CN105882785B - Wheel is to transfer robot - Google Patents
Wheel is to transfer robot Download PDFInfo
- Publication number
- CN105882785B CN105882785B CN201610467969.9A CN201610467969A CN105882785B CN 105882785 B CN105882785 B CN 105882785B CN 201610467969 A CN201610467969 A CN 201610467969A CN 105882785 B CN105882785 B CN 105882785B
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- China
- Prior art keywords
- wheel
- load carrier
- rack
- control panel
- security protection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of wheels to transfer robot, including rack, drive system, power supply, guidance system, hydraulic booster system, control panel and security protection system, it further include wheel to load carrier and axle positioning mechanism, four angles of the bottom of the frame are equipped with driving wheel, and driving wheel is driven by drive system；The front end of the rack is equipped with security protection system and control panel, and security protection system is made of anticollision stop and range sensor；The control panel includes touch display screen, operation button and emergency stop switch；Upper rack is equipped at least a pair of of wheel to load carrier, and two pairs of wheels are equipped with axle positioning mechanism to the center line of load carrier, take turns and be equipped with hydraulic cylinder to the bottom of load carrier, hydraulic cylinder is controlled by hydraulic booster system；The equipment can be travelled along defined wheel set maintenance line, and the handling work of wheel pair is carried out by itself function, greatlyd save human cost and mitigated labor intensity of workers, improve wheel to automation overhaul efficiency.
Description
Technical field
The invention belongs to railway special equipment technical fields, and in particular to a kind of to take turns to transfer robot.
Background technique
Wheel shaft maintenance is the very important ring of rolling stock section Duan Xiuzhong, is directly related to the operating condition of train.Wheel
Axis is needed through third wheel to run-out check device, wheel in maintenance process to cleaning rust remover, bearing dismounting machine, fluorescent magnetic particle inspection machine
Equal Multiple detections equipment, maintenance craft line is longer, narrow field, therefore China mostly uses Manual-pushing wheel to the side of operation at present
Formula moves and turns factory complete wheel pair, and artificial intensity is high, and operating efficiency is low.
Summary of the invention
There is provided the purpose of the present invention is overcome the deficiencies in the prior art it is a kind of wheel to transfer robot, which being capable of edge
Defined wheel set maintenance line traveling carries out the handling work of wheel pair, nothing by itself function instead of traditional Manual-pushing wheel pair
It needs manually to greatly save human cost close to wheel pair and mitigate labor intensity of workers, improves wheel to automation overhaul efficiency.
In order to achieve the above object, the present invention adopts the following technical scheme:
The present invention provides a kind of wheel to transfer robot, including rack, drive system, power supply, guidance system, hydraulic
Auxiliary system, control panel and security protection system further include wheel to load carrier and axle positioning mechanism, the bottom of the frame
Four angles are equipped with driving wheel, and driving wheel is driven by drive system；The front end of the rack is equipped with security protection system and control
Panel, security protection system are made of anticollision stop and range sensor；The control panel includes touch display screen, operation
Button and emergency stop switch；Upper rack is equipped at least a pair of of wheel to load carrier, center of the two pairs of wheels to load carrier
Line is equipped with axle positioning mechanism, takes turns and is equipped with hydraulic cylinder to the bottom of load carrier, hydraulic cylinder is controlled by hydraulic booster system；Institute
Stating wheel is the cuboid plate with arc-shaped slot to load carrier, and the two sides upper end of arc-shaped slot is equipped with bearing；The axle
Positioning mechanism is the positioning plate that can be completely embedded into machine frame inside, and one end of positioning plate is hingedly on the rack；Frame bottom center is set
There is guidance system；The inside of rack is equipped with power supply.
According to above-mentioned wheel to transfer robot, the guidance system is AGV magnetic stripe guidance system, AGV magnetic stripe guiding system
System is made of magnetic stripe navigation media and magnetic navigation sensor.
According to above-mentioned wheel to transfer robot, the drive system is mainly made of brshless DC motor and speed reducer.
For the wheel of root according to the above to transfer robot, the power supply is maintenance-free lead accumulator, maintenance-free lead acid
Total electricity 200Ah, 48V of battery group, maintenance-free lead accumulator group are by 4 pieces of monolithic 12V maintenance-free lead accumulator strings
Join.
According to above-mentioned wheel to transfer robot, the hydraulic booster system is mainly by plunger pump, check valve, electromagnetic switch
Valve, hydraulic cylinder, overflow valve and hydralic pressure gauge are composed, the system pressure 16MPa of hydraulic booster system.
Compared with prior art, the present invention obtain the utility model has the advantages that
1. the invention can be not necessarily to human intervention in the case where carry out wheel pair remove work, single can carry two pairs, automatically
Change degree is high.
2. product shape is exquisite beautiful, compact-sized, high mechanical strength.
Equipment guiding, parking function can be achieved in the design of 3.AGV magnetic stripe guidance system, and tracking precision is high, without paving
If track, support saddle frame etc. are fixed device, are not limited by place and space.
4. axle positioning mechanism can automatic identification wheel to position, and trigger wheel is to load carrier automatic lifting.
5. being detected using high-precision inductive pick-up and safe touch side, ambient enviroment recognition capability is strong, multiple-protection.
6. human-computer interaction interface, user can in touch display screen flexible setting parameter, and built-in true man's secure voice
It reminds.
7. low battery auto-alarm function.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Specific embodiment
The following further describes the present invention with reference to the drawings:
Shown in referring to Fig.1, a kind of wheel to transfer robot, including rack 1, drive system, power supply, guidance system,
Hydraulic booster system, wheel are to load carrier 2, axle positioning mechanism 3, control panel 4 and security protection system 5, the frame ground
Four, portion angle is equipped with driving wheel 6, and driving wheel 6 is driven by drive system, and drive system is mainly by brshless DC motor and deceleration
Machine composition；The front end of the rack 1 is equipped with security protection system 5 and control panel 4, and security protection system 5 is by anticollision stop
51 and range sensor 52 form；The control panel 4 includes touch display screen 41, operation button 42 and emergency stop switch 43；Machine
1 top of frame is equipped at least a pair of of wheel to load carrier 2, and two pairs of wheels are fixed equipped with axle to the center line of load carrier 2
Position mechanism 3 takes turns and is equipped with hydraulic cylinder 7 to the bottom of load carrier 2, and hydraulic cylinder 7 is controlled by hydraulic booster system, the hydraulic auxiliary
System is mainly composed of plunger pump, check valve, solenoid directional control valve, hydraulic cylinder, overflow valve and hydralic pressure gauge, hydraulic booster system
System pressure 16MPa；The wheel is the cuboid plate with arc-shaped slot, the two sides upper end of arc-shaped slot to load carrier 2
It is equipped with bearing 8；The axle positioning mechanism 3 is the positioning plate that can be completely embedded into machine frame inside, and one end of positioning plate is hinged on
1 in rack；1 bottom center of rack be equipped with guidance system, guidance system be AGV magnetic stripe guidance system, AGV magnetic stripe guidance system by
Magnetic stripe navigation media and magnetic navigation sensor composition；The inside of rack 1 is equipped with power supply, and the power supply is non-maintaining lead
Acid accumulator, total electricity 200Ah, 48V of maintenance-free lead accumulator group, maintenance-free lead accumulator group are by 4 pieces of monolithic 12V
Maintenance-free lead accumulator is connected in series.
Maintenance-free lead accumulator is different from conventional accumulators, does not need supplement distilled water substantially in service life,
But also have the characteristics that shatter-proof, high temperature resistant, small in size, self discharge is small.
Above-mentioned AGV magnetic stripe guidance system can make car body along defined link travel, and reliability is very high；Control plane
Plate is the initiator that the invention main actions are implemented；Hydraulic booster system is made of motor, hydraulic pump and some solenoid electric valves,
Auxiliary completes the movement such as jacking of hydraulic cylinder, the main display working condition of touch display screen.
The course of work of the wheel of the present invention to transfer robot:
When needing to start operation, press the start button on control panel, voice prompting: " trolley brings into operation, and please infuse
Meaning " works at the same time warning lamp flashing.Subsequent trolley brings into operation and enters wheel to (at a slow speed) below axle, when into first
When wheel is to lower section, trolley shaft detection optoelectronic switch of getting on the bus is counted 1 time, when trolley enters Article 2 wheel to lower section, axle on trolley
Detection optoelectronic switch (one) counts 2 times, this axle trigger mechanism is opened, and trolley is slowly moved backward, and axle touches axle and triggers machine
Structure, trolley stop.Hydraulic cylinder rises at this time, will be taken turns to picking-up by axle fulcrum bearing.When hydraulic cylinder travel is used up, trolley is slow
Speed, which launches into, continues reversing form.From home, the position 1M slow down stops to terminal.Sensor detects wheel to arrival
After terminal comes to a complete stop, hydraulic cylinder is begun to decline, and when hydraulic cylinder is withdrawn completely, trolley returns at a slow speed 250mm, with back axle trigger mechanism
It closes.Whole work process finishes.
The technical indicator of the design device:
Apparent size: 1600*1000*280
Control mode: PLC programmable controller/micro computer control
Navigation mode: magnetic stripe guiding
Traveling function: advance, retreat (reserved to turn round), accelerate, slowing down, pause, stop.
Single carries wheel to quantity: 2
Communication function: wireless
Driving method: differential driving
Driving motor: DC brushless motor
Traveling speed: 0 ~ 45M/min
Navigation accuracy: ± 10mm
Continuous work is averagely continued a journey duration: 12h
Climbing capacity: 3-5 °
Stopping accuracy: ± 10mm
Battery: 48V, 200AH.Non-maintaining rechargeable battery continuously puts number > 500 time.
The aobvious mode of electricity: touch screen reminds charging or replacement battery, and settable parameter when electricity is low.
Safe inductive range :≤3m is adjustable, and emergency stopping distance is less than 20mm.
Alarm form: voice+indicator light
Use environment: 0 ~ 40 °, humidity 40% ~ 80%
Security protection: the laser obstacle detection sensor+machinery anticollision mechanism+triple protection of scram button.
Projected life: > 10 years.
Claims (3)
1. a kind of wheel is to transfer robot, including rack, drive system, power supply, guidance system, hydraulic booster system, control
Panel processed and security protection system, it is characterised in that: further include wheel to load carrier and axle positioning mechanism, the bottom of the frame
Four angles are equipped with driving wheel, and driving wheel is driven by drive system；The front end of the rack is equipped with security protection system and control
Panel, security protection system are made of anticollision stop and range sensor；The control panel includes touch display screen, operation
Button and emergency stop switch；Upper rack is equipped at least a pair of of wheel to load carrier, center of the two pairs of wheels to load carrier
Line is equipped with axle positioning mechanism, takes turns and is equipped with hydraulic cylinder to the bottom of load carrier, hydraulic cylinder is controlled by hydraulic booster system；Institute
Stating wheel is the cuboid plate with arc-shaped slot to load carrier, and the two sides upper end of arc-shaped slot is equipped with bearing；The axle
Positioning mechanism is the positioning plate that can be completely embedded into machine frame inside, and one end of positioning plate is hingedly on the rack；Frame bottom center is set
There is guidance system；The inside of rack is equipped with power supply；
The guidance system is AGV magnetic stripe guidance system, and AGV magnetic stripe guidance system is by magnetic stripe navigation media and magnetic navigation sensor
Composition；
The drive system is mainly made of brshless DC motor and speed reducer.
2. wheel according to claim 1 is to transfer robot, it is characterised in that: the power supply is maintenance-free lead acid storage
Battery, total electricity 200Ah, 48V of maintenance-free lead accumulator group, maintenance-free lead accumulator group are to exempt to tie up by 4 pieces of monolithic 12V
Shield lead-acid accumulator is connected in series.
3. wheel according to claim 1 is to transfer robot, it is characterised in that: the hydraulic booster system is mainly by plunger
Pump, check valve, solenoid directional control valve, hydraulic cylinder, overflow valve and hydralic pressure gauge are composed, the system pressure of hydraulic booster system
16MPa。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610467969.9A CN105882785B (en) | 2016-06-24 | 2016-06-24 | Wheel is to transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610467969.9A CN105882785B (en) | 2016-06-24 | 2016-06-24 | Wheel is to transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105882785A CN105882785A (en) | 2016-08-24 |
| CN105882785B true CN105882785B (en) | 2019-03-15 |
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| CN201610467969.9A Active CN105882785B (en) | 2016-06-24 | 2016-06-24 | Wheel is to transfer robot |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585768A (en) * | 2016-12-23 | 2017-04-26 | 上海铁路局上海机车检修段 | Trackless self-guidance transport vehicle |
| CN107054074B (en) * | 2017-05-10 | 2019-03-29 | 战星罡 | A kind of transportation robot based on oil pump |
| CN107203211A (en) * | 2017-06-19 | 2017-09-26 | 上海名护机器人有限公司 | A kind of method of robot interactive motion |
| CN107092263A (en) * | 2017-06-21 | 2017-08-25 | 安徽瑞弋自动化科技有限公司 | A kind of AGV vehicle dispatchings system and method |
| CN107450532A (en) * | 2017-07-06 | 2017-12-08 | 杭叉集团股份有限公司 | It is a kind of based on PLC tiered warehouse facility AGV cars |
| CN108909805B (en) * | 2018-08-10 | 2021-04-23 | 安徽鼎恒再制造产业技术研究院有限公司 | Transfer device for train wheel |
| CN109263752A (en) * | 2018-09-30 | 2019-01-25 | 张磊 | A kind of multifunctional mobile platform |
| CN110171301B (en) * | 2019-07-02 | 2024-01-05 | 苏州市职业大学 | Precise homing round-trip trolley |
| CN110641938B (en) * | 2019-10-24 | 2024-05-03 | 成都岁生科技有限责任公司 | Wheel set transportation method and system for overhauling wheel set of railway locomotive |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205819368U (en) * | 2016-06-24 | 2016-12-21 | 宋习 | Wheel is to transfer robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5812759B2 (en) * | 2011-08-22 | 2015-11-17 | 株式会社クボタ | Work vehicle |
| CN204383626U (en) * | 2014-07-08 | 2015-06-10 | 重庆市铜梁区文曲机械铸造厂 | A kind of ferry bus |
| CN105468001B (en) * | 2015-12-31 | 2018-01-30 | 浙江同筑科技有限公司 | A kind of submersible AGV navigation dollies and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205819368U (en) * | 2016-06-24 | 2016-12-21 | 宋习 | Wheel is to transfer robot |
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Effective date of registration: 20210702 Address after: No. A608, No. 3 Park, National University Science Park, Zhengzhou high tech Industrial Development Zone, Henan Province Patentee after: ZHENGZHOU TIEZONG INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 450000 Zhengzhou north depot, No.26 Shakou Road, Jinshui District, Zhengzhou City, Henan Province Patentee before: Song Xi Patentee before: Zhang Guangming Patentee before: Tang Taiping |