SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a train overhauls technical scheme of robot to solve the current artifical maintenance technique to the train that introduces in the background art, the problem that maintenance efficiency is low.
In order to solve the technical problem, the utility model provides a following technical scheme:
the utility model provides a train overhauls robot, include:
the maintenance robot comprises a maintenance robot body, a driving device, a walking mechanism, a swinging mechanical arm and a detection information acquisition module; wherein,
the driving device is respectively connected with the walking mechanism, the swinging mechanical arm and the detection information acquisition module;
the travelling mechanism is connected with the maintenance robot body and used for moving the train maintenance robot;
the bottom of the swing mechanical arm is connected with the maintenance robot body and used for moving the detection information acquisition module;
the detection information acquisition module is connected with the top of the swing mechanical arm and used for acquiring information of a to-be-overhauled part of the train.
Preferably, the detection information acquisition module comprises one or more of an image information acquisition module, a sound wave information acquisition module, a heat source information acquisition module and a vibration information acquisition module.
Preferably, the image information acquisition module is a three-dimensional image information acquisition module, and the three-dimensional image information acquisition module includes:
the structured light source is used for generating structured light projected on the train, emergent rays of the structured light source form an irradiation area, and the area irradiated on the train by the structured light source is an area to be detected;
the area array camera is used for collecting the image of the structured light projected in the area to be detected; the two-dimensional image information acquisition module is used for acquiring the train image of the area to be detected;
the imaging area irradiated on the train by the area array camera completely or partially covers the area to be detected, and an included angle is formed between the imaging direction of the area array camera and the projection direction of the structured light source; the two-dimensional image information acquisition module irradiates an imaging area on the train to completely/partially cover the area to be detected.
Preferably, the image information acquisition module is a three-dimensional image information acquisition module, and the three-dimensional image information acquisition module includes:
the two-dimensional image information acquisition modules are used for acquiring two-dimensional image information containing the same area to be detected from different positions;
the imaging areas of the two-dimensional image information acquisition modules irradiated on the train are overlapped, and the area where the imaging areas of the two-dimensional image information acquisition modules are overlapped is an area to be detected.
Preferably, the swing mechanical arm is a six-degree-of-freedom mechanical arm.
Preferably, the train service robot further comprises: and the three-dimensional image information acquisition module is connected to the maintenance robot body and is used for scanning the part to be maintained of the train.
Preferably, the traveling mechanism includes: at least one of a rail-type traveling mechanism, a wheel-type traveling mechanism, and a crawler-type traveling mechanism.
Preferably, the train service robot further comprises: and the automatic navigation module is fixedly connected with the maintenance robot body.
Preferably, the train service robot further comprises: the signal receiving and transmitting device and the maintenance robot control device are connected with the signal receiving and transmitting device; the maintenance robot control device is connected with the driving device and the detection information acquisition module respectively and comprises a walking mechanism control module, a swinging mechanical arm control module and a detection information acquisition module control module.
Preferably, the train service robot further comprises: manned central control car, manned central control car includes: and the vehicle-mounted double-vision terminal is connected with the detection information acquisition module through the signal transceiver.
The utility model provides a train overhauls work process of robot is: when the train moves to a specified region to be overhauled, the train overhauling robot drives the travelling mechanism to move through the driving device, the train is searched and the part to be overhauled of the train is determined through matching with the detection information acquisition module, and after the part to be overhauled of the train is determined, the driving device is controlled to uniformly adjust the travelling speed of the travelling mechanism and the swinging amplitude of the swinging mechanical arm according to the attribute of the part to be overhauled of the train, so that the part to be overhauled of the train is quickly and accurately detected.
Can know through above-mentioned working process, the utility model provides a train overhauls robot can carry out quick, accurately to the position of waiting to overhaul of train and detect.
Detailed Description
The embodiment of the utility model provides a train overhauls robot has solved the artifical mode of overhauing the position of waiting of overhauing the train that introduces among the background art, the problem of inefficiency.
In order to make those skilled in the art better understand the technical solution of the embodiments of the present invention and make the above objects, features and advantages of the embodiments of the present invention more obvious and understandable, the following description of the technical solution of the embodiments of the present invention will be made in detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a structural diagram of a first train maintenance robot according to an exemplary embodiment of the present invention. As shown in fig. 1, the train overhaul robot includes: the maintenance robot comprises a maintenance robot body 1, a driving device 2, a walking mechanism 3, a swing mechanical arm 4 and a detection information acquisition module 5.
The train maintenance robot can maintain the part to be maintained of the train, and particularly when the part to be maintained of the train needs to be maintained, the driving device 2 drives the travelling mechanism 3 to move so that the train maintenance robot moves to a specified maintenance place to maintain the part to be maintained of the train; when the train maintenance robot reaches a specified maintenance place, the swing mechanical arm 4 is driven through the driving device 2, so that the detection information acquisition module 5 connected to the swing mechanical arm 4 acquires information of a part to be maintained of a train, the detection of the part to be maintained of the train is realized, and the train is maintained.
The driving device 2 is arranged inside the maintenance robot body 1 and is respectively connected with the traveling mechanism 3, the swing mechanical arm 4 and the detection information acquisition module 5.
The driving device 2 is a power generation device, the driving device 2 is connected with the traveling mechanism 3, and the traveling mechanism 3 can be driven to move, so that the train maintenance robot can reach the specified maintenance place, and the train can be quickly and accurately maintained. Meanwhile, in the maintenance process, the driving device 2 can drive the train maintenance robot to move according to parameters such as the area and the position of the part to be maintained of the train.
Wherein the drive device 2 comprises: and the stepping motor is connected with the travelling mechanism 3.
The driving device 2 can control the stepping distance and the stepping time of each step of the traveling mechanism 3 by arranging the stepping motor connected with the traveling mechanism 3, thereby accurately controlling the stepping stroke of the traveling mechanism 3 and enabling the train maintenance robot to accurately move; and can cooperate with the detection information acquisition module 5 to accurately acquire the information of the part to be overhauled of the train.
The driving device 2 is connected with the swing mechanical arm 4, and can control parameters such as the swing amplitude and the swing position of the swing mechanical arm 4 so as to control the movement amplitude and the movement position of the detection information acquisition module 5 connected to the top of the swing mechanical arm 4 according to attributes such as the position and the area of the part to be overhauled of the train, thereby accurately and quickly acquiring the information of the part to be overhauled of the train.
Meanwhile, the driving device 2 is connected with the detection information acquisition module 5, and can control the attributes of the detection information acquisition module 5, such as acquisition angle, acquisition position and the like, so that the information of the part to be overhauled can be accurately and quickly acquired.
When the part to be overhauled of train is overhauled, drive arrangement 2 can order about running gear 3 and swing arm 4 simultaneously, controls both concerted motion to accomplish fast, accurately and seek appointed maintenance place, seek the part to be overhauld, treat the part to be overhauld and carry out work such as information acquisition.
The travelling mechanism 3 is connected with the overhaul robot body 1 and used for moving the train overhaul robot;
wherein, the running gear 3 can be at least one of a rail running gear, a wheel running gear and a crawler running gear.
The bottom of the swing mechanical arm 4 is connected with the maintenance robot body 1 and used for moving the detection information acquisition module 5.
The detection information acquisition module 5 is connected with the top of the swing mechanical arm 4 and is used for acquiring information of a part to be overhauled of the train.
The swing mechanical arm 4 is arranged on the maintenance robot body 1, and through the swing of the swing mechanical arm 4, the displacement amplitude and the displacement position of the detection information acquisition module 5 can be controlled, so that the proper acquisition position and acquisition angle are selected to accurately acquire the information of the part to be maintained of the train.
The arm lever of the swing mechanical arm 4 can be stretched, so that the scanning height of the detection information acquisition module 5 connected to the top of the swing mechanical arm 4 can be controlled, and the scanning blind area of information acquisition is reduced.
Meanwhile, when the detection information acquisition module 5 searches for the part to be overhauled of the train, the acquired train information can be compared with the prestored part information to be overhauled, and if the comparison results are the same, the part to be overhauled is judged to be found; when the detection information acquisition module 5 acquires information of the part to be overhauled, the acquired information of the part to be overhauled can be matched with the information of the part to be overhauled in a pre-stored normal state, if the matching degree cannot meet the requirement, the part to be overhauled is judged to have a fault, and then relevant maintainers and/or a train overhauling robot are/is ordered to automatically overhaul the part to be overhauled.
The train maintenance robot comprises a trench maintenance robot capable of maintaining the bottom of a train, a walking part maintenance robot capable of maintaining walking parts on two sides of the train and a train top maintenance robot capable of maintaining the top of the train like a pantograph.
The train maintenance robot that this embodiment provided, when the train moves the appointed region of waiting to overhaul and overhauls, train maintenance robot passes through drive arrangement 2 drive running gear 3, thereby order about train maintenance robot and remove, simultaneously through cooperating with detection information acquisition module 5, control train maintenance robot seeks the position of waiting to overhaul of train, after confirming the position of waiting to overhaul of train, according to the characteristic of the position of waiting to overhaul of train, drive arrangement 2 is unified to adjust running gear 3's walking speed and the swing range of swing arm 4, and cooperate with detection information acquisition module 5, thereby make train maintenance robot can detect the position of waiting to overhaul of train fast and accurately.
In order to improve the flexibility of the swing arm 4 and expand the information acquisition range of the detection information acquisition module 5 connected to the top of the swing arm 4, as shown in fig. 1, as a preferred embodiment, the swing arm 4 is a six-degree-of-freedom arm, and the six-degree-of-freedom arm includes: the rotary base is arranged on the maintenance robot body 1 and can horizontally rotate, the mechanical arm rods are connected through rotary joints, and the detection information acquisition module 5 is arranged at the top end of the tail end mechanical arm rod.
In order to more accurately and rapidly acquire the information of the portion to be overhauled of the train, one or more different detection means may be adopted to detect the information of the portion to be overhauled, so as to serve as a preferred embodiment, the detection information acquisition module 5 includes:
one or more combinations of an image information acquisition module, a sound wave information acquisition module, a heat source information acquisition module and a vibration information acquisition module, wherein the image information acquisition module is a three-dimensional information acquisition module which adopts the principle of a laser trigonometry and comprises:
an area-array camera for producing an image projecting structured light in the area to be detected; and a process for the preparation of a coating,
the two-dimensional image information acquisition module is used for acquiring the train image of the area to be detected;
the imaging area of the area-array camera irradiated on the train completely or partially covers the area to be detected, and an included angle is formed between the imaging direction of the area-array camera and the projection direction of the structured light source; the two-dimensional image information acquisition module irradiates an imaging area on the train to completely/partially cover the area to be detected.
As a preferred embodiment, the image information collection module 5 may be a three-dimensional image information collection module including:
the two-dimensional image information acquisition modules are used for acquiring two-dimensional image information containing the same area to be detected from different positions;
and the imaging areas irradiated on the train by the two-dimensional image information acquisition modules are overlapped, and the area after the overlapping of the imaging areas of the two-dimensional image information acquisition modules is the area to be detected.
The three-dimensional image information acquisition module actually adopts a binocular vision principle, uses two calibrated imaging devices to respectively acquire two images of a measured object from different positions, and acquires three-dimensional geometric information of the object by calculating the position deviation between corresponding points of the images, so that multi-angle detection can be performed on key components of trains such as a bogie and a brake device. Is a fine maintenance mode.
As a preferred embodiment, fig. 2 is a schematic structural diagram of a second train maintenance robot according to an exemplary embodiment of the present invention, as shown in fig. 2, the train maintenance robot further includes, in addition to the structural modules shown in fig. 1: and the three-dimensional image information acquisition module 6 is connected to the top end of the maintenance robot body 1, and the three-dimensional image information acquisition module 6 is used for scanning information of a part to be maintained of the train.
Specifically, as shown in fig. 2, the three-dimensional image information collection module 6 is a holographic three-dimensional image collection module, and adopts the principle of laser triangulation, and uses a laser light source to emit laser light to irradiate the surface of the portion to be overhauled of the train, and calculates the three-dimensional size of the portion to be overhauled of the train through the change of the imaging position of reflected light on a detector in the three-dimensional image information collection module 6, for example, the three-dimensional image information collection module can be used for rapidly detecting the non-shielded portions of a bogie, a brake device, a bottom plate and an apron plate at the bottom of the train, and particularly detecting the loosening, loss and other faults of a screw nut, and is an overall rapid overhaul mode.
In addition, the train maintenance robot can have a maintenance function in addition to the information acquisition function.
In order to navigate the train maintenance robot, as shown in fig. 3, fig. 3 is a schematic structural diagram of a third train maintenance robot according to an exemplary embodiment of the present invention, in this fig. 3, the train maintenance robot further includes: the automatic navigation module 7 is arranged at the front end of the maintenance robot body 1 and is fixedly connected with the maintenance robot body 1.
The train maintenance robot can search a to-be-maintained part of a train along a set walking path under the navigation guidance of the automatic navigation module 7, the automatic navigation module 7 can detect obstacles and marks on the preset walking path, can avoid the obstacles, can verify the walking path, prevents the occurrence of conditions such as path errors, and can correct the walking path according to the road surface and surrounding environment information detected by the automatic navigation module 7, so that the train maintenance robot can safely and reliably move.
As a preferred embodiment, as shown in fig. 4, fig. 4 is a schematic structural diagram of a train maintenance robot according to an exemplary embodiment of the present invention, and in fig. 4, the train maintenance robot further includes, in addition to the structures shown in fig. 1: a signal transceiver device 8 and an inspection robot control device 9 connected to the signal transceiver device 8; the maintenance robot control device 9 is connected to the driving device 2 and the detection information acquisition module 5, and includes a traveling mechanism control module 91, a swinging mechanical arm swinging control module 92, and a detection information acquisition module control module 93, which are connected to the detection information acquisition module 5, respectively.
The maintenance robot control device 9 can respectively control the traveling mechanism 3, the swinging mechanical arm 4 and the detection information acquisition module 5, the working states of the traveling mechanism 3, the swinging mechanical arm 4 and the detection information acquisition module 5 and the acquired information are sent to the corresponding processing device through the signal transceiver device 8 to be processed, then the processing signals sent back by the processing device are received through the signal transceiver device 8, and the maintenance robot control device 9 calls the corresponding traveling mechanism control module 91, the swinging mechanical arm swing control module 92 and/or the detection information acquisition module control module 93 according to the content of the processing signals, so that the part to be maintained of the train can be quickly maintained.
Fig. 5 is a schematic structural view of a manned center control vehicle according to an exemplary embodiment of the present invention, and as shown in fig. 5, the manned center control vehicle 10 includes: and the vehicle-mounted double vision terminal 101 is connected with the detection information acquisition module 5 through the signal transceiver 8, and the vehicle-mounted double vision terminal 101 is connected with the detection information acquisition module 5 through the signal transceiver 8.
The manned central control train 10 is used as an intermediate control device, can receive the working state information of the train maintenance robot sent by the signal transceiver 8 and the information of the part to be maintained of the train collected by the detection information collection module 5 through the vehicular review terminal 101, and displays the information to the relevant operators through the vehicular review terminal 101 so as to ensure that the relevant operators confirm whether the fault occurs, and sends a processing signal to the signal transceiver 8 after the relevant operators confirm that the fault occurs, thereby controlling the train maintenance robot to maintain the part to be maintained of the train or prompting the relevant operators to maintain the train in person, and after the maintenance is completed, the information of the part is collected by the detection information collection module 5 and sent to the vehicular review terminal 101 so as to ensure that the relevant operators confirm whether the maintenance is successful, thereby completing the closed-loop control of the maintenance process, the maintenance efficiency and the maintenance success rate of the train are improved.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above-mentioned embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.