CN109131430A - A kind of middle low speed magnetic suspension less important work robot - Google Patents
A kind of middle low speed magnetic suspension less important work robot Download PDFInfo
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- CN109131430A CN109131430A CN201811203451.XA CN201811203451A CN109131430A CN 109131430 A CN109131430 A CN 109131430A CN 201811203451 A CN201811203451 A CN 201811203451A CN 109131430 A CN109131430 A CN 109131430A
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- less important
- important work
- rail
- module
- rack
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of middle low speed magnetic suspension less important work robots, including rack, folding bending mechanism, less important work mechanism and autonomous cruise module, and rack is across between two F rails of middle low speed magnetcisuspension to be detected；Fold bending mechanism and be equipped with two groups altogether, be divided into the both ends of rack, and be located at the top of F rail, be provided on every group of folding bending mechanism traveling wheel to and detent wheel pair；Less important work mechanism includes less important work platform and Auxiliary equipment, and wherein on the rack, Auxiliary equipment is mounted on the less important work platform less important work stage+module, for completing less important work；Autonomous cruise module is mounted on the lower section of rack, freely walks for realizing less important work robot along F rail.The less important work of on-site maintenance can be achieved in the present invention, and can realize autonomous cruise, has many advantages, such as that structure is simple and convenient to operate.
Description
Technical field
The present invention relates to magnetic suspension work business maintenance areas, it particularly relates to a kind of middle low speed magnetic suspension less important work machine
Device people.
Background technique
Magnetic suspension traffic is a kind of carbon-free traffic of low noise, is one of the important directions of future city transport development.In it is low
Fast electromagnetic suspension technology is mutually to constitute magnetic field closed magnetic circuit with F type track by the electromagnet of installation on the car body, passes through air gap sense
Answer the exciting current of device device regulating magnet, adjust between electromagnet and track suction (make magnetic float gap be maintained at 8~
10mm), to keep the distance between electromagnet and track to stablize, train stable suspersion is realized.Therefore, railway maintenance is that work business is made
The important content of industry.
Due to mostly overhead, the open track structure of middle low speed magnetic suspension, at the scene in maintenance process, progress need to be cooperated
Less important work, such as when monitoring that F rail, need to be from carrying out welding and maintenance process there are that when crackle, need to carry out welding operation
Ground lifts in material or equipment to track, and in night time operation, need to provide the less important works such as illumination.It is above-mentioned each to complete
Item less important work, needs researching and designing one kind to be applicable to middle low speed magnetic suspension less important work robot, is completed with cooperation various auxiliary
Help operation.In addition, the medium-and low-speed maglev section of track is mostly overhead hanging Open architecture, sleeper is spaced about 600mm, nothing on track
Operating personnel's traveling position, general robot are difficult to freely walk on magnetic-levitation, and therefore, the auxiliary of researching and designing is made
Industry robot need to be adapted to the medium-and low-speed maglev of Open architecture.
Summary of the invention
To solve problems of the prior art, the present invention provides a kind of middle low speed magnetic suspension less important work robot,
Have many advantages, such as that structure is simple and convenient to operate.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of middle low speed magnetic suspension less important work robot,
Including rack, fold bending mechanism, less important work mechanism and autonomous cruise module, in which:
The rack for installing the folding bending mechanism, less important work mechanism and autonomous cruise module, across
Between two F rails of middle low speed magnetic suspension；
The folding bending mechanism is equipped with two groups altogether, is divided into the both ends of the rack, and be located at the top of F rail, often
Be provided on the group folding bending mechanism traveling wheel to and detent wheel pair, the wherein upper surface of traveling wheel pair and the F rail
Contact, and is moved along the upper surface of F rail, two detent wheels of the detent wheel pair respectively with the lateral surface of the F rail and under
Surface contact, and moved along the lateral surface and lower surface of F rail；
The less important work mechanism includes less important work platform and Auxiliary equipment, wherein the less important work platform is pacified
In the rack, the Auxiliary equipment is mounted on the less important work platform, for completing less important work.
Preferably, the autonomous cruise module is mounted on the lower section of the rack, for realizing less important work robot
It freely walks along F rail, which includes that navigation system, cruise calculating task control module and ground control station are logical
Module is interrogated, the navigation system includes that inertial navigation unit, GPS receiver module and walking range measuring unit, the inertia are led
Boat unit is used to measure the 3-axis acceleration of the robot, and the GPS receiver module is used for longitude, the latitude of robot measurement
And height, the walking range measuring unit are used for the walking mileage of robot measurement；The cruise calculating task control module
Including cruise module and control module, the cruise module respectively with the inertial navigation unit, GPS receiver module and walking amount
Journey measuring unit is connected, and the data of the inertial navigation unit, GPS receiver module and walking range measuring unit measurement are as defeated
Enter signal to be input in cruise module, which judges the specific location of the robot according to the signal of input, and will
The specific location of robot feeds back to ground control station, and the control module is connected with ground control station communication module, basis
The walking of the travel commands control robot of ground control station communication module.
Preferably, it is additionally provided with video camera in the rack, which is mounted on the upper of the rack by telescopic rod
Side.
Preferably, it is additionally provided with distance measuring sensor in the rack, which is specially ultrasonic wave or infrared survey
Away from sensor, it is arranged in the front and back side of the rack.
Preferably, described in every group folding bending mechanism on be provided with two groups of traveling wheels to two groups of detent wheels pair, two groups
Traveling wheel contacts the extending direction arrangement along the F rail with the upper surface of F rail, and two groups of detent wheels are to equally along institute
State F rail extending direction arrangement, and with the lateral surface of F rail and following table face contact.
Preferably, the folding bending mechanism includes traveling wheel mounting plate and detent wheel folded sheet, the traveling wheel installation
Plate is vertically arranged and is mounted on the rack, and the traveling wheel is to the lower section for being mounted on the traveling wheel mounting plate, the card
Position wheel folded sheet is mounted on the side of the traveling wheel mounting plate by detent wheel connecting bracket, and the detent wheel is to being mounted on
It states on detent wheel folded sheet, and lateral surface and following table face contact with the F rail.
Preferably, the Auxiliary equipment includes welding equipment, lifting equipment, lighting apparatus and generator.
Preferably, the lighting apparatus includes lamp adapter assembly and elevating mechanism, which uses four section telescopic cylinders
As lift adjustment mode, maximal regulated height is 3 meters, and the lamp adapter assembly is made of 4 5W high efficiency LED lamp items, lamp
For light covering radius up to 15 meters -35 meters, each LED light bar can individually do angular adjustment up and down, and 360 degrees omnidirection is realized in rotation
Illumination.
The beneficial effects of the present invention are:
(1) present invention is specially provided with the less important work suitable for middle low speed magnetic suspension for the characteristics of middle low speed magnetic suspension
Robot, to complete to less important works such as the welding operation of F rail, equipment hoisting, night illuminations, with small in size, structure is light, takes
With convenient feature, while also having many advantages, such as that structure is simple and convenient to operate, can fall rail with vehicle arrival operating location can carry out
It uses, can be effectively used for work business maintenance and the safe operation of medium-and low-speed maglev.
(2) present invention is suitable for the folding bending mechanism and autonomous cruise module of less important work robot by setting, can
Robot is realized along F rail autonomous, by specializing in the autonomous cruise module of design, it can be achieved that the accurate of robot is determined
Position and reliable walking, suitable for the overhead hanging Open architecture of middle low speed magnetic suspension, solve on middle low speed magnetic suspension track
No operatton personnel's traveling position and the problem of cannot achieve less important work robot ambulation.
(3) folding bending mechanism of the invention is equipped with two groups altogether, is divided into the both ends of rack, detent wheel folded sheet when use
It can be opened downwards when track falls rail to clasp the lateral edge of F rail, and moved along F rail, it, can when leaving track after use
Be folded up, to reduce the overall volume of running gear, have the characteristics that it is easy to carry, fall rail and can work.
(4) traveling wheel on folding bending mechanism of the invention can effectively prevent robot logical to Double-wheel structure is designed to
It generates and jolts when crossing the bolt that F rail is connect with sleeper, keep flaw detection more accurate, detent wheel by the way of holding card to being installed on F
On rail, robot can be effectively prevent to derail.
(5) it is provided with video camera above rack of the invention, which can realize the image along track and track
Acquisition, and its liftable is mounted on the rack, it can be achieved that multi-faceted, multi-angle image taking.
(6) it is provided with distance measuring sensor before and after less important work robot of the present invention, less important work can be made by ranging
Automatic stopping when obstacle is met by robot, realizes the collision prevention function of robot.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of middle low speed magnetic suspension less important work robot described in the embodiment of the present invention；
Fig. 2 is a kind of rearview of middle low speed magnetic suspension less important work robot described in the embodiment of the present invention；
Fig. 3 is a kind of left view of middle low speed magnetic suspension less important work robot described in the embodiment of the present invention；
Fig. 4 is the autonomous cruise modular structure block diagram of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
As shown in Figure 1, support member of the rack 11 as other component, is horizontally disposed with, and across to be detected
Between two F rails of middle low speed magnetic suspension, arranged direction is vertical with the extending direction of F rail.
As shown in Figure 1-3, fold bending mechanism is equipped with two groups altogether, the both ends of the rack are divided into, specifically, every group
Traveling wheel is provided on the folding bending mechanism to 5 and detent wheel pair.Wherein, traveling wheel includes a pair of of traveling wheel to 5,
It contacts with the upper surface of the F rail, and is moved along the upper surface of F rail, it is driving wheel that one of them, which is follower one, actively
Wheel is to being motor wheel.The traveling wheel can effectively prevent robot to pass through the bolt that F rail is connect with sleeper to Double-wheel structure is designed to
When generate jolt, keep result of detection more accurate.The detent wheel includes a pair of of detent wheel to 2, two detent wheels respectively with institute
The lateral surface and following table face contact of F rail are stated, and is moved along the lateral surface and lower surface of F rail, the detent wheel is to certifiable machine
People can provide differential function along track travel, and in corner.Detent wheel is not have dynamic follower to 2, detent,
Limit and the effect of derailing.
Further, two groups of traveling wheels are provided in the embodiment of the present invention on every group of folding bending mechanism to 5 and two
Group detent wheel is to 2, and thus two groups of traveling wheels arrange four traveling wheels in 5 along the extending direction of the F rail, and can be along
The movement of F rail, be reliably oriented to the mobile of less important work robot, and two groups of detent wheels in 2 with F trackside face contact
Detent wheel arrange that and move along the lateral surface of F rail, two groups of detent wheels are in 2 and F along the extending direction of the F rail
The detent wheel of rail following table face contact is arranged along the extending direction of the F rail, and is moved along the lower surface of F rail, can be had with this
Effect guarantees the mobile reliability of less important work robot.
Specifically, folding bending mechanism includes traveling wheel mounting plate 12 and detent wheel folded sheet 3, wherein traveling wheel mounting plate
12 are vertically arranged and are mounted on the rack, and the traveling wheel is to the lower section for being mounted on traveling wheel mounting plate 12, the detent
Wheel folded sheet 3 is mounted on the side of the traveling wheel mounting plate by detent wheel connecting bracket, and is coated on the periphery of F rail, so
Afterwards by detent wheel to being mounted on detent wheel folded sheet 12, so that the outside face contact of one of detent wheel and F rail, another
The following table face contact of detent wheel and F rail is installed on F rail in such a way that this detent wheel is to use holding card, can effectively prevent from rescuing
Robot derailing.When folding bending mechanism is not used, two groups of detent wheel folded sheets 1 are folded up, to reduce the whole of running gear
Body volume makes detent wheel be installed on lateral surface and the lower surface of F rail in use, two groups of detent wheel folded sheets 1 are opened, and realizes outer
Rail is embraced in side and rail is embraced in inside upwards.
The less important work mechanism includes less important work platform 14 and Auxiliary equipment, and wherein less important work platform 14 is made
For the mounting platform of Auxiliary equipment, it is set to the top of rack 11, the Auxiliary equipment is mounted on the less important work
On platform 14, for completing less important work, which includes lighting apparatus, lifting equipment, welding equipment and power generation
Machine.
Lighting apparatus is mounted on less important work platform 14, for providing illumination, including 16 He of lamp adapter assembly for less important work
Elevating mechanism 15, elevating mechanism 15 select four section telescopic cylinders as lift adjustment mode, and maximum height is 3 meters, rotate upwardly and downwardly
16 adjustment beam irradiating angle of lamp adapter assembly, light covering radius reach 15-35 meters, and lamp adapter assembly 16 is by 4 5W high efficiency
LED light bar composition needs individually to make each lamp cap angle adjusting up and down by scene, and 360 degrees omnidirection illumination is realized in rotation,
Lamp cap can also be illuminated in the uniform cloth of lamp panel to four direction.
Lifting equipment is mounted on the side of less important work platform, is used to lift material, operational instrument, the equipment on ground etc.
It mainly include that hoisting apparatus and the hoisting mechanism with free off the hook function, hoisting apparatus are installed on robot branch onto track
Frame top, surrounding are fixed, and flexible lifting cable is stretched out from middle part, realize hanging device from bridge bottom to bridge on lifting, and hang
The handling of article are filled mainly by being accomplished manually.When operation, robot passes through controller operation control valve according to instruction, so that grasping
When making hoisting apparatus band and being downloaded from by off the hook, off the hook distance is specified by control system, until operator hangs up in rated load
After weight, remote notification robot lifting operation, robot controls elevator hydraulic controller, starts weight, starts stopping for weight
Only by remotely controlling, last distance is that sensor detection judges to stop jointly with rope closing length in place.
Welding equipment is the content of robot delivery, and welding operation is executed when weld job for needing to scene, convenient existing
The use of field construction personnel, welds relevant equipment, also by robotic conveyance to designated position, related personnel can also assisted
The upper surface of Work robot realizes the operation of welding.Generator is mounted on the lower section of less important work platform 14, is in robot
Electrical equipment provide emergence power.
Autonomous cruise module 7 is mounted on the lower section of rack, moves band movement machine to 5 driving wheel by control traveling wheel
People's movement realizes the autonomous control of robot, so that auxiliary of the invention to drive robot to move along F rail
Work robot is adapted to the overhead hanging Open architecture of middle low speed magnetic suspension, and it is steady which is integrated with walking
The various functions such as fixed control (two driving wheel output torques of control, balance vehicle traction), navigation and task control, have more
A task way point, speed can be separately provided, and be that the high-performance, low cost and the track machine of micromation people of complete set are autonomous
Traveling control system.
Autonomous cruise module 7 includes navigation system, cruise calculating task control module and ground control station communication module, is led
Boat system includes inertial navigation unit, GPS receiver module and walking range measuring unit, and the inertial navigation unit is for measuring
(i.e. xyz three-dimensional acceleration, the direction xyz are set the 3-axis acceleration of the robot according to actual needs, such as set prolonging for F rail
Stretching direction is x-axis, vertical with F rail extending direction, and horizontal distribution is y-axis, vertical with F rail extending direction, and vertical distribution
It is z-axis), the GPS receiver module is used for longitude, latitude and the height of robot measurement, the walking range measuring unit
Walking mileage for robot measurement.The cruise calculating task control module and ground control station communication module realize data
The specific location of robot can be fed back to ground control station communication module, ground control by interaction, cruise calculating task control module
Cruise calculating task control module is given in the transmittable instruction of communication module of system station, so that robot is run to designated position；The cruise
Calculating task control module mainly includes cruise module and control module, and cruise module and control module are similar to two microcomputers
Calculation machine, cruise module are the cruise computers based on embedded L i nux, are controlled for navigation and task control and with ground
The communication stood, control module are control computers, for the travelling control of robot, augmentation control and logical with ground control station
News realize the motion control of mobile robot, and the control of the servo motor of driving wheel, passes through control specifically in realization traveling wheel
The servo motor of driving wheel realizes the movement of driving wheel, and then realizes the movement of robot, and it is suitable for pulse width signal controls
Various torque three-phase brushless motors, the control module can also be achieved the information collection (data of distance measuring sensor 6) of sensor, figure
As the acquisition of information collection (data of video camera 10) and navigation data.Specifically, cruise module respectively with inertial navigation unit,
GPS receiver module is connected with walking range measuring unit, inertial navigation unit, GPS receiver module and walking range measuring unit
The data of measurement are input in cruise module as input signal, which judges the robot according to the signal of input
Specific location, and the specific location of robot is fed back into ground control station, the control module and ground control station communicate
Module is connected, and the walking of robot is controlled according to the travel commands of ground control station communication module.
Specifically, cruise mileage of the navigation system according to input in autonomous cruise module 7, GPS automatic positioning to needs
The location coordinates of arrival, the location coordinates real-time matching that then robot communicates input according to walking mileage with remote earth station are transported
It calculates, while combining position and set coordinate position real-time matching calculating that inertial navigation is walked in real time, and use walking amount
The mobile distance of journey measuring unit robot measurement, to determine the current position of robot according to the initial value of robot starting point
It sets, according to the current specific location of robot, then carries out PID matching primitives according to the operation destination worked out in advance with known
The direction of motion and distance for controlling robot, to realize autonomous cruise, the speed of cruise is by robot according to arriving at the destination
Distance calculate.Navigation system of the invention is the navigation of auxiliary mainly based on range designation, with GPS and inertial navigation
System, control logic is simple, compact-sized, small in size, and robot may make to be walked according to the planning path of navigation.
It is additionally provided in the rack and provides the battery 8 of power supply for autonomous cruise module 7, however autonomous cruise module 7
It can be connected by cable with external power supply, power needed for providing cruise module cruise by external power supply.
Be additionally provided with distance measuring sensor 6 and video camera 10 in the rack, the distance measuring sensor 6 be located at two F rails it
Between, it is specially ultrasonic wave or infrared distance sensor, and arrange in array fashion, the front and back of less important work robot is uniformly distributed
Set the distance measuring sensor.Specifically, distance measuring sensor 6 detects that travel line has obstacle, robot within the scope of safe distance
Automatically controlled driving unit brake is controlled, different according to the different set safe distance of speed, speed is faster, and safe distance is remoter, can
Automatic safety parking when flaw detection robot being made to meet obstacle, realizes the collision prevention function of robot.The video camera 10 is mounted on described
The top of rack is used for carrying out Image Acquisition along track and track, can to foreign body intrusion, invade situations such as limit is crossed the border into
Row observation, image carries out real-time Transmission or storage is local, camera type concretely 2D or 3D video camera, especially by stretching
Contracting bar 9 be mounted on the top of rack, it can be achieved that video camera lifting, realize the shooting of Multi-orientation multi-angle.Wherein, autonomous cruise
Module 7 can receive the detection data of distance measuring sensor 6 and video camera 10, and analyze detection data, obtain required number
According to.
In addition, the data that robot measures timely are transmitted and saved in order to realize, also set in the rack
It is equipped with external interface 13, to realize writing to each other for robot and remote console, realizes the remote interaction of data.
A specific embodiment of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those 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 guarantor of the invention
Protect range.
Claims (8)
1. a kind of middle low speed magnetic suspension less important work robot, which is characterized in that including rack, fold bending mechanism, auxiliary work
Industry mechanism and autonomous cruise module, in which:
The rack is for installing the folding bending mechanism, less important work mechanism and autonomous cruise module, across low in
Between two F rails of speed magnetic suspension；
The folding bending mechanism is equipped with two groups altogether, is divided into the both ends of the rack, and be located at the top of F rail, every group of institute
State fold bending mechanism on be provided with traveling wheel to and detent wheel pair, wherein traveling wheel pair is contacted with the upper surface of the F rail,
And moved along the upper surface of F rail, two detent wheels of the detent wheel pair connect with the lateral surface of the F rail and lower surface respectively
Touching, and moved along the lateral surface and lower surface of F rail；
The less important work mechanism includes less important work platform and Auxiliary equipment, wherein the less important work stage+module exists
In the rack, the Auxiliary equipment is mounted on the less important work platform, for completing less important work.
2. a kind of middle low speed magnetic suspension less important work robot according to claim 1, which is characterized in that described independently to patrol
Model plane block is mounted on the lower section of the rack, freely walks for realizing less important work robot along F rail, the autonomous cruise
Module includes navigation system, cruise calculating task control module and ground control station communication module, and the navigation system includes used
Property navigation elements, GPS receiver module and walking range measuring unit, the inertial navigation unit is for measuring the robot
3-axis acceleration, the GPS receiver module are used for longitude, latitude and the height of robot measurement, and the walking range measurement is single
Member is used for the walking mileage of robot measurement；The cruise calculating task control module includes cruise module and control module, institute
It states cruise module to be connected with the inertial navigation unit, GPS receiver module and walking range measuring unit respectively, the inertia is led
The data of boat unit, GPS receiver module and walking range measuring unit measurement are input in cruise module as input signal, should
Cruise module judges the specific location of the robot according to the signal of input, and the specific location of robot is fed back to ground
Control station, the control module are connected with ground control station communication module, are referred to according to the walking of ground control station communication module
Enable the walking of control robot.
3. a kind of middle low speed magnetic suspension less important work robot according to claim 1, which is characterized in that in the rack
It is additionally provided with video camera, which is mounted on the top of the rack by telescopic rod.
4. a kind of middle low speed magnetic suspension less important work robot according to claim 1, which is characterized in that in the rack
It is additionally provided with distance measuring sensor, which is specially ultrasonic wave or infrared distance sensor, is arranged in the rack
Front and back side.
5. a kind of middle low speed magnetic suspension less important work robot according to claim 4, which is characterized in that rolled over described in every group
Be provided on folded bending mechanism two groups of traveling wheels to two groups of detent wheels pair, two groups of traveling wheels are to the extension along the F rail
Direction arrangement, and contacts with the upper surface of F rail, and two groups of detent wheels along the extending direction of the F rail to equally arranging, and and F
The lateral surface and following table face contact of rail.
6. a kind of middle low speed magnetic suspension less important work robot according to claim 5, which is characterized in that the folding is curved
Rolling over mechanism includes traveling wheel mounting plate and detent wheel folded sheet, and the traveling wheel mounting plate is vertically arranged and is mounted on the rack
On, the traveling wheel passes through detent wheel connection branch to the lower section for being mounted on the traveling wheel mounting plate, the detent wheel folded sheet
Frame is mounted on the side of the traveling wheel mounting plate, the detent wheel to being mounted on the detent wheel folded sheet, and with the F
The lateral surface and following table face contact of rail.
7. a kind of middle low speed magnetic suspension less important work robot according to claim 6, which is characterized in that the auxiliary is made
Industry equipment includes welding equipment, lifting equipment, lighting apparatus and generator.
8. a kind of middle low speed magnetic suspension less important work robot according to claim 7, which is characterized in that the illumination is set
Standby includes lamp adapter assembly and elevating mechanism, and the elevating mechanism is using four section telescopic cylinders as lift adjustment mode, maximal regulated
Height is 3 meters, and the lamp adapter assembly is made of 4 5W high efficiency LED lamp items, and light covering radius is up to 15 meters -35 meters, each
LED light bar can individually do angular adjustment up and down, and 360 degrees omnidirection illumination is realized in rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811203451.XA CN109131430A (en) | 2018-10-16 | 2018-10-16 | A kind of middle low speed magnetic suspension less important work robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811203451.XA CN109131430A (en) | 2018-10-16 | 2018-10-16 | A kind of middle low speed magnetic suspension less important work robot |
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| CN109131430A true CN109131430A (en) | 2019-01-04 |
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| CN201811203451.XA Withdrawn CN109131430A (en) | 2018-10-16 | 2018-10-16 | A kind of middle low speed magnetic suspension less important work robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111005272A (en) * | 2019-12-02 | 2020-04-14 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111457890A (en) * | 2020-04-21 | 2020-07-28 | 南京航空航天大学 | Subway tunnel detection device and method based on three-dimensional laser scanning |
-
2018
- 2018-10-16 CN CN201811203451.XA patent/CN109131430A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111005272A (en) * | 2019-12-02 | 2020-04-14 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111005272B (en) * | 2019-12-02 | 2021-06-22 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111457890A (en) * | 2020-04-21 | 2020-07-28 | 南京航空航天大学 | Subway tunnel detection device and method based on three-dimensional laser scanning |
| CN111457890B (en) * | 2020-04-21 | 2021-09-28 | 南京航空航天大学 | Subway tunnel detection device and method based on three-dimensional laser scanning |
| US11359945B2 (en) | 2020-04-21 | 2022-06-14 | Nanjing University Of Aeronautics And Astronautics | Inspection device and method for subway tunnels based on three-dimensional laser scanning |
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