CN107650870A - The servicing work method of locomotive roof - Google Patents
The servicing work method of locomotive roof Download PDFInfo
- Publication number
- CN107650870A CN107650870A CN201710833123.7A CN201710833123A CN107650870A CN 107650870 A CN107650870 A CN 107650870A CN 201710833123 A CN201710833123 A CN 201710833123A CN 107650870 A CN107650870 A CN 107650870A
- Authority
- CN
- China
- Prior art keywords
- turn
- locomotive
- key system
- image
- pantograph
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/006—Vehicle cleaning apparatus not integral with vehicles specially adapted for railway vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The servicing work method of locomotive roof of the present invention is related to locomotive equipment technology field, and its purpose is to provide, a kind of automaticity, operating efficiency are high, the servicing work method of the rapid accurately locomotive roof of positioning.The servicing work method of locomotive roof of the present invention comprises the following steps：Robot movement is reorganized and outfit in turn-key system control, the image information of locomotive roof is obtained by image-forming module in moving process, and be uploaded to turn-key system；Turn-key system according to the image information acquisition locomotive roof component position information of locomotive roof, reorganize and outfit robot and be respectively moved to pantograph detection predeterminated position and insulator cleaning predeterminated position, and pantograph is detected, insulator is cleaned by control.
Description
Technical field
The present invention relates to locomotive equipment technology field, more particularly to a kind of servicing work method of locomotive roof.
Background technology
In locomotive servicing Work places, it is necessary to which staff carries out frequently locomotive roof ascends a height operation, accident occurs not
Can effectively it prevent.
At present, power locomotive top servicing work working time period is short, task amount is big, repeatability is strong, human factor shadow
It is not high with the production process management level of informatization to ring big and maintenance, therefore there is an urgent need to drop upkeep operation system intelligent
Low operating personnel's operating pressure, reduces the influence of human factor, improves the operating efficiency of locomotive inspection and repair.Meanwhile in order to eliminate car
The root that operating personnel's electric shock casualty accident occurs is pushed up, ensures the safe operation of locomotive, develops a set of safe and reliable electric power machine
Car servicing work system is of great immediate significance.
The content of the invention
Based in electric locomotive off-shift operation, system safety coefficient is low, task is heavy, the wasting of resources, automaticity not
High and artifact influences the problems such as big, and a kind of automaticity of present invention offer, operating efficiency are high, positioning is rapid accurate
The servicing work method of locomotive roof.
A kind of servicing work method of locomotive roof, servicing work, institute are carried out by the servicing work system of locomotive roof
State that servicing work system includes turn-key system and what is be connected with turn-key system reorganize and outfit robot；The robot of reorganizing and outfit includes machinery
Arm, the insulator cleaning device being separately positioned on mechanical arm, pantograph detection device and image-forming module；The insulator cleaning
Device is connected with the turn-key system, for cleaning the insulator of roof；The pantograph detection device and the turn-key system
Connection, for detecting the rising bow pressure of pantograph；The image-forming module is connected with the turn-key system, for gathering roof image
Information；
The servicing work method of the locomotive roof comprises the following steps：
Robot movement is reorganized and outfit described in turn-key system control, obtains the figure of locomotive roof in moving process by image-forming module
As information, and it is uploaded to turn-key system；
Turn-key system reorganizes and outfit machine according to the image information acquisition locomotive roof component position information of locomotive roof described in control
Device people is respectively moved to pantograph detection predeterminated position and insulator cleaning predeterminated position, pantograph is detected, to insulation
Son is cleaned.
In one of the embodiments, the servicing work system also includes framing identification module, and described image is fixed
Position identification module is connected with turn-key system, by gathering the image data acquisition locomotive actual position information into a locomotive, and will
The actual position information is delivered to the turn-key system；
The step of robot movement is reorganized and outfit described in the turn-key system control to be included：
Described image fixation and recognition module by gathering the image data acquisition locomotive actual position information into a locomotive, and
The actual position information is delivered to the turn-key system；
Turn-key system enters to reorganize and outfit robot described in the actual position information control of a locomotive relative to locomotive movement according to.
In one of the embodiments, the step of robot movement is reorganized and outfit described in the turn-key system control to be included：
Described image fixation and recognition module by the image data acquisition gathered into a locomotive enter a locomotive license number and/or
Vehicle information, and it is delivered to the turn-key system；
Turn-key system roof assembly positional information according to corresponding to the license number and/or the vehicle acquisition of information,
Robot is reorganized and outfit according to roof assembly positional information control to move relative to locomotive.
In one of the embodiments, described the step of being detected to pantograph, includes：
The image-forming module obtains rising bow procedural image information, and turn-key system is according to rising bow procedural image acquisition of information rising bow
Time and rising bow position, differentiate whether the rising bow time of pantograph and rising bow position are normal；
The pantograph detection device detects to the rising bow pressure of the pantograph.
In one of the embodiments, the rising bow pressure of the pantograph is detected in the pantograph detection device
The step of in, including：
The rising bow procedural image information obtained according to image-forming module, turn-key system show height to the mechanical arm for reorganizing and outfit robot
Degree carries out interference identification；
When high interference identification has chaff interference, what robot arm was reorganized and outfit in turn-key system control shows action；
When high interference identifies noiseless thing, turn-key system control pantograph detection device carries out rising bow pressure detecting.
In one of the embodiments, described the step of being detected to pantograph, also includes：
The image-forming module obtains drop bow procedural image information, and turn-key system is according to drop bow procedural image acquisition of information drop bow
Time and drop bow position, differentiate whether the drop bow time of pantograph and drop bow position are normal.
In one of the embodiments, described the step of being cleaned to insulator, includes：
The image information for the locomotive roof that turn-key system obtains according to image-forming module, the mechanical arm for reorganizing and outfit robot is cleaned
Action carries out interference differentiation；
When cleaning action interference differentiation has chaff interference, the cleaning that robot arm is reorganized and outfit in turn-key system control is moved
Make；
When cleaning action, which is interfered, differentiates noiseless thing, the insulator cleaning dress of robot is reorganized and outfit described in turn-key system control
Put and insulator is cleaned.
In one of the embodiments, also include in described the step of being cleaned to insulator：
Image-forming module is acquired to cleaning front and rear insulation subgraph, and turn-key system cleans front and rear figure according to insulator
As carrying out cleaning performance differentiation；
When cleaning performance is determined as qualified, turn-key system controls the insulator cleaning device to stop cleaning action, absolutely
Edge cleaning finishes；
When cleaning performance is determined as unqualified, turn-key system controls the insulator cleaning device to continue cleaning work
Industry.
In one of the embodiments, the servicing work method of the locomotive roof also includes：
Image-forming module obtains the image information of each component of roof and is uploaded to turn-key system, and turn-key system carries out each group
The abnormal conditions of part differentiate.
In one of the embodiments, each component of the roof includes：Pantograph, insulator, arrester, breaker,
One or more in high voltage isolator, head lamp, bagpipe or top door.
Above-mentioned locomotive roof servicing work method, fixed point image taking is carried out to locomotive roof by image-forming module, obtained
Take the image information of locomotive roof；Reorganize and outfit in robot while be provided with insulator cleaning device and pantograph detection device, can
There is the function such as pantograph automatic detection and insulator cleaning maintenance simultaneously.Due to reorganizing and outfit robot using intelligence clean absolutely
Edge, pantograph detection operation, automaticity is high, and operating personnel's operating pressure can be greatly reduced, reduce the shadow of human factor
Ring, improve operating efficiency and safety coefficient.
Further, above-mentioned locomotive roof servicing work method, is obtained into a locomotive by framing identification module
Actual position information, then turn-key system according to locomotive actual position information control reorganizes and outfit robot with respect to locomotive movement, nothing
The parking spot into a locomotive need to be precisely controlled, treats that locomotive enters in the working range of locomotive roof servicing work device, passes through
The position for reorganizing and outfit robot carries out follow-up servicing work, reduces positioning difficulty, and it is flexibly rapid accurate to position.
Brief description of the drawings
Fig. 1 is the overall structure diagram being erected on three layers of platform of locomotive roof servicing work device of the present invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is the structural representation of locomotive roof servicing work device of the present invention；
Fig. 4 is the side view that robot is reorganized and outfit in Fig. 3；
Fig. 5 is Fig. 4 partial enlarged drawing；
Fig. 6 is the state of the detection rising bow pressure of the pantograph detection device in locomotive roof servicing work device of the present invention
Figure；
Fig. 7 is the structural representation of the insulator cleaning device of single armed；
Fig. 8 is Fig. 7 top view；
Fig. 9 is the structural representation of the insulator cleaning device of both arms；
Figure 10 is the structural representation of the image-forming module in locomotive roof servicing work device of the present invention；
Figure 11 is the flow chart of locomotive roof servicing work method of the present invention；
Description of reference numerals：
Platform 100；
Reorganize and outfit robot 200；
Insulator cleaning device 210；Fixed mount 211；First support arm 212；First cleaning brush 213；Second support arm
214；Second cleaning brush 215；Folding motor 216；Two-way lead-screw drive mechanism 217；
Pantograph detection device 220；Force measuring machine 221；Installing plate 222；
Mechanical arm 230；Large arm revolute joint 231；Large arm 232；Forearm rotary joint 233；Forearm 234；Wrist revolution is closed
Section 235；
Switch board 240；
Image-forming module 250；Industrial camera 251；Infrared light filling module 252；
Walking rails 300；Guide rail 310；
Walking railcar 410；Slider assembly 420；Cantilever 421；Revolving support 422；Balancing weight 423；
First reorganizes and outfit robot 500；
Second reorganizes and outfit robot 600；
Pantograph 700.
Embodiment
Specific embodiments of the present invention are described in detail below with reference to Figure of description, but the present invention can be with
The multitude of different ways for being defined by the claims and covering is implemented.
Referring to Figures 1 and 2, the locomotive roof servicing work system in one embodiment of the present of invention, including turn-key system,
Framing identification module and roof servicing work device.
Wherein, locomotive roof servicing work device, it is set up on three layers of platform 100, is mainly used in the inspection to locomotive roof
Survey and washing and cleaning operation, using image recognition and path of motion intelligent planning technology, realize and covering for roofs electrical component failures are examined
Disconnected, pantograph automatic detection and insulator clean the function of maintenance etc..
Roof servicing work device includes reorganizing and outfit robot 200, reorganize and outfit robot 200 be used to cleaning the insulator of roof with
And the rising bow pressure of detection pantograph.Turn-key system is connected with roof servicing work device, can control that to reorganize and outfit robot relative
The servicing work action that locomotive is mobile, performs cleaning insulator and detects pantograph.
Framing identification module, for gathering into a locomotive actual position information, and the actual position information is defeated
Deliver to turn-key system.Turn-key system is reorganized and outfit robot 200 according to the control of locomotive actual position information and moved relative to locomotive.
Above-mentioned locomotive roof servicing work system, the physical location into a locomotive is obtained by framing identification module
Information, then turn-key system controls according to locomotive actual position information reorganizes and outfit robot 200 relative to locomotive movement, without precisely control
The parking spot into a locomotive is made, treats that locomotive enters in the working range of locomotive roof servicing work device, by reorganizing and outfit
The position of robot carries out follow-up servicing work, reduces positioning difficulty, and it is flexibly rapid accurate to position.
Further, as shown in Figure 4 and Figure 5, reorganizing and outfit robot 200 includes insulator cleaning device 210, pantograph detection
Device 220, mechanical arm 230, mechanical arm control system.Specifically, insulator cleaning device 210 is used to clean the exhausted of locomotive roof
Edge.Pantograph detection device 220 is used for the static pressure for detecting pantograph.Mechanical arm control system is connected with mechanical arm 230,
Motion for control machinery arm 230.
Insulator cleaning device 210 and pantograph detection device 220 are arranged on mechanical arm 230, are connected with mechanical arm.
When carrying out insulator washing and cleaning operation, mechanical arm 230 adjusts each revolute joint, and insulator cleaning device 210 is adjusted to clear
Precalculated position is washed, pantograph detection device 220 is now adjusted in the opposite side of mechanical arm, entering for cleaning will not be hampered
OK.When carrying out pantograph detection operation, mechanical arm 230 adjusts each revolute joint, by pantograph detection device 220 adjust to
Dynamometry precalculated position, insulator cleaning device 210 is now adjusted to the opposite side of mechanical arm 230, dynamometry work will not be hampered
The progress of work.
Turn-key system is used to manage the comprehensively monitoring of servicing work process with control, framing identification module, machinery
Arm control system, insulator cleaning device 210 and pantograph detection device 220 are connected with turn-key system respectively.Framing
A locomotive actual position information that enters for identification module collection is sent to turn-key system.Framing module is preferably industrial camera.
In addition, the motion of turn-key system control machinery arm control system and then control machinery arm 230, mechanical arm 230 is according to projected route
Insulator cleaning device 210 is driven to move, turn-key system control insulator cleaning device 210 carries out washing and cleaning operation.Mechanical arm 230
Pantograph detection device 220 is driven to carry out pressure detecting to pantograph, finally to the test position of pantograph according to projected route
The pressure information that pantograph detection device 220 detects is transmitted back to turn-key system.
Above-mentioned locomotive roof servicing work system, reorganize and outfit in robot while be provided with the He of insulator cleaning device 210
Pantograph detection device 220, there can be the function such as pantograph automatic detection and insulator cleaning maintenance simultaneously.Due to using intelligence
Reorganize and outfit robot and carry out cleaning insulator, pantograph detection operation, operating personnel's operating pressure can be greatly reduced, reduce it is artificial because
The influence of element, improve operating efficiency and safety coefficient.Also, insulator cleaning device 210 and pantograph detection device 220 are all provided with
Put on the robotic arm, can act simultaneously, by rationally setting both installation sites on mechanical arm 230, when carrying out respectively
When washing and cleaning operation and dynamometry operation, guarantee will not interfere.
Specifically, insulator cleaning device 210 includes fixed mount 211, spray assemblies, the cleaning of the first support arm 212, first
Brush 213, and the first motor being connected with turn-key system.Fixed mount 211 is used to connect mechanical arm 230, on fixed mount 211
Provided with mounting flange, fixed mount is fixed on the wrist revolute joint 235 of mechanical arm by mounting flange.First support arm 212
First end is used to be connected with fixed mount 211, and the second end of the first support arm 212 is used to removably install the first cleaning brush 213.
First motor is used to drive cleaning brush to rotate to clean insulator.Spray assemblies with cleaning drive system be connected, for pair
Insulator surface sprays cleaning agent.Specifically, spray assemblies include being arranged on the first support arm nozzle, connect with nozzle
Cleaning agent source and/or source of the gas, for spraying cleaning agent or blowing or sprinkling atomization cleaning agent to insulator and/or cleaning brush.Spray
Mouth is multiple, and each nozzle connects with cleaning agent source and/or source of the gas respectively.In the present embodiment, what is connected with nozzle is clear
Lotion source is water tank, and water tank can be arranged on ground, is connected by water pipe with nozzle.Reorganize and outfit the mechanical arm control of robot 200
In switch board 240, switch board 240 is arranged on cantilever 421 for the system integration.
Alternatively, the first cleaning brush 213 comprises at least two layers of bristle, and the outer surface of insulator typically has the plate-like of stacking
Structure, at least double-deck bristle can match with the disk-like structure of stacking, clean to the surface of the both sides of disk-like structure.It is optional
Ground, two layers of bristle are respectively arranged at the both sides of the first support arm 212.When using device cleaning insulator, due to bristle point
Not Wei Yu the first support arm 212 both sides, bristle will not be limited by the first support arm, can easily clean to insulator
Bottom.First cleaning brush 213 uses banister brush, to avoid bristle from causing to damage to insulator surface.Alternatively, bristle has
Hydrophobicity, be advantageous to the maintenance processing after bristle cleaning.
Specifically, pantograph detection device includes installing plate 222, force measuring machine 221, sensor and communication unit.Installation
Plate 222 is fixed on the fixed mount 211 of insulator cleaning device.Force measuring machine 211 is fixedly connected with installing plate 222, force measuring machine
Structure 221 is used for the rising bow pressure for measuring pantograph.Sensor is connected with force measuring machine, for rising bow pressure conversion to be believed for pressure
Number, sensor is specially pressure sensor.Communication unit is used to transmit pressure signal to turn-key system.Force measuring machine 221 with by
The structure of pantograph contact can be dynamometry hook or pressing plate, and pull-up is respectively adopted or pushes the rising bow pressure of form measurement pantograph.
As shown in fig. 6, in the present embodiment, form measurement rising bow pressure is pushed using pressing plate.Measure the rising bow pressure mistake of pantograph 700
Cheng Zhong, after the rising bow of pantograph 700 to 2m, during pantograph is down to 1.6m, it is pressed under pressing plate below pantograph carbon slide
Support on, to measure the rising bow pressure of pantograph 700.
Further, mechanical arm 230 specifically includes the large arm revolute joint 231 being sequentially connected, large arm 232, forearm rotary
Joint 233, forearm 234 and wrist revolute joint 235, wrist revolute joint 235 are connected with the end of forearm 234.It is appreciated that
, mechanical arm is not limited to the structure in the present embodiment, can also use multivariant other structures form.
Pantograph detection device 220 is connected with insulator cleaning device 210 with wrist revolute joint 235, and relative wrist
Portion's revolute joint 235 is oppositely arranged.
Further, the first support arm 212 of insulator cleaning device is parallel with the dynamometry direction of force measuring machine 221 sets
Put, and the wrist revolute joint 235 of the 212 relative mechanical arm of the first cleaning brush 213 divides on the support arm of force measuring machine 221 and first
Do not set towards outside.As shown in figure 4, when carrying out insulator washing and cleaning operation, mechanical arm adjusts each revolute joint, will insulate
Sub- cleaning device 210 is adjusted to precalculated position is cleaned, and now the first support arm 212 of insulator cleaning device is horizontal,
The cleaning brush of front end is stretched at insulator and cleaned, the pressing plate of pantograph detection device 220 is towards cleaning brush opposite
Direction, therefore the progress of cleaning will not be hampered.As shown in figure 5, when carrying out pantograph detection operation, mechanical arm adjustment
Each revolute joint, pantograph detection device 220 is adjusted to dynamometry precalculated position, now the pressing plate of force measuring machine 221 is vertical
It is downwardly against on the support below the carbon slipper of pantograph 700, cleaning brush upward, therefore will not hamper entering for dynamometry work
OK.
Specifically, as shown in Figure 6, Figure 7, fixed mount 211 is specially right angled triangle support, and the of insulator cleaning device
One support arm 212 and the installing plate 222 of pantograph detection device are separately mounted in the plane of two right-angle sides, the wrist of mechanical arm
Portion's revolute joint 235 is arranged on the mounting plane of the installing plate.
Further, reorganizing and outfit robot 200 also includes image-forming module 250, and image-forming module 250 is connected with turn-key system, uses
In collection roof image information.As shown in figure 9, image-forming module 250 is by industrial camera 251 and highlights infrared 252 groups of light filling module
Into.Preferably, industrial camera 251 is embedded black and white industrial camera.The image-forming module 250, which is installed on, reorganizes and outfit robot 200
On mechanical arm 230, specifically, image-forming module 250 is installed on insulator cleaning device, and front and rear figure can be cleaned to insulator
As being acquired, and judge cleaning performance.
After locomotive parking spot is confirmed, the image-forming module 250 on mechanical arm 230 is moved to and set by mechanical arm control system
Positioning is put, and turn-key system will be sent to roof two dimension high definition imaging system by signal in place.Roof two dimension high definition imaging system controls
After image-forming module 250 completes collection, collection end signal is fed back into turn-key system, so as to realize the two dimension of roof set parts
IMAQ.The positional information that the image of roof all parts is shown, detected for support insulator cleaning device and pantograph
The motion of device.Mechanical arm control system moves according to described roof image information control machinery arm 230.Confirm each portion
Behind the position of part, turn-key system analysis draws the operation road of mechanical arm during insulator washing and cleaning operation and pantograph detection operation
Line, reorganized and outfit for different parts.Above-mentioned image-forming module and framing identification module coordinate, without be precisely controlled into
Position locomotive parking spot, image-forming module collection roof image after, turn-key system so according to roof image to reorganizing and outfit machine
The work route of people is adjusted planning, to complete servicing work.
By image-forming module 250, the deterioration extent of deck component can also be detected.Specifically by by mechanical arm 230
The specified location being moved to around each component is taken pictures, and turn-key system identifies the part whether there is damage by graphical analysis.Enter one
Step ground, fault diagnosis can also be carried out to the fastener of the insulator of roof.
In addition, can also aid in reorganizing and outfit pantograph by image-forming module 250.Mechanical arm 230 is moved to specified
Position shoots carbon slipper, identifies the thickness of carbon slipper, and the lifting bow process during current collecting bow lifting bow to pantograph is clapped
According to time, drop bow position are bent in the lifting for further calculating pantograph.And after the completion of rising bow, then it is carried out to drop bow processing, make
Pantograph apart from contact net certain distance, then push pantograph with the force measuring machine 221 in pantograph detection device 220,
Detect the rising bow pressure of pantograph.
Further, reference picture 8, insulator cleaning device further comprise the second support arm 214, the second cleaning brush 215
And second motor, the first end of the second support arm 214 are used to be connected with fixed mount, the second end of the second support arm 214
For removably installing the second cleaning brush 215；It is clear in second on the second support arm that second motor is used for drive installation
215 rotations are scrubbed to clean insulator, form the insulator cleaning device of both arms.
Specifically, the second support arm 214 and the first support arm 212 can relative motion make the first cleaning brush 213 and second
Cleaning brush 215 is close to insulator or leaves insulator.
Specifically, insulator cleaning device also includes two-way lead-screw drive mechanism 217 and folding motor 216；Folding electricity
Machine 216 is fixed on fixed mount 211, and folding motor 216 is connected with two-way lead-screw drive mechanism 217；First support arm 212
First end and the second support arm 214 first end be fixedly installed on respectively on two-way lead-screw drive mechanism 217 so as to it is solid
Determine frame 211 to be indirectly connected with；The first end of first support arm 212 and the first end of the second support arm 214 pass through two-way silk respectively
Thick stick transmission mechanism 217 reversely moves back and forth.
Specifically, fixed mount 211 is provided with slide rail, and the of the first end of the first support arm 212 and the second support arm 214
One end is slidably connected by slide rail and fixed mount 211.Preferably, folding motor 216 is stepper motor, the first motor and
Second motor is servomotor.First support arm 212 and the second support arm 214 distance reciprocating in opposite directions are 200mm
~420mm.
Locomotive roof servicing work device of the present invention reorganizes and outfit robot 200, drive mechanism and walking rails including above-mentioned
300.Walking rails 300 are used for the walking for reorganizing and outfit robot 200, and the domain of walk covers whole locomotive roof.Drive mechanism is set
On walking rails, be connected with mechanical arm, drive mechanism can driving mechanical arm walking rails walk.Specifically, rail
Road 300 includes guide rail 310.
Drive mechanism includes the walking railcar 410 being slidably arranged on guide rail 310 and the walking being connected with turn-key system
Drive system, walking railcar are slidably arranged on walking rails, and mechanical arm is arranged in walking railcar, travel driving system
For driving railcar of walking.Reorganize and outfit robot 200 and walking function is realized by the walking railcar 410 of slip.Walking track
Car 410 can be slide unit, coaster etc..
Further, as Fig. 3, drive mechanism include slider assembly 420, the slider assembly 420 of slider assembly 420 and mechanical arm
230 connections, for supporting and solid mechanical arm 230.Slider assembly 420 includes cantilever 421, revolving support 422 and and master control
The rotary drive system of system connection.Cantilever 421 is rotatably arranged on revolving support 422, is closed with the big revolution of arm of mechanical arm 230
Section connection, mechanical arm 230 can be rotated by revolving support 422.Revolving support 422 is rotatably arranged in walking railcar 410,
Rotary drive system is connected with revolving support 422, for controlling the rotation of revolving support 422.Wherein, rotary drive system includes
Cantilever servo drive motor and rotation control unit, cantilever servo drive motor are connected with revolving support 422, rotation control unit
Control cantilever servo drive motor drives cantilever 421 to be rotated on revolving support 422.
Specifically, the anglec of rotation of revolving support is 0~90 °, thus the rotation angle range of cantilever 421 also for 0~
90 °, the guide rail 310 of walking rails 300 is line slideway 310, and cantilever 421 can be parallel with guide rail 310 and is vertically arranged.Non- work
When making state, cantilever 421 is parallel to the direction of guide rail 310；During working condition, by rotary drive system, cantilever 421 can be 00
~90 ° of scope internal rotations, distance braking as needed stop.
Further, slider assembly 420 also includes balancing weight 423, and balancing weight 423 is arranged on slider assembly 420 away from machine
One end of tool arm 230, mechanical arm are arranged on one end of cantilever, and balancing weight is arranged on the other end of cantilever.Balancing weight 423 by with
Weight frame is fixed with cantilever 421.Cantilever 421 is lead frame component, to reduce own wt.
Efficiency is reorganized and outfit in order to improve, two can be set to reorganize and outfit robot operation simultaneously on traveling guide rail, specifically, such as
Fig. 2, reorganize and outfit machine artificial first and reorganize and outfit robot 500 and second for two and reorganize and outfit robot 600.
In order to improve the efficiency of cleaning, first reorganizes and outfit insulator cleaning device of the robot 500 using single armed, and second reorganizes and outfit
Robot 600 uses the insulator cleaning device of both arms.The insulator cleaning device of both arms, two groups of cleaning brush, Neng Goutong are set
When the both sides of insulator are cleared up.But because the insulator of locomotive roof is large number of, some positions and roof other
Part without the insulator cleaning device of the space both arms of abundance, therefore can now use the exhausted of single armed at a distance of relatively closely
Edge cleaning device, the one side of insulator is cleared up successively.In other examples, needs are cleaned according to actual conditions, can be with
Assemble it is multiple reorganize and outfit robot 200, respectively install single armed insulator cleaning device or both arms insulator cleaning device, the division of labor
Prune job is carried out to insulator.
During work, the first cleaning brush 213 is placed into the predeterminated position of insulator by mechanical arm 230, and spray system is to insulation
Cleaning agent, spray time 2s or so is sprayed in sublist face, and open-and-close mechanism 215 closes, and cleaning drive system 214 drives the first cleaning brush
213 rotate at a high speed, realize the cleaning to insulator.
After whole locomotive roof servicing work terminates, testing result is analyzed, and is shown by user interface
Show, realize that intelligence is reorganized and outfit, last operating personnel can carry out other correspondingly reconditioning works according to testing result.
Locomotive roof servicing work system of the present invention can be also used for the car of other locomotives in addition to for motor locomotive
The servicing works such as insulator cleaning are pushed up, such as can be used for railcar, motor-car vehicle roof equipment etc..
As shown in figure 11, the servicing work method of locomotive roof of the present invention comprises the following steps：
S100, robot movement is reorganized and outfit described in turn-key system control, locomotive is obtained by image-forming module in moving process
The image information on top, and it is uploaded to turn-key system；
S200, turn-key system is according to the image information acquisition locomotive roof component position information of locomotive roof, described in control
Reorganize and outfit robot and be respectively moved to pantograph detection predeterminated position and insulator cleaning predeterminated position, pantograph is detected,
Insulator is cleaned.
Further, the servicing work system also includes framing identification module, framing identification module with it is total
Control system connects, by gathering the image data acquisition locomotive actual position information into a locomotive, and by the actual bit confidence
Breath is delivered to the turn-key system.The step of robot movement is reorganized and outfit described in the turn-key system control to be included：
S110, described image fixation and recognition module is by gathering the image data acquisition locomotive actual bit confidence into a locomotive
Breath, and the actual position information is delivered to the turn-key system；
S120, turn-key system enter to reorganize and outfit robot described in the actual position information control of a locomotive with respect to locomotive according to
It is mobile.
Further, the step of robot movement is reorganized and outfit described in the turn-key system control also to be included：
S110 ', described image fixation and recognition module enter the car of a locomotive by the image data acquisition gathered into a locomotive
Number and/or vehicle information, and be delivered to the turn-key system；
S120 ', turn-key system roof assembly position according to corresponding to the license number and/or the vehicle acquisition of information
Information, robot is reorganized and outfit according to roof assembly positional information control relative to locomotive movement.
Further, described the step of being detected to pantograph, includes：
S210, the image-forming module obtain rising bow procedural image information, and turn-key system obtains according to rising bow procedural image information
Rising bow time and rising bow position are taken, differentiates whether the rising bow time of pantograph and rising bow position are normal；
S220, the pantograph detection device detect to the rising bow pressure of the pantograph.
Further, in the step of pantograph detection device detects to the rising bow pressure of the pantograph,
Including：
S221, the rising bow procedural image information obtained according to image-forming module, turn-key system is to reorganizing and outfit the mechanical arm of robot
Show height and carry out interference identification；
S222, when high interference identification has chaff interference, showing for robot arm is reorganized and outfit in turn-key system control
Action；
S223, when high interference identifies noiseless thing, turn-key system control pantograph detection device carries out rising bow pressure
Detection.
Further, described the step of being detected to pantograph, also includes：
S230, the image-forming module obtain drop bow procedural image information, and turn-key system obtains according to drop bow procedural image information
Drop bow time and drop bow position are taken, differentiates whether the drop bow time of pantograph and drop bow position are normal.
Further, described the step of being cleaned to insulator, includes：
S210 ', the image information for the locomotive roof that turn-key system obtains according to image-forming module, the machinery to reorganizing and outfit robot
Arm cleaning action carries out interference differentiation；
S220 ', when cleaning action interference differentiation has chaff interference, robot arm is reorganized and outfit in turn-key system control
Cleaning action；
S230 ', when cleaning action, which is interfered, differentiates noiseless thing, the insulator of robot is reorganized and outfit described in turn-key system control
Cleaning device cleans to insulator.
Further, also include in described the step of being cleaned to insulator：
S240 ', image-forming module is acquired to cleaning front and rear insulation subgraph, before turn-key system cleans according to insulator
Image afterwards carries out cleaning performance differentiation；
S250 ', when cleaning performance is determined as qualified, it is dynamic that turn-key system controls the insulator cleaning device to stop cleaning
Make, insulator cleaning finishes；
S260 ', when cleaning performance is determined as unqualified, turn-key system controls the insulator cleaning device to continue
Washing and cleaning operation.
Further, the servicing work method of the locomotive roof also includes：
S300, image-forming module obtain the image information of each component of roof and are uploaded to turn-key system, and turn-key system is carried out
The abnormal conditions of each component differentiate.
Specifically, each component of above-mentioned roof include but is not limited to pantograph, insulator, arrester, breaker, high pressure every
Leave pass, head lamp, bagpipe or top door etc..
The step of servicing work method of locomotive roof, is described in detail with reference to specific embodiment：
Step 1：After artificial judgment locomotive has entered position, pantograph drop bow, then manually operated hand-held set, enters position by locomotive
(needed in the defeated interface to hand-held set corresponding function of confirmation in interface with confirmation and cancel button).
Step 2：Manual confirmation license number, type of locomotive, locomotive version number, and its information defeated is corresponded into work(to hand-held set manually
(it can be needed in interface in interface with confirmation and cancel button).
Step 3：Manually confirm to power off on the handset, then carry out power-off work, and confirmation letter is completed into power-off
Breath (is needed with confirmation and cancel button) in the manual defeated interface to hand-held set corresponding function in interface, and " nothing is shown on LED notice boards
Electricity ").
Step 4：It is acquired by framing identification module to entering a locomotive actual position information, and by after processing
Gathered data is uploaded to turn-key system.Turn-key system, which receives locomotive and enters position, finishes signal, license number, type of locomotive, locomotive version
Robot is reorganized and outfit with respect to motor sport in number information, framing identifying system information working properly, control locomotive both ends.
Step 5：After two walking railcars move to the default position of carbon slipper position identification at locomotive both ends respectively, mechanical arm
Turn to operating position (cantilever is vertical with walking rails) from origin position (cantilever is parallel with walking rails), on mechanical arm into
Picture module carries out image taking to carbon slipper and position differentiates, and the data message after processing is uploaded into turn-key system, preferably
Using ethernet communication mode.After the completion of gathered data, mechanical arm returns to origin, and two walking railcars return to track two respectively
Hold at origin.
Step 6：Two walking railcars are respectively from the traveling of locomotive both ends to locomotive middle preset position, machine during traveling
Tool arm carries out fixed point image taking by image-forming module to locomotive roof, cantilever shows high interference identification, each component of roof is indulged
Identified to section out-of-the way position, and the gathered data after processing is uploaded to turn-key system, it is preferred to use ethernet communication mode.
Mechanical arm returns to origin, and two walking railcars are returned at the origin of track both ends.
Step 7：The pantograph at the end of manual operation locomotive 1 has inputted the pantograph at the end of locomotive 1 on the handset after rising bow
The information can be uploaded to turn-key system, treat that turn-key system receives the pantograph at the end of locomotive 1 by the information that rising bow is completed, hand-held set
After rising bow has completed signal, after the walking track at the end of locomotive 1 reaches predeterminated position, cantilever is shown, and mechanical arm is moved to carbon
Correction position where slide plate, the pantograph rising bow pressure at the end of locomotive 1 is then measured using the pantograph detection device on mechanical arm,
And the gathered data after processing is uploaded to turn-key system (using ethernet communication mode), after the completion of collection, the machine at the end of locomotive 1
Tool arm returns to origin.
Step 8：The cantilever at the end of locomotive 1 keeps showing state, and walking railcar is moved to the pantograph drop bow position at the end of locomotive 1
Detection predeterminated position is put, after then the image-forming module on its arm is moved to detection predeterminated position by robotic arm, the image-forming module
Image taking is carried out to drop bow action and differentiates drop bow position, after the completion of the pantograph drop bow at the end of manual operation locomotive 1, hand-held
The pantograph drop bow that the end of locomotive 1 is inputted on machine completes information, and the information can be uploaded to turn-key system and (use Ethernet by hand-held set
Communication modes), after the completion of collection, the mechanical arm at the end of locomotive 1 returns to origin.
Step 9：After the completion of the pantograph rising bow at the end of manual operation locomotive 2, the pantograph at the end of locomotive 2 is inputted on the handset
Rising bow has completed information, and the information can be uploaded to turn-key system, treat that turn-key system receives the pantograph at the end of locomotive 2 by hand-held set
After rising bow completes signal, after walking railcar traveling to the predeterminated position at the end of locomotive 2, cantilever is shown, and mechanical arm is respectively moved to
Correction position where carbon slipper, the pantograph rising bow pressure at the end of locomotive 2 is then measured using the force checking device on mechanical arm, and
Gathered data after processing is uploaded to turn-key system (using ethernet communication mode), after the completion of collection, mechanical arm Aligning control.
Step 10：The cantilever at the end of locomotive 2 keeps showing state, and walking railcar is moved to the pantograph drop bow at the end of locomotive 2
Predeterminated position is detected in position, after then the image-forming module on its arm is moved to detection predeterminated position by robotic arm, the system pair
Bow action is dropped to carry out image taking and differentiate drop bow position, it is defeated on the handset after the pantograph drop bow at the end of manual operation locomotive 2
The pantograph drop bow for entering the end of locomotive 2 completes information, and the information can be uploaded to turn-key system and (use ethernet communication side by hand-held set
Formula), after the completion of collection, the mechanical arm Aligning control at the end of locomotive 2.
Step 11：Cantilever keeps showing state, and manipulator motion to cleaning action interferes identification predeterminated position, two walking rails
Road car is from the predeterminated position traveling of locomotive both ends to locomotive intermediate position of rest, and the image-forming module during traveling on mechanical arm is to locomotive
Jacking row image taking, differentiate each component transverse plane position of roof, carried out with reference to each component longitudinal direction of roof section out-of-the way position
The interference of mechanical arm cleaning action differentiates, after having checked, mechanical arm returns to origin, and walking railcar returns to locomotive both ends origin
Place.
Step 12：Cantilever keeps showing state, two walking railcars from the predeterminated position traveling of locomotive both sides to locomotive among
During, mechanical arm presets cleaning action according to each insulator and carries out cleaning showers agent and cleaning to insulator with the time, clearly
After the completion of washing, insulator is cleaned into completion signal and is uploaded to turn-key system, mechanical arm returns to origin.Image-forming module is clear to insulator
Wash front and rear image to be acquired, turn-key system cleans front and rear image according to insulator and carries out cleaning performance differentiation.
Step 13：Cantilever keeps showing state, two walking railcars from precalculated position difference traveling among locomotive to locomotive
During both ends, mechanical arm according to each roof detailed survey corner (including pantograph, insulator, arrester, breaker, high pressure every
Leave pass, head lamp, bagpipe, top door etc.) deliberate action, image taking, differentiate each detailed survey corner abnormal conditions of roof.
Step 14：Cantilever keeps showing state, and walking railcar and the mechanical arm at the end of locomotive 1 are respectively moved to the end of locomotive 1
Pantograph rising bow position detection predeterminated position.Select rising bow to start on the handset before manual operation rising bow, then operate machine
The pantograph rising bow at the end of car 1, whole image taking during rising bow, differentiate rising bow position, differentiate the rising bow time, after rising bow
Manually confirm that rising bow is completed on the handset, then the pantograph drop bow at the end of manual operation locomotive 1, artificial judgment drop bow are completed
Afterwards, after hand-held middle input drop bow completes information, mechanical arm Aligning control, cantilever Aligning control, the walking railcar time original at the end of locomotive 1
Point.
Step 15：Cantilever keeps showing state, and the walking railcar and mechanical arm at the end of locomotive 2 are respectively moved to the end of locomotive 2
Pantograph rising bow position detection predeterminated position.Before manual operation pantograph rising bow, rising bow is selected to start on the handset
Instruction, then the pantograph rising bow at the end of locomotive 2 is operated, whole image taking during rising bow, differentiate rising bow position and rising bow time,
Artificial after rising bow to confirm that rising bow is completed on the handset, then the pantograph drop at the end of manual operation locomotive 1 is bent.Artificial judgment
After the completion of drop bow, input drop bow completes information, mechanical arm Aligning control, cantilever Aligning control, the walking track at the end of locomotive 2 in hand-held
Car Aligning control.
Step 16：Manually confirm to be powered on the handset, show " having electricity " on LED notice boards, be then powered
Work, it is last and will be powered complete confirmation manually in the defeated interface to hand-held set corresponding function (needed in interface with confirming and
Cancel button).
Step 17：After artificial judgment locomotive has been offed normal, then manually operated hand-held set is defeated by locomotive confirmation of offing normal
(needed into hand-held set corresponding function interface in interface with confirmation and cancel button).
Step 18：Walking railcar marches to brush cleaning predeterminated position, and mechanical arm brush immerses service sink, completes brush
The action that cleaning, brush dry, then mechanical arm and walking railcar distinguish Aligning control position.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of servicing work method of locomotive roof, it is characterised in that carried out by the servicing work system of locomotive roof whole
Standby operation, the servicing work system includes turn-key system and what is be connected with turn-key system reorganize and outfit robot；It is described to reorganize and outfit machine
People includes mechanical arm, the insulator cleaning device being separately positioned on mechanical arm, pantograph detection device and image-forming module；It is described
Insulator cleaning device is connected with the turn-key system, for cleaning the insulator of roof；The pantograph detection device and institute
Turn-key system connection is stated, for detecting the rising bow pressure of pantograph；The image-forming module is connected with the turn-key system, for adopting
Collect roof image information；
The servicing work method of the locomotive roof comprises the following steps：
Robot movement is reorganized and outfit described in turn-key system control, the image for obtaining locomotive roof in moving process by image-forming module is believed
Breath, and it is uploaded to turn-key system；
Turn-key system reorganizes and outfit robot according to the image information acquisition locomotive roof component position information of locomotive roof described in control
Pantograph detection predeterminated position and insulator cleaning predeterminated position are respectively moved to, pantograph is detected, insulator is entered
Row cleaning.
2. the servicing work method of locomotive roof according to claim 1, it is characterised in that the servicing work system is also
Including framing identification module, described image fixation and recognition module is connected with turn-key system, by gathering the figure into a locomotive
As data acquisition locomotive actual position information, and the actual position information is delivered to the turn-key system；
The step of robot movement is reorganized and outfit described in the turn-key system control to be included：
Described image fixation and recognition module is by gathering the image data acquisition locomotive actual position information into a locomotive, and by institute
State actual position information and be delivered to the turn-key system；
Turn-key system enters to reorganize and outfit robot described in the actual position information control of a locomotive relative to locomotive movement according to.
3. the servicing work method of locomotive roof according to claim 2, it is characterised in that the turn-key system controls institute
State reorganize and outfit robot movement step include：
Described image fixation and recognition module enters the license number and/or vehicle of a locomotive by the image data acquisition gathered into a locomotive
Information, and it is delivered to the turn-key system；
Turn-key system roof assembly positional information according to corresponding to the license number and/or the vehicle acquisition of information, according to
Robot is reorganized and outfit described in the roof assembly positional information control to move relative to locomotive.
4. the servicing work method of locomotive roof according to claim 3, it is characterised in that described to be examined to pantograph
The step of survey, includes：
The image-forming module obtains rising bow procedural image information, and turn-key system is according to the rising bow procedural image acquisition of information rising bow time
With rising bow position, differentiate whether the rising bow time of pantograph and rising bow position are normal；
The pantograph detection device detects to the rising bow pressure of the pantograph.
5. the servicing work method of locomotive roof according to claim 4, it is characterised in that detect and fill in the pantograph
Put in the step of being detected to the rising bow pressure of the pantograph, including：
The rising bow procedural image information obtained according to image-forming module, turn-key system are shown height to the mechanical arm for reorganizing and outfit robot and entered
Row interference identification；
When high interference identification has chaff interference, what robot arm was reorganized and outfit in turn-key system control shows action；
When high interference identifies noiseless thing, turn-key system control pantograph detection device carries out rising bow pressure detecting.
6. the servicing work method of locomotive roof according to claim 3, it is characterised in that described to be examined to pantograph
The step of survey, also includes：
The image-forming module obtains drop bow procedural image information, and turn-key system is according to the drop bow procedural image acquisition of information drop bow time
Bend position with drop, differentiate whether the drop bow time of pantograph and drop bow position are normal.
7. the servicing work method of locomotive roof according to claim 1, it is characterised in that described to be carried out clearly to insulator
The step of washing includes：
The image information for the locomotive roof that turn-key system obtains according to image-forming module, the mechanical arm cleaning action to reorganizing and outfit robot
Carry out interference differentiation；
When cleaning action interference differentiation has chaff interference, turn-key system controls the cleaning action for reorganizing and outfit robot arm；
When cleaning action, which is interfered, differentiates noiseless thing, the insulator cleaning device pair of robot is reorganized and outfit described in turn-key system control
Insulator is cleaned.
8. the servicing work method of locomotive roof according to claim 7, it is characterised in that described to be carried out clearly to insulator
Also include in the step of washing：
Image-forming module is acquired to cleaning front and rear insulation subgraph, and turn-key system cleans front and rear image according to insulator and entered
Row cleaning performance differentiates；
When cleaning performance is determined as qualified, turn-key system controls the insulator cleaning device to stop cleaning action, insulator
Cleaning finishes；
When cleaning performance is determined as unqualified, turn-key system controls the insulator cleaning device to continue washing and cleaning operation.
9. the servicing work method of locomotive roof according to claim 1, it is characterised in that the locomotive roof is reorganized and outfit
Operational method also includes：
Image-forming module obtains the image information of each component of roof and is uploaded to turn-key system, and turn-key system carries out each component
Abnormal conditions differentiate.
10. the servicing work method of locomotive roof according to claim 9, it is characterised in that each component of the roof
Including：One kind or more in pantograph, insulator, arrester, breaker, high voltage isolator, head lamp, bagpipe or top door
Kind.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710833123.7A CN107650870A (en) | 2017-09-15 | 2017-09-15 | The servicing work method of locomotive roof |
| CN201810348453.1A CN108528400B (en) | 2017-09-15 | 2018-04-18 | Servicing method for locomotive roof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710833123.7A CN107650870A (en) | 2017-09-15 | 2017-09-15 | The servicing work method of locomotive roof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107650870A true CN107650870A (en) | 2018-02-02 |
Family
ID=61129919
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710833123.7A Pending CN107650870A (en) | 2017-09-15 | 2017-09-15 | The servicing work method of locomotive roof |
| CN201810348453.1A Active CN108528400B (en) | 2017-09-15 | 2018-04-18 | Servicing method for locomotive roof |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810348453.1A Active CN108528400B (en) | 2017-09-15 | 2018-04-18 | Servicing method for locomotive roof |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107650870A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109127629A (en) * | 2018-09-03 | 2019-01-04 | 天津远程华瑞工业技术有限公司 | Cleaning and paint removing system and maintenance device for rail transit vehicle bogie |
| CN109254010A (en) * | 2018-07-20 | 2019-01-22 | 复旦大学 | A kind of pantograph detection device and detection method |
| CN109774666A (en) * | 2019-03-27 | 2019-05-21 | 北京铁道工程机电技术研究所股份有限公司 | A kind of insulator cleaning system and insulator cleaning method |
| CN110525478A (en) * | 2019-09-30 | 2019-12-03 | 北京中车重工机械有限公司 | One kind reorganizing and outfit robot and its end-of-arm tooling |
| CN110758332A (en) * | 2019-11-13 | 2020-02-07 | 通号城市轨道交通技术有限公司 | Automatic train cleaning method based on urban rail transit and VOBC system |
| CN110900626A (en) * | 2019-11-28 | 2020-03-24 | 北京荣盛时代科技发展有限公司 | Railway roof insulating part safety cleaning detection robot system |
| CN111351854A (en) * | 2018-12-20 | 2020-06-30 | 北京新联铁集团股份有限公司 | Intelligent hollow axle flaw detector and system |
| CN115892080A (en) * | 2022-12-15 | 2023-04-04 | 合肥中科蓝睿科技有限公司 | Train top-climbing hot-line work robot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112763240B (en) * | 2020-12-23 | 2024-08-02 | 成都运达科技股份有限公司 | Auxiliary detection system and method for vehicle servicing safety |
| CN116466640B (en) * | 2023-04-26 | 2023-10-10 | 山东国通智云实业集团有限公司 | Double-track intelligent control system capable of continuous operation |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6622739B2 (en) * | 2001-03-12 | 2003-09-23 | Advanced Systems Technologies, Inc. | Method and apparatus for removal of coatings and oxidation from transit vehicles |
| CN103350708B (en) * | 2013-08-02 | 2015-08-19 | 兰州交通大学 | A kind of electric locomotive off-shift operation system |
| CN104442734B (en) * | 2014-11-11 | 2017-05-17 | 泉州市永茂电子科技有限公司 | Adjustable crawler type high-speed rail train roof cleaning machine |
| CN106468914B (en) * | 2015-08-21 | 2023-04-28 | 苏州华兴致远电子科技有限公司 | Train maintenance method and system |
| CN205691522U (en) * | 2016-06-03 | 2016-11-16 | 北京隆博裕丰科技有限公司 | A kind of pantograph pan of locomotive detection device |
| CN106560357B (en) * | 2016-07-22 | 2019-10-01 | 卡斯柯信号有限公司 | A kind of full-automatic active car-washing method of train and device |
| CN106560358A (en) * | 2016-08-25 | 2017-04-12 | 天津联汇油气技术有限公司 | Intelligent cleaning system and method for high speed locomotive |
| CN106203537B (en) * | 2016-08-31 | 2019-06-04 | 成都铁安科技有限责任公司 | A kind of current collecting bow lifting condition detection method and device |
| CN107139890A (en) * | 2017-05-05 | 2017-09-08 | 沃尔新(北京)自动设备有限公司 | The roof purging system and method for a kind of rail transit rolling stock |
-
2017
- 2017-09-15 CN CN201710833123.7A patent/CN107650870A/en active Pending
-
2018
- 2018-04-18 CN CN201810348453.1A patent/CN108528400B/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109254010A (en) * | 2018-07-20 | 2019-01-22 | 复旦大学 | A kind of pantograph detection device and detection method |
| CN109127629A (en) * | 2018-09-03 | 2019-01-04 | 天津远程华瑞工业技术有限公司 | Cleaning and paint removing system and maintenance device for rail transit vehicle bogie |
| CN109127629B (en) * | 2018-09-03 | 2024-03-12 | 天津远程华瑞工业技术有限公司 | Clear maintenance device of paint removal system and rail transit vehicle bogie |
| CN111351854A (en) * | 2018-12-20 | 2020-06-30 | 北京新联铁集团股份有限公司 | Intelligent hollow axle flaw detector and system |
| CN109774666A (en) * | 2019-03-27 | 2019-05-21 | 北京铁道工程机电技术研究所股份有限公司 | A kind of insulator cleaning system and insulator cleaning method |
| CN109774666B (en) * | 2019-03-27 | 2024-06-07 | 北京铁道工程机电技术研究所股份有限公司 | Insulator cleaning system and insulator cleaning method |
| CN110525478A (en) * | 2019-09-30 | 2019-12-03 | 北京中车重工机械有限公司 | One kind reorganizing and outfit robot and its end-of-arm tooling |
| CN110758332A (en) * | 2019-11-13 | 2020-02-07 | 通号城市轨道交通技术有限公司 | Automatic train cleaning method based on urban rail transit and VOBC system |
| CN110758332B (en) * | 2019-11-13 | 2021-03-19 | 通号城市轨道交通技术有限公司 | Automatic train cleaning method based on urban rail transit and VOBC system |
| CN110900626A (en) * | 2019-11-28 | 2020-03-24 | 北京荣盛时代科技发展有限公司 | Railway roof insulating part safety cleaning detection robot system |
| CN115892080A (en) * | 2022-12-15 | 2023-04-04 | 合肥中科蓝睿科技有限公司 | Train top-climbing hot-line work robot |
| CN115892080B (en) * | 2022-12-15 | 2023-12-22 | 合肥中科蓝睿科技有限公司 | Live working robot for climbing top of train |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108528400B (en) | 2020-10-02 |
| CN108528400A (en) | 2018-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107650870A (en) | The servicing work method of locomotive roof | |
| CN107458420A (en) | Locomotive roof reorganizes and outfit robot, apparatus for work and system | |
| CN110866993A (en) | Intelligent track inspection machine and method thereof | |
| CN109788883A (en) | Window clean robot | |
| CN110231825A (en) | Vehicular intelligent cruising inspection system and method | |
| CN104047248B (en) | Composite track road surface automated cleaning truck system | |
| CN111398418B (en) | In-service blade damage detection robot | |
| CN110606096A (en) | Inside equipment of patrolling and examining and cleaning of air-rail track roof beam | |
| CN110160820A (en) | Arm carries formula insulator contamination object Sampling Machine | |
| CN210310341U (en) | Railway traffic rolling stock inspection robot | |
| CN113276805A (en) | Unmanned intelligent robot vehicle washing system | |
| CN113902799A (en) | Intelligent robot dust removal system and method based on machine vision | |
| CN112265648A (en) | Control system of boarding bridge | |
| CN113334406A (en) | Track traffic vehicle side inspection robot system and detection method | |
| CN113798244A (en) | Water spraying effect detection device, transformer substation water washing robot and method | |
| CN206885073U (en) | Locomotive roof reorganizes and outfit robot, apparatus for work and system | |
| CN210162104U (en) | Rail transit rolling stock inspection device and system | |
| CN209888849U (en) | Auxiliary device for rail transit rolling stock inspection | |
| CN214516467U (en) | Intelligent flexible manipulator device that railcar vehicle bottom sweeps | |
| CN109100745B (en) | Automatic system of patrolling and examining of water conservancy pump station | |
| CN109774666A (en) | A kind of insulator cleaning system and insulator cleaning method | |
| CN212111259U (en) | In-service blade damage detection robot | |
| CN211161009U (en) | Photovoltaic module | |
| WO2023188546A1 (en) | External wall repair device and external wall repair method | |
| CN210174822U (en) | Insulator cleaning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180202 |
|
| WD01 | Invention patent application deemed withdrawn after publication |