straight pipe section.
7. The water supply robot of claim 6, wherein: each straight pipe section is fixed in the robot arm rod through at least one arm rod sleeve.
8. The water supply robot of claim 7, wherein: the arm rod sleeve comprises two arc clamping plates which are arranged on the inner wall of the robot arm rod and are opposite in notch, and the distance between the two arc clamping plates is adjustable.
9. The water supply robot of claim 2, wherein: the water supply pipe body connected with the water supply joint is a deformable pipe section.
10. A train water supply system, characterized in that: a launch robot comprising any one of claims 1 to 9, and a positioning mechanism for causing the launch robot to find a positioning train launch port.
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| CN109398412A (en) | 2019-03-01 |
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