CN206029901U - Train overhaul machine people - Google Patents
Train overhaul machine people Download PDFInfo
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- CN206029901U CN206029901U CN201620900117.XU CN201620900117U CN206029901U CN 206029901 U CN206029901 U CN 206029901U CN 201620900117 U CN201620900117 U CN 201620900117U CN 206029901 U CN206029901 U CN 206029901U
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Abstract
The utility model provides a train overhaul machine people, train overhaul machine people includes: overhaul machine people's body, drive arrangement, running gear, swing machinery arm and detection information collection module, wherein, drive arrangement with running gear swing mechanical arm with detection information collection module is connected respectively, running gear with overhaul machine people's body is connected, is used for removing train overhaul machine people, the bottom of swinging mechanical arm with overhaul machine people's body is connected, is used for removing detection information collection module, detection information collection module with the top of swinging mechanical arm links to each other for that gathers the train waits to overhaul position information. The technical scheme of the utility model can be to the train wait that it carries out quick accurate detection to overhaul the position.
Description
Technical field
This utility model is related to train overhaul technical field, more specifically, is related to a kind of train overhaul robot.
Background technology
With " high ferro is walked out " strategy iterative method, the safety of train, reliability and persistency be China's train,
The especially key in bullet train sustainable development the world that takes the lead in race, and train overhaul is to maintain train safety, reliability and holds
The guarantee of property long.
At present, in correlation technique, generally train is overhauled by the way of manual detection, but the composition portion of train
Part structure complexity is high, need to detect scope is big and tiny parts are more, and for example only one, bolt just has more than 1000, artificial to examine
During survey, the operation intensity of operating personnel is big and not necessarily comprehensive, causes manual detection efficiency low, such as organizes into groups to definitely 8
The maintenance of train, just more than 10,000, in an one-level maintenance, operating personnel is accomplished by bending over more than 300 times the parts of maintenance,
Tap under more than 5000, maintainer is wasted time and energy.To sum up, manual detection mode cannot be ensured to the detection efficiency of train composition.
Utility model content
The purpose of this utility model is to provide a kind of technical scheme of train overhaul robot, to solve institute in background technology
In the existing artificial service technique to train introduced, the low problem of overhaul efficiency.
In order to solve above-mentioned technical problem, this utility model provides following technical scheme：
This utility model provides a kind of train overhaul robot, including：
Overhaul machine human body, driving means, walking mechanism, swing mechanical arm and detection information acquisition module；Wherein,
The driving means are connected respectively with the walking mechanism, the swing mechanical arm and the detection information acquisition module
Connect；
The walking mechanism is connected with the human body that overhauls machine, for moving the train overhaul robot；
The bottom for swinging mechanical arm is connected with the human body that overhauls machine, and is adopted for moving the detection information
Collection module；
The detection information acquisition module is connected with the top of the swing mechanical arm, for gathering the Awaiting Overhaul of train
Location information.
Preferably, the detection information acquisition module includes image information collecting module, information of acoustic wave acquisition module, thermal source
One or more combination in information acquisition module and vibration information acquisition module.
Preferably, described image information acquisition module is three-dimensional image information acquisition module, and the three-dimensional image information adopts
Collection module includes：
For producing the structured light light source of the structure light being projeced on the train, the emergent ray of the structured light light source
Irradiation area is formed, the structured light light source is radiated at the region on the train for region to be detected；
The area array cameras of the image of the inner structure light in region to be detected are projeced into for collection；And for gathering described treating
The two-dimensional image information acquisition module of the train image of detection zone；
The imaging region whole that the area array cameras are irradiated on the train/partly cover the region to be detected, and
Angle is provided between the projecting direction of the imaging direction of the area array cameras and the structured light light source；The two-dimensional image information
The imaging region whole that acquisition module is irradiated on the train/partly cover the region to be detected.
Preferably, described image information acquisition module is three-dimensional image information acquisition module, and the three-dimensional image information adopts
Collection module includes：
For at least two two dimensional images from two-dimensional image information of the different station acquisitions comprising same region to be detected
Information acquisition module；
Each described two-dimensional image information acquisition module overlaps in the imaging region being irradiated on the train, and each institute
The region stated after the imaging region coincidence of two-dimensional image information acquisition module is region to be detected.
Preferably, the swing mechanical arm is sixdegree-of-freedom simulation.
Preferably, the train overhaul robot also includes：It is connected to the 3-D view letter of the human body that overhauls machine
Breath acquisition module, for scanning the train Awaiting Overhaul position.
Preferably, the walking mechanism includes：In rail mounted walking mechanism, wheel type traveling mechanism and crawler type walking mechanism
At least one.
Preferably, the train overhaul robot also includes：Automatically lead with what the human body that overhauls machine was fixedly connected
Model plane block.
Preferably, the train overhaul robot also includes：Signal receiving/transmission device and with the signal receiving/transmission device phase
The robot for overhauling control device of connection；Wherein, the robot for overhauling control device and the driving means and the inspection
Measurement information acquisition module is respectively connected with, and adopts including walking mechanism control module, swing mechanical arm control module and detection information
Collection module control module.
Preferably, the train overhaul robot also includes：Manned middle control car, the manned middle control car include：It is vehicle-mounted multiple
Depending on terminal, the vehicle-mounted diplopia terminal is connected with the detection information acquisition module by the signal receiving/transmission device.
The course of work of train overhaul robot that this utility model is provided is：When train moves to the Awaiting Overhaul area for specifying
When domain is overhauled, train overhaul robot by driving means drive walking mechanism move, and by with detection information
Acquisition module is engaged, and searches train and determines the Awaiting Overhaul position of train, when it is determined that train Awaiting Overhaul position after, according to row
The attribute at car Awaiting Overhaul position, the speed of travel for controlling driving means unification adjustment walking mechanism and the amplitude of fluctuation for swinging mechanical arm
Degree, so as to quickly and accurately detect to the Awaiting Overhaul position of train.
The train overhaul robot provided by the above-mentioned course of work, this utility model, can be to the to be checked of train
Repair position quickly and accurately to be detected.
Description of the drawings
For the technical scheme being illustrated more clearly that in this utility model embodiment, below will be to needed for embodiment description
Accompanying drawing to be used is briefly described, it should be apparent that, for those of ordinary skills, do not paying creativeness
On the premise of laborious, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the structural representation of the first the train overhaul robot shown in one exemplary embodiment of this utility model；
Fig. 2 is the structural representation of second train overhaul robot shown in one exemplary embodiment of this utility model；
Fig. 3 is the structural representation of the third train overhaul robot shown in one exemplary embodiment of this utility model；
Fig. 4 is a kind of configuration diagram of the train overhaul robot shown in one exemplary embodiment of this utility model；
Fig. 5 is the structural representation of the manned middle control car shown in one exemplary embodiment of this utility model.
In Fig. 1 to Fig. 5, the corresponding relation of each structure and its reference is as follows：
1- overhaul machine human body, 2- driving means, 3- walking mechanisms, 4- swing mechanical arm, 5- detection informations collection mould
Block, 6- three-dimensional image information acquisition modules, 7- self-navigation modules, 8- signal receiving/transmission devices, 9- robot for overhauling control devices,
It is manned that 91- walking mechanism control modules, 92- swing mechanical arm control module, 93- detection information acquisition module control modules, 10-
Middle control car, the vehicle-mounted diplopia terminals of 101-.
Specific embodiment
The train overhaul robot that this utility model embodiment is provided, solves the artificial maintenance described in background technology
The mode at the Awaiting Overhaul position of train, the problem of inefficiency.
In order that those skilled in the art more fully understand the technical scheme in this utility model embodiment, and make this reality
Can be become apparent from the above-mentioned purpose of new embodiment, feature and advantage it is understandable, below in conjunction with the accompanying drawings to this utility model reality
The technical scheme applied in example is described in further detail.
Accompanying drawing 1 is refer to, Fig. 1 is the first the train overhaul robot shown in one exemplary embodiment of this utility model
Structure chart.As shown in figure 1, train overhaul robot includes：Overhaul machine human body 1, driving means 2, walking mechanism 3, swing
Mechanical arm 4 and detection information acquisition module 5.
Train overhaul robot can be overhauled to the Awaiting Overhaul position of train, specifically, when needing that train is treated
When maintenance position is overhauled, driving means 2 drive walking mechanism 3 to move, so that train overhaul robot moves to what is specified
Maintenance place is overhauled by the Awaiting Overhaul position of train；When train overhaul robot reaches specifies maintenance place, by driving
Dynamic device 2 drives and swings mechanical arm 4, so as to be connected to treating for the collection train of detection information acquisition module 5 swung on mechanical arm 4
The information at maintenance position, so as to realize the detection at the Awaiting Overhaul position to train, and then carries out the operation such as keeping in repair to train.
Wherein, the driving means 2 are arranged inside the human body 1 that overhauls machine, and with the walking mechanism 3, institute
State swing mechanical arm 4 and the detection information acquisition module 5 is respectively connected with.
Driving means 2 are Power Generation Units, and driving means 2 are connected with walking mechanism 3, can order about walking mechanism 3 and transport
It is dynamic, so that train overhaul robot is reached specifies maintenance place such that it is able to rapidly and accurately train is overhauled.Exist simultaneously
In maintenance process, driving means 2 can be according to the driving parameter train overhaul machine such as the area at the Awaiting Overhaul position of train, position
People moves.
Wherein, the driving means 2 include：The motor being connected with the walking mechanism 3.
Driving means 2 can control 3 each step of walking mechanism by arranging the motor being connected with walking mechanism 3
The stepping time of step distance and each step, so that control the stepping stroke of walking mechanism 3 exactly so that train overhaul machine
People can move exactly；And can be engaged with detection information acquisition module 5, exactly the Awaiting Overhaul position of train is carried out
Information gathering.
Driving means 2 are connected with mechanical arm 4 is swung, and can control to swing amplitude of fluctuation, swing position of mechanical arm 4 etc.
Parameter, with attributes such as the position at the Awaiting Overhaul position according to train, areas, control is connected to the detection swung at the top of mechanical arm 4
The mobile range of information acquisition module 5 and shift position, so that accurately and rapidly gather the Awaiting Overhaul location information of train.
Driving means 2 are connected with detection information acquisition module 5 simultaneously, can control adopting for detection information acquisition module 5
The attributes such as collection angle, collection position, so that accurately and rapidly gather the information at Awaiting Overhaul position.
When the Awaiting Overhaul position to train is overhauled, driving means 2 can order about walking mechanism 3 and oscillating machine simultaneously
Tool arm 4, control both synergy movements specify maintenance place so as to be completed rapidly and accurately to search, and search Awaiting Overhaul position, right
Awaiting Overhaul position carries out the work such as information gathering.
The walking mechanism 3 is connected with the human body 1 that overhauls machine, for moving the train overhaul robot；
Wherein, walking mechanism 3 can in rail mounted walking mechanism, wheel type traveling mechanism and crawler type walking mechanism extremely
Few one kind.
The bottom for swinging mechanical arm 4 is connected with the human body 1 that overhauls machine, for moving the detection information
Acquisition module 5.
The detection information acquisition module 5 is connected with the top for swinging mechanical arm 4, for gathering the to be checked of train
Repair location information.
Swing mechanical arm 4 is arranged on overhauls machine on human body 1, by swinging the swing of mechanical arm 4, can control detection
The displacement amplitude and displaced position of information acquisition module 5, so that select suitably to gather position, acquisition angles to adopt exactly
The information at the Awaiting Overhaul position of collection train.
Wherein, the armed lever for swinging mechanical arm 4 can stretch such that it is able to which control is connected to the inspection swung at the top of mechanical arm 4
The scanning height of measurement information acquisition module 5, reduces the scan blind spot of information gathering.
Meanwhile, detection information acquisition module 5, can be by the train information for collecting when the Awaiting Overhaul position of train is searched
Compare with the Awaiting Overhaul location information for prestoring, if comparison result is identical, judgement finds Awaiting Overhaul position；Detection letter
Breath acquisition module 5 when information gathering is carried out to Awaiting Overhaul position, equally can by collection Awaiting Overhaul position information with it is pre-
Awaiting Overhaul location information under the normal condition deposited is matched, if matching degree can not meet requirement, judges Awaiting Overhaul portion
There is failure in position, then ordering about related maintainer and/or ordering about train overhaul robot is carried out to the Awaiting Overhaul position automatically
Maintenance.
Wherein, train overhaul robot include the trench robot for overhauling that train bottom can be overhauled, can be right
The EEF bogie robot for overhauling overhauled by train both sides EEF bogie, and can at the top of train as pantograph is overhauled
Robot for overhauling at the top of train.
The train overhaul robot that the present embodiment is provided, when train moves to the Awaiting Overhaul region specified to be overhauled,
Train overhaul robot drives walking mechanism 3 by driving means 2, so as to order about the movement of train overhaul robot, while passing through
It is engaged with detection information acquisition module 5, controls the Awaiting Overhaul position that train is searched by train overhaul robot, when it is determined that train
Behind Awaiting Overhaul position, according to the feature at the Awaiting Overhaul position of train, the speed of travel of the unification adjustment walking mechanism 3 of driving means 2
Amplitude of fluctuation with mechanical arm 4 is swung, and is engaged with detection information acquisition module 5, so that train overhaul robot energy
It is enough that quickly and accurately the Awaiting Overhaul position of train is detected.
In order to improve the flexibility ratio for swinging mechanical arm 4, expansion is connected to the detection information collection mould swung at the top of mechanical arm 4
The information gathering scope of block 5, as a kind of preferred embodiment, as shown in figure 1, it is sixdegree-of-freedom simulation to swing mechanical arm 4,
The sixdegree-of-freedom simulation includes：The rotating base that be arranged on the human body 1 that overhauls machine and can horizontally rotate, multi-jointed mechanical
Armed lever, is connected by cradle head between mechanical armed lever, and in end, the top of machinery armed lever arranges detection information acquisition module 5.
In order to more accurately and rapidly gather train Awaiting Overhaul position information, can using one or more it is different
The information at detection meanss detection Awaiting Overhaul position, therefore used as a kind of preferred embodiment, detection information acquisition module 5 includes：
Image information collecting module, information of acoustic wave acquisition module, thermal source information acquisition module and vibration information acquisition module
In one or more combination, wherein, described image information acquisition module be three-dimensional information acquisition module, the three-dimensional image information
Acquisition module adopts laser triangulation principle, including：
For producing the area array cameras of the image of projection inner structure light in region to be detected；And,
For gathering the two-dimensional image information acquisition module of the train image in the region to be detected；
Imaging region that area array cameras are irradiated on train all/partly cover region to be detected, and area array cameras into
Image space is provided with angle between the projecting direction of structured light light source；The two-dimensional image information acquisition module is irradiated on train
Imaging region whole/partly cover region to be detected.
Used as a kind of preferred embodiment, image information collecting module 5 can be three-dimensional image information acquisition module, and this three
Dimension image information collecting module includes：
For at least two two dimensional images from two-dimensional image information of the different station acquisitions comprising same region to be detected
Information acquisition module；
Each two-dimensional image information acquisition module is irradiated in the imaging region on train again and overlaps, and, each two dimensional image
Region after the imaging region of information acquisition module overlaps is region to be detected.
Actual the using of three-dimensional image information acquisition module adopts Binocular Vision Principle, using two through demarcation
Imaging device, it is respectively from two width images of different position acquisition testees, inclined by calculating the position between image corresponding point
Difference, obtains the three-dimensional geometric information of object such that it is able to carry out multi-angle to the critical component of the trains such as bogie, brake unit
Detection.It is a kind of mode of fine maintenance.
Used as a kind of preferred embodiment, Fig. 2 is second train inspection shown in one exemplary embodiment of this utility model
The structural representation of robot is repaiied, as shown in Fig. 2 the train overhaul robot is in addition to each construction module shown in Fig. 1,
Also include：The three-dimensional image information acquisition module 6 on 1 top of human body of overhauling machine is connected to, the three-dimensional image information gathers mould
Block 6 is used for the information at the Awaiting Overhaul position for scanning train.
Specifically, as shown in Fig. 2 three-dimensional image information acquisition module 6 is hologram three-dimensional image acquisition module, using laser
Trigonometry principle, sends laser using LASER Light Source and is radiated on the Awaiting Overhaul portion faces of train, by reflected light in three-dimensional
Image space change in image information collecting module 6 on detector, calculates the three-dimensional dimension at the Awaiting Overhaul position of train, for example
Can be used for the unobstructed positions such as the bogie to train, brake unit, the base plate of train bottom, skirtboard to be used for quickly detecting,
Especially the failure such as release, lose of screw and nut is detected, is a kind of mode of overall Quick overhaul.
Additionally, train overhaul robot can also have maintenance function in addition to information collection function.
In order to navigate to train overhaul robot, as shown in figure 3, Fig. 3 is one exemplary embodiment of this utility model
The structural representation of the third train overhaul robot for illustrating, in the Fig. 3, train overhaul robot also includes：It is arranged at institute
The self-navigation module 7 stated the front end of the human body 1 that overhauls machine and be fixedly connected with the human body 1 that overhauls machine.
Train overhaul robot can be searched along the walking path of setting under the navigation directions of self-navigation module 7
The barrier on walking path set in advance and mark, energy can be detected in the Awaiting Overhaul position of train, self-navigation module 7
It is enough that barrier is evaded, and walking path can be verified, situations such as prevent path error, and can be according to leading automatically
The road surface and ambient condition information that model plane block 7 is detected is modified to walking path, so that train overhaul robot energy
It is enough safely and reliably to move.
As a kind of preferred embodiment, as shown in figure 4, Fig. 4 is shown in one exemplary embodiment of this utility model
The configuration diagram of train overhaul robot is planted, in Fig. 4, train overhaul robot is also wrapped in addition to each structure shown in Fig. 1
Include：Signal receiving/transmission device 8 and the robot for overhauling control device 9 being connected with the signal receiving/transmission device 8；Wherein, the inspection
Repair robot controller 9 to be respectively connected with the driving means 2 and the detection information acquisition module 5, including respectively with
Walking mechanism control module 91, the mechanical arm swing control module 92 of swing and detection information that detection information acquisition module 5 is connected
Acquisition module control module 93.
Robot for overhauling control device 9 can control walking mechanism 3 respectively, swing mechanical arm 4 and detection information collection
Module 5, and by walking mechanism 3, swing working condition and the letter for collecting of mechanical arm 4 and detection information acquisition module 5
Breath is sent to corresponding processing meanss by signal receiving/transmission device 8 and is processed, and then receives above-mentioned by signal receiving/transmission device 8
The process signal that processing meanss send back, content of the robot for overhauling control device 9 according to process signal call corresponding walking
Mechanism controls module 91, the mechanical arm swing control module 92 of swing and/or detection information acquisition module control module 93, so as to
It is enough that rapidly the Awaiting Overhaul position of train is overhauled.
Fig. 5 is the structural representation of a kind of manned middle control car shown in one exemplary embodiment of this utility model, such as Fig. 5 institutes
Show, manned middle control car 10 includes：Vehicle-mounted diplopia terminal 101, the vehicle-mounted diplopia terminal 101 pass through the signal receiving/transmission device 8
It is connected with the detection information acquisition module 5.
Manned middle control car 10 can receive signal receiving/transmission device 8 by vehicle-mounted diplopia terminal 101 as neutral-controlled plant
The Awaiting Overhaul portion of the train that the work state information and detection information acquisition module 5 of the train overhaul robot of transmission is collected
Position information, so as to and above- mentioned information showed into associative operation personnel by vehicle-mounted diplopia terminal 101 so that associative operation personnel
It is confirmed whether to break down, after associative operation personnel confirm to break down, to 8 transmission processe signal of signal receiving/transmission device, from
And control train overhaul robot is overhauled or is promoted associative operation personnel to the Awaiting Overhaul position of train and in person train is entered
Row maintenance, after the completion of maintenance, then by the information at the collection of detection information acquisition module 5 position, is sent to vehicle-mounted diplopia end
End 101, so that associative operation personnel are confirmed whether to overhaul successfully, so as to complete the closed loop control of maintenance process, improves to train
Overhaul efficiency and maintenance success rate.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiments.
Above-described this utility model embodiment, does not constitute the restriction to this utility model protection domain.It is any
Modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this utility model
Protection domain within.
Claims (10)
1. a kind of train overhaul robot, it is characterised in that include：
Overhaul machine human body (1), driving means (2), walking mechanism (3), swing mechanical arm (4) and detection information acquisition module
(5)；Wherein,
Driving means (2) and the walking mechanism (3), swing mechanical arm (4) and the detection information acquisition module
(5) connect respectively；
Walking mechanism (3) are connected with the human body that overhauls machine (1), for moving the train overhaul robot；
The bottom for swinging mechanical arm (4) is connected with the human body that overhauls machine (1), for moving the detection information
Acquisition module (5)；
Detection information acquisition module (5) are connected with the top of swing mechanical arm (4), for gathering the to be checked of train
Repair location information.
2. train overhaul robot according to claim 1, it is characterised in that described detection information acquisition module (5) wrap
Include in image information collecting module, information of acoustic wave acquisition module, thermal source information acquisition module and vibration information acquisition module
Plant or multiple combination.
3. train overhaul robot according to claim 2, it is characterised in that described image information acquisition module is three-dimensional
Image information collecting module, the three-dimensional image information acquisition module include：
For producing the structured light light source of the structure light being projeced on the train, the emergent ray of the structured light light source is formed
Irradiation area, the structured light light source are radiated at the region on the train for region to be detected；
The area array cameras of the image of the inner structure light in region to be detected are projeced into for collection；And,
For gathering the two-dimensional image information acquisition module of the train image in the region to be detected；
The imaging region whole that the area array cameras are irradiated on the train/partly cover the region to be detected, and, it is described
Angle is provided between the projecting direction of the imaging direction of area array cameras and the structured light light source；The two-dimensional image information collection
The imaging region whole that module is irradiated on the train/partly cover the region to be detected.
4. train overhaul robot according to claim 2, it is characterised in that described image information acquisition module is three-dimensional
Image information collecting module, the three-dimensional image information acquisition module include：
For at least two two-dimensional image informations from two-dimensional image information of the different station acquisitions comprising same region to be detected
Acquisition module；
Each described two-dimensional image information acquisition module overlaps in the imaging region that is irradiated on the train, and, described in each
Region after the imaging region of two-dimensional image information acquisition module overlaps is region to be detected.
5. according to the arbitrary described train overhaul robot of claim 1-4, it is characterised in that swing mechanical arm (4) are
Sixdegree-of-freedom simulation.
6. according to the arbitrary described train overhaul robot of claim 1-4, it is characterised in that also include：
The three-dimensional image information acquisition module (6) of the human body (1) that overhauls machine is connected to, for scanning treating for the train
Maintenance position.
7. according to the arbitrary described train overhaul robot of claim 1-4, it is characterised in that walking mechanism (3) include：
At least one in rail mounted walking mechanism, wheel type traveling mechanism and crawler type walking mechanism.
8. according to the arbitrary described train overhaul robot of claim 1-4, it is characterised in that also include：
The self-navigation module (7) being fixedly connected with the human body that overhauls machine (1).
9. according to the arbitrary described train overhaul robot of claim 1-4, it is characterised in that also include：
Signal receiving/transmission device (8) and the robot for overhauling control device (9) being connected with the signal receiving/transmission device (8)；Its
In,
Robot for overhauling control device (9) and the driving means (2) and the detection information acquisition module (5) difference
It is connected, including walking mechanism control module (91), swings mechanical arm control module (92) and the control of detection information acquisition module
Module (93).
10. train overhaul robot according to claim 9, it is characterised in that also include：
Manned middle control car (10), manned middle control car (10) include：Vehicle-mounted diplopia terminal (101), the vehicle-mounted diplopia terminal
(101) it is connected with detection information acquisition module (5) by the signal receiving/transmission device (8).
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| CN2015206368820 | 2015-08-21 | ||
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