CN109334710A - A kind of double actuator train waters robot and implementation method - Google Patents
A kind of double actuator train waters robot and implementation method Download PDFInfo
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- CN109334710A CN109334710A CN201811360367.9A CN201811360367A CN109334710A CN 109334710 A CN109334710 A CN 109334710A CN 201811360367 A CN201811360367 A CN 201811360367A CN 109334710 A CN109334710 A CN 109334710A
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- upper water
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- armed lever
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- 239000003643 water by type Substances 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 144
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000013519 translation Methods 0.000 claims description 5
- 239000012636 effector Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005086 pumping Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K11/00—Serving peculiar to locomotives, e.g. filling with, or emptying of, water, sand, or the like at the depots
Abstract
The invention belongs to water technical fields on railway passenger train, and in particular to a kind of double actuator train waters robot, robot body are connect with control cabinet；The lower end of first mechanical arm is connect with robot base, and the upper end of first mechanical arm is connect with cross bar；One end of two second mechanical arms is connect with cross bar, and two second mechanical arm other ends are connected separately with first end actuator and second end actuator；First end actuator is equipped with the upper water swivel being connected to upper water hose, and second end actuator is equipped with the vacuum tube joint being connected to vacuum hose.The present invention also provides the upper water methods of double actuator train waters robot, after train is stopped, dock water swivel with water filling port, vacuum tube joint is docked with overflow port, train tank is evacuated while water filling, Shang Wanshuihou robot restores initial pose.Double actuator train waters robot provided by the invention is cooperated by upper water swivel and vacuum tube joint, effectively promotes upper water speed rate.
Description
Technical field
The invention belongs to water technical fields on railway passenger train, and in particular to a kind of double actuator train waters robot
And implementation method.
Background technique
Water mainly uses traditional artificial upper water on railway passenger train at present, needs manually to be inserted into the upper water bolt of upper hose
Train water filling port opens water supply valve door and starts upper water, manually closes water supply valve again after train tank spilling water, remove upper hose,
And a column train is usually only equipped with 3 ~ 5 upper water conservancy project people, and the upper water task in 4 section compartments is responsible in an average upper water conservancy project, in this way
The large labor intensity of staff, upper water low efficiency, staff shuttles between station track, and there are security risks, in addition, on artificial
Water mode inefficiency, and the motor train unit train down time gradually popularized is shorter, current artificial water feeding mode can not expire
Sufficient water demand thereon.
Summary of the invention
In order to overcome the shortcomings of the prior art described above, the object of the present invention is to provide a kind of double actuator train waters
Robot and implementation method, upper water speed rate is high, and upper water overall process can realize Unmanned operation, eliminate safe hidden trouble.
To achieve the above object, the technical scheme is that a kind of double actuator train waters robot, including machine
Human body and control cabinet, the robot body are connect with the control cabinet；The robot body includes robot base, cross
Bar, first mechanical arm and two second mechanical arms；The lower end of the first mechanical arm is connect with the robot base, and described
The upper end of one mechanical arm is connect with the cross bar；One end of two second mechanical arms is connect with the cross bar, two institutes
It states the second mechanical arm other end and is connected separately with first end actuator and second end actuator；The first end actuator
It is equipped with upper water swivel, the upper water swivel is connected to upper water hose；The second end actuator is equipped with for train
The vacuum tube joint of water tank pumping, the vacuum tube joint are connected to vacuum hose.
Further, set that there are two z to telescoping mechanism, expansion end of two z to telescoping mechanism on the cross bar
It is connect respectively with two second mechanical arms.
Further, the z includes vertical bar and telescopic rod to telescoping mechanism, and the cross bar is fixed in the bottom of the vertical bar
On, the top of the vertical bar is equipped with telescopic rod, and the telescopic rod is telescopically arranged in the vertical bar.
Further, double actuator train waters robot further includes the robot row being set between the station track of station
Axis is walked, the robot body is installed on the robot ambulation axis.
Further, the first mechanical arm includes the first joint, the first armed lever and the second armed lever；First joint
One end and the robot base are rotatablely connected, and the other end is rotatablely connected by second joint and first armed lever；Described
One armed lever is rotatablely connected by third joint and second armed lever；The one end of second armed lever far from the third joint with
The cross bar connection.
Further, the second mechanical arm includes third armed lever, the 4th armed lever and the 5th armed lever；The third armed lever
One end is connect with the cross bar, and the other end is rotatablely connected by the 4th joint and the 4th armed lever；4th armed lever passes through
5th joint and the 5th armed lever are rotatablely connected；5th armed lever by the 6th joint and the first end actuator or
The second end actuator connection.
Further, the upper water hose and the vacuum hose are laid along the outer surface of the robot body.
Further, it is laid with water conduit tube on the gutter side wall between the station track of station, is connected on the upper water conduit tube
There are several upper water branch pipes, the upper water branch pipe, the upper water hose and the robot body correspond, each upper water
Branch pipe is connected to corresponding upper water hose respectively.
Further, it is laid with vacuum main pipe on the gutter side wall between the station track of station, is connected on the vacuum main pipe
There are several vacuum manifolds, the vacuum manifold, the vacuum hose and the robot body correspond, each vacuum
Branch pipe is connected to corresponding vacuum hose respectively.
The present invention also provides the upper water methods of above-mentioned double actuator train waters robot, include the following steps:
1) after train enters the station stop, double actuator train waters robot near each compartment is searched for by vision system
The water filling port and overflow port of train tank；
2) stretching by the translation of robot body, the rotation of first mechanical arm, the rotation of second mechanical arm and telescoping mechanism
Contracting, docks the upper water swivel on first end actuator with the water filling port of train tank, the vacuum on second end actuator
Pipe fitting is docked with the overflow port of train tank；
3) water hose is filled the water by upper water swivel to train tank on, meanwhile, vacuum hose is by vacuum tube joint to column
Vehicle water tank is evacuated；
4) on after the completion of water, separate upper water swivel with the water filling port of train tank and vacuum tube
Connector is separated with the overflow port of train tank, restores initial pose, and keep standby mode.
Compared with prior art, the invention has the following advantages:
(1) the upper water overall process of double actuator train waters robot provided by the invention can realize Unmanned operation, avoid
Water conservancy project people shuttles between station track, eliminates driving and personnel safety hidden danger；
(2) double actuator train waters robot provided by the invention is cooperated by upper water swivel and vacuum tube joint, in Shang Shui
On connector while water, vacuum tube joint is evacuated train tank, reduces air pressure in train tank, effectively promotes upper water
Rate；
(3) double actuator train waters robot provided by the invention realizes movement, further expansion by robot ambulation axis
The upper water working range of robot is big, and allowing different train number train stop positions, there is some difference；
(4) double actuator train waters robot service life provided by the invention was up to 10 ~ 15 years, later period operation and maintenance cost
Far below labour cost, save the cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of double actuator train waters robot provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of double actuator train waters robot provided in an embodiment of the present invention；
Fig. 3 be double actuator train waters robot provided in an embodiment of the present invention structural schematic diagram from z to telescoping mechanism；
Fig. 4 is the structural schematic diagram of double actuator train waters robot provided in an embodiment of the present invention；
In figure: 1, robot base, the 2, first joint, 3, second joint, the 4, first armed lever, 5, third joint, the 6, second armed lever,
7, cross bar, 8, third armed lever, the 9, the 4th joint, the 10, the 4th armed lever, the 11, the 5th joint, the 12, the 5th armed lever, the 13, the 6th joint,
14, first end actuator, 15, second end actuator, 16, upper water branch pipe, 17, vacuum manifold, 18, control cabinet, 19, control
Cable, 20, pipe collar, 21, robot ambulation axis, 22, upper water conduit tube, 23, vacuum main pipe, 24, vertical bar, 25, telescopic rod, 26, on
Water swivel, 27, vacuum tube joint, 28, upper water hose, 29, vacuum hose.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
As Figure 1-Figure 2, the embodiment of the present invention provides a kind of double actuator train waters robot, including robot body and
Control cabinet 18, the robot body are connect with the control cabinet 18；The robot body includes robot base 1, cross bar
7, first mechanical arm and two second mechanical arms；The lower end of the first mechanical arm and the robot base 1 are rotatablely connected, institute
The upper end for stating first mechanical arm is connect with the cross bar 7；One end of two second mechanical arms is connect with the cross bar 7,
Two second mechanical arm other ends are connected separately with first end actuator 14 and second end actuator 15；Described first
End effector 14 is equipped with upper water swivel 26, and the upper water swivel 26 is connected to upper water hose 28；The second end executes
Device 15 is equipped with the vacuum tube joint 27 for being evacuated to train tank, and the vacuum tube joint 27 is connected to vacuum hose 29.
The specific location and quantity of double actuator train waters robot provided in this embodiment can be according to the water filling port positions of different automobile types
It sets and quantity is adjusted, i.e., each compartment corresponds to one or more Shang Shui robot, and Shang Shui robot is fixed on adjacent two
Safe distance is kept between hair line station track, and with station track, every robot can be responsible for that it closes on two to train on hair line
Upper water conservancy project make；Shang Shui robot is cooperated by upper water swivel and vacuum tube joint, while water on upper water swivel, vacuum tube
Connector is evacuated train tank, reduces air pressure in train tank, effective to promote upper water speed rate；Upper water overall process can be real
Existing Unmanned operation, avoids water conservancy project people from shuttling between station track, eliminates driving and personnel safety hidden danger.Vacuum is soft in the present embodiment
Pipe 29 is connected to vacuum generator, is evacuated by vacuum pump or other vaccum-pumping equipments to train tank.
Further, the first mechanical arm includes the first joint 2, the first armed lever 4 and the second armed lever 6；Described first closes
One end of section 2 and the robot base 1 are rotatablely connected, and the other end is connected by second joint 3 and first armed lever 4 rotation
It connects；First armed lever 4 is rotatablely connected by third joint 5 and second armed lever 6；Second armed lever 6 is far from described
The one end in three joints 5 is connect with the cross bar 7.First joint 2 can freely turn within the scope of 360 ° (i.e. around z-axis) in the horizontal direction
Dynamic, second joint 3 is located on the first joint 2, can rotate within the scope of vertical direction (i.e. around x-axis) certain angle, specific to rotate
Range determines that the direction of rotation in third joint 5 is vertical with second joint 3 (i.e. around y-axis) according to each station actual conditions.
Further, the second mechanical arm includes third armed lever 8, the 4th armed lever 10 and the 5th armed lever 12；The third
One end of armed lever 8 is connect with the cross bar 7, and the other end is rotatablely connected by the 4th joint 9 with the 4th armed lever 10；Described
Four armed levers 10 are rotatablely connected by the 5th joint 11 with the 5th armed lever 12；5th armed lever 12 by the 6th joint 13 with
The first end actuator 14 or the second end actuator 15 connection.Wherein, the 4th joint 9 can be rotated around z-axis, and the 5th
Joint 11 can be rotated around y-axis, and the 6th joint 13 can be rotated around x-axis.The robot body of the present embodiment is revolute robot, often
Corresponding 6 freedom degrees of a end effector, in order to accurately realize upper water swivel 26 and train water filling port dock and vacuum
Pipe fitting 27 is docked with train overflow port.
Further, the upper water hose 28 and the vacuum hose 29 are applied along the outer surface of the robot body
And if upper water hose 28 and vacuum hose 29 are fixed on the armed lever of first mechanical arm, second mechanical arm by pipe collar 20.
Further, water conduit tube 22 is laid on the gutter side wall between the station track of station, on the upper water conduit tube 22
Several upper water branch pipes 16 are connected with, the upper water branch pipe 16, the upper water hose 28 and the robot body correspond,
Each upper water branch pipe 16 is connected to corresponding upper water hose 28 respectively.The quantity and robot of upper water branch pipe 16 in the present embodiment
Ontology corresponds, and is designed with flowmeter and solenoid valve on every upper water branch pipe 16, and flowmeter and solenoid valve are and control cabinet
18 connections control the opening and closing of solenoid valve by control cabinet 18 to complete upper water, convenient for individually being controlled to each compartment
System.
Further, vacuum main pipe 23 is laid on the gutter side wall between the station track of station, on the vacuum main pipe 23
Several vacuum manifolds 17 are connected with, the vacuum manifold 17, the vacuum hose 29 and the robot body correspond,
Each vacuum manifold 17 is connected to corresponding vacuum hose 29 respectively.The quantity and robot of vacuum manifold 17 in the present embodiment
Ontology corresponds, and is designed with solenoid valve in every vacuum manifold 17, and solenoid valve is connect with control cabinet 18, passes through control cabinet 18
The unlatching of control solenoid valve vacuumizes train tank to realize, convenient for individually being controlled each compartment.
Embodiment two
As shown in Figure 1-Figure 3, the embodiment of the present invention provides a kind of double actuator train waters robot, including robot body and
Control cabinet 18, the robot body are connect with the control cabinet 18；The robot body includes robot base 1, cross bar
7, first mechanical arm and two second mechanical arms；The lower end of the first mechanical arm and the robot base 1 are rotatablely connected, institute
The upper end for stating first mechanical arm is connect with the cross bar 7；One end of two second mechanical arms is connect with the cross bar 7,
Two second mechanical arm other ends are connected separately with first end actuator 14 and second end actuator 15；Described first
End effector 14 is equipped with upper water swivel 26, and the upper water swivel 26 is connected to upper water hose 28；The second end executes
Device 15 is equipped with the vacuum tube joint 27 for being evacuated to train tank, and the vacuum tube joint 27 is connected to vacuum hose 29；
Set that there are two z on the cross bar 7 to telescoping mechanism, expansion end from two z to telescoping mechanism respectively with two described the
The connection of two mechanical arms.The first mechanical arm and second mechanical arm for double actuator train waters robot that the present embodiment passes through can edges
Z-axis slides up and down, to increase the working radius of robot, reduces its work blind area.
Further, the z includes vertical bar 24 and telescopic rod 25 to telescoping mechanism, and the bottom of the vertical bar 24 is fixed on
On the cross bar 7, the top of the vertical bar 24 is equipped with telescopic rod 25, and the telescopic rod 25 is telescopically arranged in the vertical bar 24
It is interior.The present embodiment controls the stroke of telescopic rod 25 by control cabinet 18, realizes the upper water swivel on first end actuator 14
26 with the water filling port of train tank it is accurate dock and second end actuator 15 on vacuum tube joint 27 and train tank
Overflow port accurate docking；Control cabinet 18 is mounted near robot body, is connected by control cable 19 and robot body
It connects.
Embodiment three
As Figure 1-Figure 2, the embodiment of the present invention provides a kind of double actuator train waters robot of movable type, including machine
Human body, control cabinet 18 and the robot ambulation axis 21 being set between the station track of station, the robot body and the control
Cabinet 18 processed connects, and the robot body is installed on the robot ambulation axis 21；The robot body includes robot
Pedestal 1, cross bar 7, first mechanical arm and two second mechanical arms；The lower end of the first mechanical arm and the robot base 1
Rotation connection, the upper end of the first mechanical arm is connect with the cross bar 7；One end of two second mechanical arms with it is described
Cross bar 7 connects, and two second mechanical arm other ends are connected separately with first end actuator 14 and second end actuator
15；The first end actuator 14 is equipped with upper water swivel 26, and the upper water swivel 26 is connected to upper water hose 28；Described
Two end effectors 15 are equipped with the vacuum tube joint 27 for being evacuated to train tank, and the vacuum tube joint 27 and vacuum are soft
Pipe 29 is connected to.Double actuator train waters robot provided in this embodiment can carry out horizontal translation along robot ambulation axis 21,
Can be big with the upper water working range of further expansion robot, allowing different train number train stop positions, there is some difference.
Example IV
As shown in Figs 1-4, the present invention also provides the upper water methods of above-mentioned double actuator train waters robot, including walk as follows
It is rapid:
1) after train enters the station stop, double actuator train waters robot near each compartment is searched for by vision system
The water filling port and overflow port of train tank；
2) stretching by the translation of robot body, the rotation of first mechanical arm, the rotation of second mechanical arm and telescoping mechanism
Contracting, docks the upper water swivel 26 on first end actuator 14 with the water filling port of train tank, on second end actuator 15
Vacuum tube joint 27 docked with the overflow port of train tank；
3) water hose 28 is filled the water by upper water swivel 26 to train tank on, meanwhile, vacuum hose 29 is connect by vacuum tube
First 27 pairs of train tanks are evacuated, and reduce the air pressure in train tank, water speed rate in raising；
4) on after the completion of water, separate upper water swivel 26 with the water filling port of train tank and vacuum
Pipe fitting 27 is separated with the overflow port of train tank, and robot body restores initial pose, and keeps standby mode.
In upper water method provided in this embodiment, the two sides of first end actuator 14 are respectively equipped with two CCD cameras, the
The two sides of two end effectors 15 are respectively equipped with two CCD cameras, and CCD camera is all connect with control cabinet 18, for obtaining behaviour
Make the three-dimensional image information in environment, and the three-dimensional image information is sent on the monitoring computer of Central Control Room, is counted by monitoring
Calculation machine is according to upper water swivel 26 and the relative position of water filling port and the relative position of vacuum tube joint 27 and overflow port, computer
The translational movement of device human body, the rotational angle in each joint of first mechanical arm, second mechanical arm each joint angle of rotation
The stroke of degree and telescoping mechanism, and calculated result is sent to the corresponding control cabinet 18 in station, control cabinet 18 controls machine
Water swivel in the translation of human body, the rotation of first mechanical arm, the rotation of second mechanical arm and the flexible realization of telescoping mechanism
26 with docking for train water filling port and docking for vacuum tube joint 27 and train overflow port, water in realization.
Level sensor is equipped in train tank, upper water branch pipe 16 is equipped with flowmeter, the monitoring computer root of Central Control Room
According to the liquid level information of train tank calculate this upper water and the upper water time, when starting upper water, control cabinet 18 control open
Solenoid valve on upper water branch pipe 16 and vacuum manifold 17 is filled the water into train tank by upper water swivel 26 on one side, is passed through on one side
Vacuum tube joint 27 is evacuated train tank, reduces the air pressure in train tank, water speed rate in raising；When upper water reaches predetermined
Time after, the solenoid valve on upper water branch pipe 16 and vacuum manifold 17 is closed in the control of control cabinet 18, and water in completions, control cabinet 18 is together
When control first mechanical arm and second mechanical arm rotation and telescoping mechanism contraction, water swivel 26 and vacuum tube connect in realization
First 27, far from train tank, restore initial pose, and keep standby mode, and next train is waited to arrive.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of double actuator train waters robot, it is characterised in that: including robot body and control cabinet (18), the machine
Device human body connect with the control cabinet (18)；The robot body includes robot base (1), cross bar (7), the first machinery
Arm and two second mechanical arms；The lower end of the first mechanical arm is connect with the robot base (1), the first mechanical arm
Upper end connect with the cross bar (7)；One end of two second mechanical arms is connect with the cross bar (7), described in two
The second mechanical arm other end is connected separately with first end actuator (14) and second end actuator (15)；The first end
Actuator (14) is equipped with upper water swivel (26), and the upper water swivel (26) is connected to upper water hose (28)；The second end
Actuator (15) is equipped with the vacuum tube joint (27) for being evacuated to train tank, and the vacuum tube joint (27) and vacuum are soft
Manage (29) connection.
2. a kind of double actuator train waters robot as described in claim 1, it is characterised in that: set on the cross bar (7)
There are two z to telescoping mechanism, and two z are connect with two second mechanical arms respectively to the expansion end of telescoping mechanism.
3. a kind of double actuator train waters robot as claimed in claim 2, it is characterised in that: the z is to telescoping mechanism
Including vertical bar (24) and telescopic rod (25), the bottom of the vertical bar (24) is fixed on the cross bar (7), the vertical bar (24)
Top is equipped with telescopic rod (25), and the telescopic rod (25) is telescopically arranged in the vertical bar (24).
4. a kind of double actuator train waters robot as described in claim 1, it is characterised in that: further include being set to station
Robot ambulation axis (21) between station track, the robot body are installed on the robot ambulation axis (21).
5. a kind of double actuator train waters robot as described in claim 1, it is characterised in that: the first mechanical arm packet
Include the first joint (2), the first armed lever (4) and the second armed lever (6)；One end of first joint (2) and the robot base
(1) it is rotatablely connected, the other end is rotatablely connected by second joint (3) and first armed lever (4)；First armed lever (4) is logical
It crosses third joint (5) and second armed lever (6) is rotatablely connected；The one of the separate third joint (5) of second armed lever (6)
End is connect with the cross bar (7).
6. a kind of double actuator train waters robot as described in claim 1, it is characterised in that: the second mechanical arm packet
Include third armed lever (8), the 4th armed lever (10) and the 5th armed lever (12)；One end and the cross bar (7) of the third armed lever (8) are even
It connects, the other end is rotatablely connected by the 4th joint (9) and the 4th armed lever (10)；4th armed lever (10) is closed by the 5th
It saves (11) and the 5th armed lever (12) is rotatablely connected；5th armed lever (12) passes through the 6th joint (13) and first end
Hold actuator (14) or the second end actuator (15) connection.
7. a kind of double actuator train waters robot as described in claim 1, it is characterised in that: the upper water hose (28)
It is laid along the outer surface of the robot body with the vacuum hose (29).
8. a kind of double actuator train waters robot as described in claim 1, it is characterised in that: the row between the station track of station
Be laid on the side wall of ditch water conduit tube (22), be connected with several upper water branch pipes (16) on the upper water conduit tube (22), it is described on
Water branch pipe (16), the upper water hose (28) and the robot body correspond, and each upper water branch pipe (16) is respectively
It is connected to corresponding upper water hose (28).
9. a kind of double actuator train waters robot as described in claim 1, it is characterised in that: the row between the station track of station
It is laid on the side wall of ditch vacuum main pipe (23), is connected with several vacuum manifolds (17) on the vacuum main pipe (23), it is described true
Empty branch pipe (17), the vacuum hose (29) and the robot body correspond, and each vacuum manifold (17) is respectively
It is connected to corresponding vacuum hose (29).
10. a kind of upper water method of double actuator train waters robot, which comprises the steps of:
1) after train enters the station stop, double actuator train waters robot near each compartment is searched for by vision system
The water filling port and overflow port of train tank；
2) stretching by the translation of robot body, the rotation of first mechanical arm, the rotation of second mechanical arm and telescoping mechanism
Contracting, docks the upper water swivel (26) on first end actuator (14) with the water filling port of train tank, second end actuator
(15) vacuum tube joint (27) on is docked with the overflow port of train tank；
3) water hose (28) is filled the water by upper water swivel (26) to train tank on, meanwhile, vacuum hose (29) passes through true
Blank pipe connector (27) is evacuated train tank；
4) on after the completion of water, separate upper water swivel (26) with the water filling port of train tank and very
Blank pipe connector (27) is separated with the overflow port of train tank, restores initial pose, and keep standby mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360367.9A CN109334710B (en) | 2018-11-15 | 2018-11-15 | Double-actuator train water feeding robot and implementation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360367.9A CN109334710B (en) | 2018-11-15 | 2018-11-15 | Double-actuator train water feeding robot and implementation method |
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| Publication Number | Publication Date |
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| CN109334710A true CN109334710A (en) | 2019-02-15 |
| CN109334710B CN109334710B (en) | 2023-12-22 |
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| CN209274611U (en) * | 2018-11-15 | 2019-08-20 | 中铁第四勘察设计院集团有限公司 | A kind of double actuator train waters robot |
-
2018
- 2018-11-15 CN CN201811360367.9A patent/CN109334710B/en active Active
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|---|---|---|---|---|
| IL76735A0 (en) * | 1984-11-15 | 1986-02-28 | Westinghouse Electric Corp | Robotic end effector |
| WO2003007129A2 (en) * | 2001-07-13 | 2003-01-23 | Broks Automation, Inc. | Trajectory planning and motion control strategies for a planar three-degree-of-freedom robotic arm |
| CN105460036A (en) * | 2016-01-06 | 2016-04-06 | 长春市朗瑞斯铁路装备有限公司 | Vacuum holding type dejectas collecting system |
| CN107933609A (en) * | 2017-12-06 | 2018-04-20 | 中国铁道科学研究院电子计算技术研究所 | Compartment automatic loading water system and method |
| CN209274611U (en) * | 2018-11-15 | 2019-08-20 | 中铁第四勘察设计院集团有限公司 | A kind of double actuator train waters robot |
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