CN111197964A - High-speed railway platform limit measuring robot - Google Patents
High-speed railway platform limit measuring robot Download PDFInfo
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- CN111197964A CN111197964A CN202010014857.4A CN202010014857A CN111197964A CN 111197964 A CN111197964 A CN 111197964A CN 202010014857 A CN202010014857 A CN 202010014857A CN 111197964 A CN111197964 A CN 111197964A
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- robot
- bottom plate
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
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Abstract
The invention relates to the technical field of platform clearance measurement, in particular to a high-speed rail platform clearance measurement robot which comprises a robot body, wherein a roller for enabling the robot body to move on a rail is arranged on the robot body, the roller is abutted against the upper end face of the rail, an auxiliary wheel mechanism is further arranged on the robot body, and the auxiliary wheel mechanism is abutted against the inner end face or the lower end face of the rail; still be equipped with the measuring apparatu that is used for measuring platform to measuring robot distance on the robot, the measuring apparatu is including the laser instrument that is used for launching range finding laser and the printing opacity face that is used for permeating range finding laser, the printing opacity face slope sets up, range finding laser can swing on vertical plane and form the rotation angle, and when range finding laser is located the angular bisector of rotation angle, range finding laser is perpendicular with the printing opacity face. This scheme of adoption can improve the measuring accuracy of platform limit measurement when carrying out the platform limit measurement, enlarges the measuring range of range finding laser simultaneously.
Description
Technical Field
The invention relates to the technical field of platform clearance measurement, in particular to a high-speed rail platform clearance measurement robot.
Background
The railway platform limit is the space size required for the safety of vehicle operation, parking and passenger taking and landing within the platform range. At present, the railway platform limit detection in China still adopts a contact type measuring method, for example, instruments such as a platform ruler, a graduated scale, a plumb bob, a measuring rod and the like are used for measurement. According to the measuring method, the measuring error in the measuring process is large by adopting a manual measuring mode, and meanwhile, the measuring operation is complicated, so that the measuring efficiency is low, and the requirements of measuring and managing the platform limit cannot be met.
Consequently to the measurement problem of railway industry platform boundary limit, studied out among the prior art and carried out measuring device to the platform boundary limit, it includes the chassis, and the bottom of chassis is equipped with the walking wheel, is equipped with lifting bottom plate on the chassis, is equipped with electronic lift post on the lifting bottom plate, and the top of electronic lift post is equipped with measures the box, and one side of measuring the box is equipped with horizontal ultrasonic ranging probe, and the bottom of measuring the box is equipped with high ultrasonic ranging probe, and lifting bottom plate is last to have the controller in addition. The road wheel moves to a specified position, the horizontal limit and the vertical limit of the specified position are measured by the horizontal ultrasonic ranging probe and the height ultrasonic ranging probe, and the horizontal limit and the vertical limit are sent to the user terminal for displaying through the controller.
The platform limit measurement is not limited to the measurement of a specified position, but the platform limit measurement of the whole platform and the whole track is required, and the measurement of the whole platform limit by adopting the device means that the measurement device needs to complete the measurement in the moving process. However, when the measuring device moves on the rail, the measuring device may shake up and down or shake left and right due to contact with the rail, thereby increasing a measurement error.
Disclosure of Invention
The invention aims to provide a high-speed rail platform clearance measuring robot which can improve the measuring precision of platform clearance measurement and enlarge the measuring range of distance measuring laser when the platform clearance is measured.
The basic scheme provided by the invention is as follows: the high-speed rail platform limit measuring robot comprises a robot body, wherein a roller for enabling the robot body to move on a rail is arranged on the robot body, the roller abuts against the upper end face of the rail, an auxiliary wheel mechanism is further arranged on the robot body, and the auxiliary wheel mechanism abuts against the inner end face or the lower end face of the rail;
still be equipped with the measuring apparatu that is used for measuring platform to measuring robot distance on the robot, the measuring apparatu is including the laser instrument that is used for launching range finding laser and the printing opacity face that is used for permeating range finding laser, the printing opacity face slope sets up, range finding laser can swing on vertical plane and form the rotation angle, and when range finding laser is located the angular bisector of rotation angle, range finding laser is perpendicular with the printing opacity face.
The basic scheme has the working principle and the beneficial effects that: when the distance measuring device is used, the measuring robot moves on the track and measures the distance between the measuring robot and the platform in the moving process, wherein the distance is the distance from the measuring instrument to the measuring platform, namely the distance from the emitting point of the distance measuring laser to the shielded point. The arrangement of the roller is convenient for the robot body to move on the rail, thereby realizing the automatic measurement of the platform limit. The auxiliary wheel mechanism is arranged to clamp the track by the robot body, when the limit measurement is carried out on the single track, the auxiliary wheel mechanism abuts against the lower end face of the track, the robot body can stably move on the track, when the limit measurement is carried out on the double tracks, the auxiliary wheel mechanism abuts against the inner end face of the track, the inner end face of the track refers to the side end face of the two tracks close to each other, the auxiliary wheel mechanism abuts against the robot body on the track, the measuring instrument abuts against the track, the shaking of the measuring instrument is reduced, and the measuring accuracy of the limit of the platform is improved.
The setting of laser instrument provides the range finding laser, and the range finding laser removes on the vertical face of platform, combines measuring robot's removal, realizes measuring the distance of laser instrument to the vertical face of platform arbitrary point. When the measuring robot is located at any position on the track, the projection of the ranging laser on the vertical plane forms a rotating angle with the laser as a vertex, and when the projection of the ranging laser on the vertical plane is located on an angular bisector of the rotating angle, the ranging laser is perpendicular to the light-transmitting surface. The slope of light-transmitting face sets up, avoids sheltering from the range finding laser, and the laser instrument of being convenient for measures its distance to the topmost of the vertical face of platform to enlarge the measuring range of range finding laser.
Furthermore, this internal rotating electrical machines that is equipped with of robot, the output shaft of rotating electrical machines stretches out the robot, and with cylinder fixed connection, the cylinder is located the both ends of robot, the global upper end face that all offsets with the track of cylinder.
Has the advantages that: the rotary motor provides a power source for the roller, so that the robot body can automatically move on the rail. When the robot body moves on the double rails, the rollers are located at two ends of the robot body, namely the rollers are located on the two rails respectively, so that the robot body can stably move on the double rails.
Further, the peripheral surface of the roller is matched with the upper end surface of the track in shape.
Has the advantages that: the peripheral surface of the roller is matched with the upper end surface of the rail in shape, so that the robot body can stably move on the rail, and the measurement error of the laser in the moving process is reduced.
Further, the bottom of robot body is equipped with the fixed block, set up the spout that has the level to set up on the fixed block, the groove of spout is perpendicular with the track, auxiliary wheel mechanism is including the installation piece, the one end of installation piece stretches into the spout, and is equipped with the dog that prevents the installation piece and deviate from the spout, be equipped with the stop part on the installation piece, the cover is equipped with the spring on the installation piece, the spring is located between stop part and the fixed block, the other end of installation piece is equipped with the auxiliary wheel, the global and orbital interior terminal surface counterbalance of auxiliary wheel.
Has the advantages that: one end of the mounting block extends into the sliding groove from one end of the sliding groove and extends out of the other end of the sliding groove, and the stop block can prevent the end of the mounting block from being separated from the sliding groove. Under no exogenic action, the dog offsets with the one end of spout, and the both ends of spring offset with stop part, fixed block respectively, and the spring is in free state this moment, and when the installation piece atress, the installation piece removes to the spout direction, and the spring is compressed, and when the installation piece atress disappeared, the effort that receives the spring reset makes the installation piece reverse movement resume no exogenic action's state.
Further, the robot body includes left bottom plate and right bottom plate that the symmetry set up to and the connecting bottom plate, the top at connecting bottom plate both ends is articulated with left bottom plate, right bottom plate respectively, be equipped with the guide block between the bottom of connecting the bottom plate and left bottom plate, the right bottom plate respectively, coaxial direction through-hole has all been seted up to the guide block, direction through-hole sliding connection has the guide bar.
Has the advantages that: the connecting bottom plate is hinged with the left bottom plate and the right bottom plate, so that the left bottom plate and the right bottom plate can be folded towards the connecting bottom plate, and the storage space required by the robot body is reduced. When the guide rod is located the guide through hole of the guide block on the left bottom plate and the connecting bottom plate, the left bottom plate can not be folded, when the guide rod is located the guide through hole of the guide block on the right bottom plate and the connecting bottom plate, the right bottom plate can not be folded, and the left bottom plate, the connecting bottom plate and the right bottom plate are in a rigid connection state, so that the robot body can move on a rail, and the measurement of the platform limit is realized.
Further, the one end of guide bar is equipped with spacing arch, all be equipped with on left side bottom plate, the right bottom plate and be used for preventing the gliding T type piece of guide bar in the guiding through hole, all be equipped with on left side bottom plate, the right bottom plate and be used for preventing the stopper that the guide bar deviates from the guiding through hole.
Has the advantages that: the guide rod is convenient to move due to the arrangement of the limiting bulges, and meanwhile, the guide rod is convenient to limit. When the robot body is used for measuring the platform limit, the left bottom plate, the connecting bottom plate and the right bottom plate are required to be kept in a rigid connection state, and the T-shaped blocks can prevent the guide rod from sliding or falling off from the guide through hole in the moving process. When accomodating robot body, remove the guide bar, make the guide bar only be located the direction through-hole of a guide block, left bottom plate and right bottom plate all can be folded this moment, are convenient for accomodate, and the setting of stopper can avoid the guide bar to deviate from the direction through-hole, causes dropping and losing of guide bar.
Furthermore, a rotating motor is arranged in the robot body, an output shaft of the rotating motor is fixedly connected with the roller, one side of the roller is located in the robot body, and the other side of the roller extends out of the robot body to be abutted against the upper end face of the track.
Has the advantages that: the rotary motor provides a power source for the roller, so that the robot body can automatically move on the rail.
Further, be equipped with the connecting lug on the robot body, auxiliary wheel mechanism includes the connecting rod, the connecting groove that uses with the connecting lug cooperation is seted up to the one end of connecting rod, the connecting lug can be dismantled with the connecting rod and be connected, the one end that connecting groove was kept away from to the connecting rod is equipped with the auxiliary wheel, the global and orbital lower terminal surface counterbalance of auxiliary wheel.
Has the advantages that: the arrangement of the connecting convex blocks and the connecting grooves facilitates the butt joint of the auxiliary wheel mechanism and the robot body, so that the robot body can be rapidly and conveniently installed on the rail. The setting of auxiliary wheel for with the cylinder cooperation, make the robot body can be stable move on the track.
Furthermore, the cross sections of the connecting convex blocks and the connecting grooves are in a cross shape.
Has the advantages that: the cross arrangement facilitates quick butt joint of the connecting convex block and the connecting groove, so that quick installation and disassembly of the auxiliary wheel mechanism and the robot body are achieved.
Further, the connecting lug is connected with the connecting rod through a buckle.
Has the advantages that: the snap connection mode has simple structure and easy use.
Drawings
FIG. 1 is a front view of a high-speed rail station clearance measuring robot according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a left bottom plate and a connecting bottom plate of the high-speed rail platform clearance measuring robot according to an embodiment of the present invention;
FIG. 3 is an enlarged view of the boundary measuring robot of the high-speed rail station of FIG. 1;
fig. 4 is a front view of a second embodiment of the high-speed rail station clearance measuring robot of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the robot comprises a robot body 1, a left bottom plate 2, a first guide block 201, a guide rod 202, a left T-shaped block 203, a left limiting block 204, a connecting bottom plate 3, a second guide block 302, a right fixing block 401, a right mounting block 402, a right blocking block 403, a blocking part 404, a right auxiliary wheel 405, a left auxiliary wheel mechanism 5, a roller 6, a measuring instrument 7, a connecting bump 801, a connecting rod 802, an auxiliary wheel 803 and a buckle 804.
Example one
High-speed railway platform limit measurement robot, as shown in figure 1, figure 2, including robot body 1, robot body 1 includes left bottom plate 2 and the right bottom plate that the symmetry set up to and connect bottom plate 3, connect the top at 3 both ends of bottom plate and articulate with left bottom plate 2, right bottom plate respectively, in this embodiment, connect bottom plate 3 and left bottom plate 2, right bottom plate and pass through butterfly hinge rotation connection respectively. The bottom of connecting bottom plate 3 and left bottom plate 2, right bottom plate between be equipped with the guide block respectively, in this embodiment, the quantity of guide block is four, and the guide block welds respectively in the bottom at connecting bottom plate 3 both ends, the bottom of 2 right-hand members of left bottom plate, the bottom of right bottom plate left end. All seted up the direction through-hole on the guide block, the axial direction parallel of the direction through-hole on the same guide block, the coaxial setting of direction through-hole on the different guide blocks.
For convenience of description, the four guide blocks are defined as a first guide block 201, a second guide block 302, a third guide block, and a fourth guide block in order from the left base plate 2 to the right base plate. The guide through holes are slidably connected with the guide rods 202, in this embodiment, the number of the guide rods 202 is four, two of the guide rods are located in the coaxial guide through holes on the first guide block 201 and the second guide block 302, and the other two guide rods are located in the coaxial guide through holes on the third guide block and the fourth guide block. One end of the guide rod 202 far away from the connecting bottom plate 3 extends to form a limiting bulge, and the limiting bulge is perpendicular to the guide rod 202. The bottom of the left bottom plate 2 is further welded with a T-shaped block used for preventing the guide rod 202 from sliding in the guide through hole, the limiting protrusion abuts against the T-shaped block, and the bottom of the left bottom plate 2 is further welded with a limiting block used for preventing the guide rod 202 from being separated from the guide through hole. For convenience of description, the T-shaped block on the left bottom plate 2 is defined as a left T-shaped block 203, the stopper is defined as a left stopper 204, and a right T-shaped block and a right stopper are symmetrically arranged on the right bottom plate.
When the platform limit is measured, the guide rods 202 are located in the guide through holes, that is, the two guide rods 202 are located in the coaxial guide through holes on the first guide block 201 and the second guide block 302, and the limit protrusions of the guide rods 202 abut against the left ends of the left T-shaped block 203 and the first guide block 201 respectively. The other two guide rods 202 are positioned in the coaxial guide through holes on the third guide block and the fourth guide block, the limit bulges of the guide rods 202 are respectively propped against the right ends of the right T-shaped block and the fourth guide block, and at the moment, the left bottom plate 2, the connecting bottom plate 3 and the right bottom plate are in a rigid connection state. There is just spacing bellied space to between the horizontal segment of left T type piece 203 and the left bottom plate 2, when needs are accomodate, rotatory spacing arch that is located between left T type piece 203 and the first guide block 201, make spacing arch just right with the space, extract guide bar 202 from the guiding hole of first guide block 201, make guide bar 202 deviate from the guiding hole of second guide block 302, collapsible left bottom plate 2 this moment, make left bottom plate 2 and be connected bottom plate 3 and become the right angle. The same operation is adopted, so that the other two guide rods 202 are separated from the guide through holes of the third guide block, and the right bottom plate is folded and is convenient to store after being folded.
As shown in fig. 3, a fixed block is welded at the bottom of the right bottom plate, a horizontally arranged chute is formed in the fixed block, and the chute direction of the chute on the horizontal plane is perpendicular to the track. The robot body 1 further comprises an auxiliary wheel mechanism, the auxiliary wheel mechanism comprises an installation block, the installation block comprises a vertical section and a horizontal section, one end, far away from the vertical section, of the horizontal section penetrates through the sliding groove, a stop block used for preventing the installation block from being separated from the sliding groove is arranged at one end penetrating through the sliding groove, and in the embodiment, the stop block is connected with one end of the horizontal section through a screw. The horizontal section is provided with a spring in a sleeved mode, and the spring is located between the blocking portion 404 and the fixing block. The one end welding that the horizontal segment was kept away from to vertical section has the installation axle, and the installation axle is connected with auxiliary wheel 803 through the bearing, and the global of auxiliary wheel 803 offsets with orbital inner end face. For convenience of description, the fixed block on the right bottom plate is defined as a right fixed block 401, the auxiliary wheel mechanism connected to the right fixed block 401 is defined as a right auxiliary wheel mechanism, the right auxiliary wheel mechanism includes a right stopper 403, a right mounting block 402, and a right auxiliary wheel 405, and the right mounting block 402 is a right stopper. The fixed block on the left bottom plate 2 is defined as a left fixed block, the auxiliary wheel mechanism connected with the left fixed block is defined as a left auxiliary wheel mechanism 5, and the left auxiliary wheel mechanism 5 comprises a left mounting block and a left auxiliary wheel. The bottom of left bottom plate 2 has still welded left fixed block, and the one end of left installation piece passes through screw fixed connection with left fixed block, and the other end welding of left installation piece has another installation axle, should install epaxial left auxiliary wheel that is connected with through the bearing, and the global terminal surface that offsets with the orbital interior of left auxiliary wheel. In the use process, the circumferential surface of the left auxiliary wheel is abutted against one side, close to the two track symmetry axes, of the left track, namely, abutted against the right side end face of the left track, and the circumferential surface of the right auxiliary wheel 405 is abutted against one side, close to the two track symmetry axes, of the right track, namely, abutted against the left side end face of the right track.
The robot body 1 further comprises a roller 6 used for enabling the robot body 1 to move on the rail, a left shell connected with the left bottom plate 2, a right shell connected with the right bottom plate, and a connecting shell connected with the connecting bottom plate 3, wherein the left bottom plate 2 and the left shell, the right bottom plate and the right shell, the connecting bottom plate 3 and the connecting shell are detachably connected through screws. The left bottom plate 2 is connected with a rotating motor through a screw, an output shaft of the rotating motor is perpendicular to the track on the horizontal plane, the output shaft of the rotating motor extends out of the left shell and is connected with a roller through a coupler, and the roller is welded with a roller 6. For convenience of description, the rotary motor on the left base plate 2 is defined as a left rotary motor, and the drum 6 connected to the output shaft of the left rotary motor is defined as a left drum, that is, the drum 6 at the left end of the robot body 1 is a left drum, and the right rotary motor and the right drum are symmetrically disposed on the right base plate. The global of left side cylinder offsets with the orbital up end in left side, and matches with the shape of up end, and the global of right side cylinder offsets with the orbital up end in right side, and matches with the shape of up end.
There is the control chamber between left casing and the left bottom plate 2, still is equipped with measuring apparatu 7 on the left casing, and measuring apparatu 7 has the measurement chamber including measuring the shell in measuring the shell, measures shell and left casing integrated into one piece, measures chamber intercommunication control chamber. The measuring device 7 comprises a laser for emitting a distance measuring laser, which is pivoted on a vertical plane to form a rotation angle. One side of measuring the shell and keeping away from two track symmetry axes is equipped with the printing opacity face, and the printing opacity face is used for seeing through range finding laser, and the printing opacity face sets up along 7 direction slopes of two track symmetry axial measuring apparatuss from top to bottom, and the printing opacity face sets up along the right left bank from top to bottom promptly, and when range finding laser was located the angular bisector of rotation angle, range finding laser was perpendicular with the printing opacity face. In the present embodiment, the laser is a laser scanner of the model LMS4121R-13000, and the surveying instrument 7 can acquire the measured distance and the measured angle of the ranging laser. In other embodiments, the measuring instrument 7 may employ a laser and a rotating bracket, the laser is fixed on the rotating bracket, the rotating bracket includes a measuring motor, the output shaft of the measuring motor is connected with a rotating disc through a key, the laser is bonded on the circumferential surface of the rotating disc, the laser is controlled to rotate in the vertical direction by controlling the rotation of the measuring motor so as to form a rotation angle with the distance measuring laser emitted by the laser, the laser can obtain the measuring distance, and the measuring angle can be obtained by the rotation of the measuring motor.
The embodiment is applied to measuring the platform limit of the double track, and the platform is positioned on the left side of the track for explanation, when the device is used, the right side of the robot body 1 is placed between the two tracks, so that the right roller abuts against the upper end face of the right track, meanwhile, the peripheral surface of the right auxiliary wheel 405 abuts against the left end face of the right track, force is applied to the right side of the robot body 1, at the moment, the right auxiliary wheel 405 is stressed, the right fixing block 401 moves rightwards, and the distance between the right fixing block 401 and the blocking part 404 is reduced, and the spring is compressed. Then, the left side of the robot body 1 is placed between the two rails, so that the left roller abuts against the upper end face of the left rail, force is no longer applied to the right auxiliary wheel 405, the force applied to the right auxiliary wheel 405 is reduced, the right fixing block 401 moves leftwards under the action of the spring, the left auxiliary wheel of the left auxiliary wheel mechanism 5 abuts against the right end face of the left rail through the robot body 1, and therefore the left side of the robot body 1 is always kept in a state of abutting against the left rail.
Example two
The difference between the present embodiment and the first embodiment is: this embodiment applies to platform limit measurement for single tracks.
High-speed railway platform limit measurement robot, as shown in figure 4, including robot body 1, install the rotating electrical machines through the screw in the robot body 1, the output shaft of rotating electrical machines is perpendicular with the track on the horizontal plane, and the output shaft of rotating electrical machines has the roller bearing through the coupling joint, and the welding has cylinder 6 on the roller bearing. One side of the roller 6 is positioned in the robot body 1, and the other side of the roller extends out of the bottom of the robot body 1 and is abutted against the upper end face of the track. In the present embodiment, there are four rollers 6, which are divided into two groups, wherein one group of rollers 6 is coaxially disposed at the front end of the bottom of the robot body 1, and the other group of rollers 6 is coaxially disposed at the rear end of the bottom of the robot body 1.
Bottom integrated into one piece of robot 1 has connection lug 801, robot 1 still includes auxiliary wheel mechanism, auxiliary wheel mechanism includes connecting rod 802, connecting rod 802 is including the vertical section and the slope section of connecting, the vertical section is kept away from the one end of slope section and is seted up the connecting groove who uses with connecting lug 801 cooperation, in this embodiment, the cross section of connecting lug 801 and connecting groove is the cross of shape matching, the slope section sets up to the track slope along the platform from top to bottom, the one end welding that the vertical section was kept away from to the slope section has the installation axle, the installation axle is connected with auxiliary wheel 803 through the bearing, the global lower terminal surface with the track of auxiliary wheel 803 offsets, and the global of auxiliary wheel 803 is tangent with terminal surface under the track. Connection lug 801 passes through hasp 804 with connecting rod 802 and can dismantle the connection, it is concrete, hasp 804 includes hook-shaped bridging piece and fastener, the bridging piece passes through the fix with screw on the lateral wall of connection lug 801, the fastener passes through the fix with screw on the lateral wall of vertical section, when connecting connection lug 801 and connecting rod 802, hang the fastener on the bridging piece and to the fastener application of force, it is connected with the bridging piece even to get the fastener, when dismantling connection lug 801 and connecting rod 802, reverse application of force to the bridging piece, make the fastener deviate from the bridging piece, thereby the connection lug 801 and connecting rod 802 are connected in the split. In the present embodiment, there are four auxiliary wheel mechanisms, which are divided into two groups, one auxiliary wheel mechanism is disposed at the front end of the bottom of the robot body 1, the other auxiliary wheel mechanism is disposed at the rear end of the bottom of the robot body 1, the auxiliary wheels 803 in the same auxiliary wheel mechanism group are coaxially disposed, and naturally, four connecting lugs 801 disposed corresponding to the auxiliary wheel mechanisms are integrally formed on the robot body 1.
Still be equipped with measuring apparatu 7 on the robot 1, measuring apparatu 7 is including measuring the shell, measures to have in the shell to measure the chamber, measures the inside intercommunication of chamber and robot 1. The measuring device 7 comprises a laser for emitting a distance measuring laser, which is pivoted on a vertical plane to form a rotation angle. The side of measuring the shell and keeping away from track longitudinal axis is equipped with the printing opacity face, and the side that measures the shell and be close to the platform promptly is equipped with the printing opacity face, and the printing opacity face is used for seeing through the range finding laser, and the printing opacity face sets up along track longitudinal axis to the slope of platform direction from top to bottom, and the printing opacity face sets up along the right side left slope from top to bottom promptly, and when the angular bisector of rotation angle was located to the range finding laser, the range finding laser was perpendicular with the printing. In the present embodiment, the laser is a laser scanner of the model LMS4121R-13000, and the surveying instrument 7 can acquire the measured distance and the measured angle of the ranging laser. In other embodiments, the measuring instrument 7 may employ a laser and a rotating bracket, the laser is fixed on the rotating bracket, the rotating bracket includes a measuring motor, the output shaft of the measuring motor is connected with a rotating disc through a key, the laser is bonded on the circumferential surface of the rotating disc, the laser is controlled to rotate in the vertical direction by controlling the rotation of the measuring motor so as to form a rotation angle with the distance measuring laser emitted by the laser, the laser can obtain the measuring distance, and the measuring angle can be obtained by the rotation of the measuring motor.
When the platform is located on the left side of the track, in use, the robot body 1 is placed on the track, and the roller 6 abuts against the upper end surface of the track, so that the light-transmitting surface of the measuring instrument 7 faces the platform, that is, the measuring instrument 7 is located on the left side of the robot body 1. The connecting lug 801 is placed in the connecting groove, and the connecting lug 801 is connected with the connecting rod 802 through the buckle 804, wherein the peripheral surface of the auxiliary wheel 803 is abutted against the lower end surface of the track. After the four connecting bumps 801 are connected to the connecting rod 802, the auxiliary wheel 803 and the roller 6 are both abutted against the rail, so that the robot body 1 can stably move on the rail. When the robot body 1 is detached, the connecting convex block 801 and the connecting rod 802 are detached through the buckle 804, and the robot body 1 is taken down from the track, so that the robot body 1 is rapidly detached.
EXAMPLE III
The difference between the present embodiment and the first embodiment is: electromagnets are arranged between the robot main body 1 and the rollers 6, the number of the electromagnets is the same as that of the rollers 6, and the electromagnets are respectively positioned above the rollers 6. The robot main body 1 is also internally provided with a controller, the electromagnet and the rotating motor are in signal connection with the controller, and the controller is used for controlling the electromagnet to be started when controlling the rotating motor to be started and controlling the electromagnet to be closed when controlling the rotating motor to be stopped; the device is also used for controlling the voltage value of the input electromagnet, and the size of the attraction force of the electromagnet is controlled by adjusting the voltage value.
And the rotating motors are respectively provided with an idling torque sensor which is in signal connection with the controller, and the idling torque sensors are used for judging the torque of the rotating motors and sending the torque judgment data to the controller.
The controller includes an idle determination module.
The idling judgment module is preset with an idling torque range and is used for receiving torque judgment data and generating a voltage increase signal when the torque judgment data is located in the idling torque range; and generating a voltage reduction signal when the torque determination data exceeds the idling torque range. In the present embodiment, the idling torque range is obtained by performing an idling experiment on the motor.
The controller is used for controlling the electromagnet to generate magnetic force to adsorb the track when the electromagnet is started, so that the friction between the measuring robot and the track is increased, and the phenomenon that the roller 6 slips is reduced. The controller is also used for increasing the voltage input into the electromagnet according to the voltage increasing signal when the electromagnet is in the starting signal, so that the phenomenon that the roller 6 slips is reduced, and the voltage input into the electromagnet is reduced according to the voltage decreasing signal, so that the phenomenon that the power consumption of the motor is increased due to the fact that the attraction force of the electromagnet is too large is avoided.
When the measuring robot moves, a phenomenon of shaking or slipping may occur, and the phenomenon may affect the measuring accuracy of the measuring robot, so that the electromagnet adsorbs the guide rail, the friction force between the roller 6 and the rail is increased, and the phenomenon of shaking or slipping of the measuring robot can be reduced.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. High-speed railway platform clearance measuring robot, including the robot, be equipped with on the robot and be used for making the robot to move on the track cylinder, its characterized in that: the roller abuts against the upper end face of the track, an auxiliary wheel mechanism is further arranged on the robot body, and the auxiliary wheel mechanism abuts against the inner end face or the lower end face of the track;
still be equipped with the measuring apparatu that is used for measuring platform to measuring robot distance on the robot, the measuring apparatu is including the laser instrument that is used for launching range finding laser and the printing opacity face that is used for permeating range finding laser, the printing opacity face slope sets up, range finding laser can swing on vertical plane and form the rotation angle, and when range finding laser is located the angular bisector of rotation angle, range finding laser is perpendicular with the printing opacity face.
2. The high-speed rail platform clearance measuring robot of claim 1, wherein: the robot is characterized in that a rotating motor is arranged in the robot body, an output shaft of the rotating motor extends out of the robot body and is fixedly connected with rollers, the rollers are located at two ends of the robot body, and the peripheral surface of each roller is abutted to the upper end surface of the corresponding rail.
3. The high-speed rail platform clearance measuring robot of claim 2, wherein: the peripheral surface of the roller is matched with the upper end surface of the track in shape.
4. The high-speed rail platform clearance measuring robot of claim 2, wherein: the bottom of robot body is equipped with the fixed block, set up the spout that has the level to set up on the fixed block, the groove of spout is to perpendicular with the track, auxiliary wheel mechanism is including the installation piece, the one end of installation piece stretches into the spout, and is equipped with the dog that prevents the installation piece and deviate from the spout, be equipped with the stop part on the installation piece, the cover is equipped with the spring on the installation piece, the spring is located between stop part and the fixed block, the other end of installation piece is equipped with the auxiliary wheel, the global and orbital interior terminal surface counterbalance of auxiliary wheel.
5. The high-speed rail platform clearance measuring robot according to any one of claims 2 to 4, wherein: the robot body comprises a left bottom plate and a right bottom plate which are symmetrically arranged and a connecting bottom plate, the tops of the two ends of the connecting bottom plate are hinged to the left bottom plate and the right bottom plate respectively, guide blocks are arranged between the bottom of the connecting bottom plate and the left bottom plate and between the bottom of the connecting bottom plate and the right bottom plate respectively, coaxial guide through holes are formed in the guide blocks, and guide rods are slidably connected with the guide through holes.
6. The high-speed rail platform clearance measuring robot of claim 5, wherein: the one end of guide bar is equipped with spacing arch, all be equipped with on left side bottom plate, the right bottom plate and be used for preventing the gliding T type piece of guide bar in the direction through-hole, all be equipped with on left side bottom plate, the right bottom plate and be used for preventing the stopper that the guide bar deviates from the direction through-hole.
7. The high-speed rail platform clearance measuring robot of claim 1, wherein: the robot is characterized in that a rotating motor is arranged in the robot body, an output shaft of the rotating motor is fixedly connected with a roller, one side of the roller is located in the robot body, and the other side of the roller extends out of the robot body to be abutted against the upper end face of the track.
8. The high-speed rail platform clearance measuring robot of claim 7, wherein: the robot comprises a robot body, and is characterized in that a connecting lug is arranged on the robot body, the auxiliary wheel mechanism comprises a connecting rod, a connecting groove matched with the connecting lug for use is formed in one end of the connecting rod, the connecting lug is detachably connected with the connecting rod, an auxiliary wheel is arranged at one end, far away from the connecting groove, of the connecting rod, and the peripheral surface of the auxiliary wheel is abutted to the lower end surface of a track.
9. The high-speed rail platform clearance measuring robot of claim 8, wherein: the cross sections of the connecting convex blocks and the connecting grooves are cross-shaped.
10. The high-speed rail platform clearance measuring robot of claim 8, wherein: the connecting lug is connected with the connecting rod through a hasp.
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| CN202010014857.4A CN111197964B (en) | 2020-01-07 | 2020-01-07 | High-speed railway platform limit measuring robot |
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| CN202010014857.4A CN111197964B (en) | 2020-01-07 | 2020-01-07 | High-speed railway platform limit measuring robot |
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| CN111197964B CN111197964B (en) | 2021-11-05 |
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