CN109367576B - Multi-dimensional positioning water supply system of train water supply robot - Google Patents
Multi-dimensional positioning water supply system of train water supply robot Download PDFInfo
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- CN109367576B CN109367576B CN201811360342.9A CN201811360342A CN109367576B CN 109367576 B CN109367576 B CN 109367576B CN 201811360342 A CN201811360342 A CN 201811360342A CN 109367576 B CN109367576 B CN 109367576B
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- water
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- water supply
- water feeding
- robot
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 225
- 238000002347 injection Methods 0.000 claims description 30
- 239000007924 injection Substances 0.000 claims description 30
- 238000005457 optimization Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
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- 239000002131 composite material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000005253 cladding Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 239000008400 supply water Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/02—Bunkers; Tanks; Tenders; Water or fuel pick-up or scoop apparatus; Water or fuel supply fittings
Abstract
The invention relates to the technical field of train water feeding, and provides a multi-dimensional positioning water feeding system of a train water feeding robot. According to the multidimensional positioning water feeding system of the train water feeding robot, the train water feeding robot is adopted to liberate labor force, and the position of a water filling port needing water feeding can be quickly and accurately found through multidimensional positioning of a searching part of the train water feeding robot.
Description
Technical Field
The invention relates to the technical field of train water feeding, in particular to a multi-dimensional positioning water feeding system of a train water feeding robot.
Background
The current common passenger train water-feeding bolts comprise traditional water-feeding bolts and automatic winding type water-feeding bolts, wherein after water feeding is finished, a water-feeding worker is required to pull out a water-feeding pipe from a water-feeding port of a train and retract the water-feeding pipe to the original position, and the automatic winding type water-feeding bolts can automatically fall off and wind back after water feeding is finished. The two water feeding plugs are used for inserting the water feeding pipe into the water feeding port of each carriage by means of a water feeding worker, so that the degree of manual dependence is high, on one hand, the safety of the water feeding worker which shuttles back and forth between the tracks is difficult to be guaranteed, on the other hand, the labor intensity of the water feeding worker is high, and the water feeding efficiency is low. In addition, the automatic rewinding type water feeding bolt in the current market has good quality, and the phenomenon of pipe clamping in the rewinding process sometimes occurs, so that potential safety hazards are brought to driving.
Disclosure of Invention
The invention aims to provide a multi-dimensional positioning water feeding system of a train water feeding robot, which adopts the train water feeding robot to liberate labor force, and can quickly and accurately find the position of a water filling port needing water feeding through the multi-dimensional positioning of a searching part.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: the utility model provides a water supply robot multidimensional location water supply system on train, includes the water supply robot on train, the water supply robot on train has the searching part that is used for searching the position of the water filling mouth of train, searching part is including being used for searching the accurate positioner of the water filling mouth that the train needs to add water, positioner includes the camera, supplies the cloud platform of camera installation, is used for driving the cloud platform is with arbitrary angle pivoted first drive assembly, is used for driving the camera in the horizontal side-to-side motion's of cloud bench second drive assembly and be used for driving the horizontal side-to-side motion's of cloud platform third drive assembly.
Further, the first driving assembly comprises a rotary joint, the cradle head is arranged on the rotary joint, and the rotary joint is in spherical hinge connection with a support column for supporting the searching part.
Further, the second driving assembly comprises a guide rail arranged on the cradle head, a base which is in sliding connection with the guide rail, and a driving piece which is used for driving the base to slide on the guide rail, and the camera is arranged on the base; the guide rail is horizontally arranged, and the length direction of the guide rail is consistent with the length direction of the train.
Further, the driving piece is a driving motor, and the driving motor is arranged in the base.
Further, the third driving assembly comprises an electric rotating shaft, one end of the electric rotating shaft is installed on the cradle head, and the camera is installed on the other end of the electric rotating shaft; the rotation shaft of the electric rotation shaft is vertically arranged.
Further, the number of cameras is two, and two cameras are arranged on the cradle head at intervals.
Further, the camera is an infrared camera.
Further, the train water feeding robot is further provided with a mechanical arm, a water injection part for completing the water injection task and a control cabinet for receiving information of the searching part and controlling the water injection part to work, and the water injection part is provided with a receiving end for receiving a control signal transmitted by the control cabinet.
Further, the water injection part comprises a water injection head part capable of being inserted into the water injection port and a water injection hose for delivering water, the water injection head part is arranged at the end part of the mechanical arm, and the water injection hose is arranged on the mechanical arm along the extending direction of the mechanical arm.
Further, the water injection part further comprises an electromagnetic valve, and the electromagnetic valve is installed at one end, far away from the searching part, of the water supply hose.
Compared with the prior art, the invention has the beneficial effects that: a multi-dimensional positioning water feeding system of a train water feeding robot is characterized in that the train water feeding robot is adopted to liberate labor force, and the position of a water filling port needing water feeding can be quickly and accurately found through multi-dimensional positioning of a searching part of the train water feeding robot.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a multi-dimensional positioning water supply system of a train water supply robot according to an embodiment of the present invention;
fig. 2 is a front view of a positioning device for a multi-dimensional positioning water supply system of a train water supply robot according to an embodiment of the present invention;
fig. 3 is a top view of a positioning device for a multi-dimensional positioning water supply system of a train water supply robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a water connector on a train according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of the water supply clamp in the water supply connector of the train of FIG. 4;
FIG. 6 is a force diagram of the water clamp of FIG. 5;
FIG. 7 is a schematic diagram of another water-on-train joint according to an embodiment of the present invention;
FIGS. 8 and 9 are schematic structural views of a water feeding jig in the train water feeding joint of FIG. 7;
fig. 10 is a schematic structural diagram of a water feeding fixture provided outside a flexible inner wall cladding layer according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an embodiment of the present invention provides a multi-dimensional positioning water feeding system of a water feeding robot for a train, including a water feeding robot for a train, the water feeding robot for a train having a searching portion for searching a position of a water filling port of the train, the searching portion including a positioning device 1 for searching an accurate position of the water filling port of the train to be filled with water, the positioning device 1 including a camera 10, a pan-tilt 11 for mounting the camera 10, a first driving assembly for driving the pan-tilt 11 to rotate at any angle, a second driving assembly for driving the camera 10 to move horizontally and laterally on the pan-tilt 11, and a third driving assembly for driving the pan-tilt 11 to swing horizontally and laterally. In this embodiment, the camera 10 is used as a tool for searching for the water filling port, which is a representation of successful searching when the water filling port appears in the image. Specifically, the first driving component is adopted to drive the cradle head 11 to rotate at any angle, and since the camera 10 is installed on the cradle head 11, the camera 10 can also search the water filling port along with rotating at any angle, by adopting the searching mode, the searching range can be greatly increased, the second driving component can drive the camera 10 to horizontally move left and right on the cradle head 11, after being matched with the first driving component, the searching range can be further increased, the third driving component can drive the cradle head 11 to horizontally swing left and right, and the searching range can be further improved.
The following are specific examples:
as an optimization scheme of the embodiment of the present invention, referring to fig. 1 and 2, the first driving assembly includes a rotary joint 12, the pan-tilt 11 is mounted on the rotary joint 12, and the rotary joint 12 is connected to a supporting column 13 for supporting the search portion in a spherical hinge manner. In the present embodiment, the first driving unit is rotated at any angle by the spherical hinge of the rotary joint 12. Preferably, the rotation is controlled by a driving member to achieve a fully automatic search.
As an optimization scheme of the embodiment of the present invention, referring to fig. 1-3, the second driving assembly includes a guide rail 14 disposed on the pan-tilt 11, a base 15 slidably connected to the guide rail 14, and a driving member for driving the base 15 to slide on the guide rail 14, where the camera 10 is mounted on the base 15; the guide rail 14 is horizontally arranged, and the length direction of the guide rail 14 is consistent with the length direction of the train. In this embodiment, the length direction of the guide rail 14 is consistent with the length direction of the train, and the water injection ports that need to be injected are all at the same height and are generally on the same straight line after being connected to each other, so when the water injection ports cannot be searched within the rotation range of the current position of the first driving assembly, the driving member drives the base 15 carrying the camera 10 to slide left and right, and the water injection ports can be quickly searched.
Further optimizing the above scheme, referring to fig. 3, the driving member is a driving motor, and the driving motor is disposed in the base 15. In this embodiment, the driving member is a driving motor, which may be stored in the base 15. Of course, other than this, an electric push rod or the like may be used as the driving element.
For the optimization scheme of the embodiment of the present invention, referring to fig. 1-3, the third driving assembly includes an electric rotating shaft 16, one end of the electric rotating shaft 16 is mounted on the pan-tilt head 11, and the camera 10 is mounted on the other end of the electric rotating shaft 16; the rotation shaft of the electric rotation shaft 16 is vertically arranged. In the present embodiment, the electric rotating shaft 16 is used to swing the camera 10 from side to side, preferably, the swing angle is at least 166 °, and the wide range swing can further increase the searching range, thereby accelerating the searching speed.
For the optimization scheme of the embodiment of the present invention, please refer to fig. 1-3, the number of cameras 10 is two, and the two cameras 10 are disposed on the pan-tilt 11 at intervals. In this embodiment, two cameras 10 form a binocular camera 10, which can convert a two-dimensional image into a three-dimensional image, and the three-dimensional image can be processed into a three-dimensional digital signal after being transmitted to an image acquisition card in the control cabinet 17, so that the three-dimensional coordinate information can be converted into the three-dimensional coordinate information after being received and processed by the image processing system, and then the control cabinet 17 drives the water injection part to feed water according to the coordinate. When there are two cameras 10, there are two motor shafts 16, the base 15 and the driving motor which are matched with the two cameras.
For the optimization scheme of the embodiment of the present invention, please refer to fig. 2, the camera 10 is an infrared camera. In this embodiment, the camera 10 adopts an infrared camera, which has small volume, high resolution and strong anti-interference capability, and can be normally used even when the light is bad at night, thus being suitable for the working environment in the open air or semi-open air of a station. Of course, instead of the infrared camera, the camera 10 may employ a CCD camera in combination with a distance sensor, a light source, or the like.
For the optimization scheme of the embodiment of the invention, referring to fig. 1, the train water-feeding robot further comprises a mechanical arm, a water injection part for completing the water injection task, and a control cabinet 17 for receiving the information of the search part and controlling the water injection part to work, wherein the water injection part is provided with a receiving end for receiving the control signal transmitted by the control cabinet 17. In this embodiment, the control cabinet 17 can play roles of transferring instructions, sending control instructions and simply processing image information, specifically, it can receive three-dimensional image information searched by the searching part, then convert the image information into data information, transmit the data information to an image processing system in a control center (i.e. a PC) to process the data information into three-dimensional coordinates, and then control the water filling part to find a water filling port according to the three-dimensional coordinates to complete water filling. The operation of which is in fact prior art and will not be described in detail here.
With further optimization of the above-mentioned scheme, referring to fig. 1-3, the water injection portion includes a water feeding head 23 that can be inserted into a water injection port and a water feeding hose 200 for feeding water, the water feeding head 23 is disposed at an end portion of the mechanical arm 20, and the water feeding hose 200 is disposed on the mechanical arm 20 along an extending direction of the mechanical arm 20. In this embodiment, the soft material of the water supply hose 200 can be laid along the shape of the mechanical arm 20, and when the mechanical arm 20 approaches the water filling port, the water supply hose 200 and the water supply head 23 are driven to approach the water filling port, so that the water supply head 23 is conveniently abutted into the water filling port. A water supply main 22 is also provided in the stock passage and is in communication with the water supply hose 200, and a water source flows from the water supply main 22 to the water supply hose 200. The support column 13 is mounted on the robot arm 20.
Further optimizing the above scheme, referring to fig. 1, the water injection part further includes a solenoid valve 21, and the solenoid valve 21 is installed at an end of the water supply hose 200 remote from the search part. In the present embodiment, the electromagnetic valve 21 is installed between the water supply main 22 and the water supply hose 200, and functions as a switch, and is opened to supply water and closed to supply water.
The water feeding head part 23 is optimized and comprises a connector shell 301, wherein the outlet end of the connector shell 301 is provided with a water feeding end sleeve 302 in an outward protruding mode, and the water feeding end sleeve 302 is a flexible annular piece capable of being sleeved on a water filling port of a train.
It will be readily appreciated that the inner wall diameter of the water feed end cap 302 is larger than the outer wall diameter of the train water inlet to ensure that the water feed end cap 302 can be fitted over the train water inlet. Generally, the water filling port of the train is a cylindrical straight pipe, and the water filling end sleeve 302 can correspondingly adopt a cylindrical structure; in another embodiment, the water injection port of the train can also have a truncated cone-shaped structure with gradually increased diameter along the water feeding direction, and the minimum inner diameter of the water injection port of the train is preferably larger than the outer diameter of the water injection port of the train. The water-feeding end cap 302 protrudes outwards from the outlet end of the joint housing 301, that is, the water-feeding end cap 302 is connected to the outlet side of the joint housing 301 along the axial direction of the joint housing 301, and when the water-feeding head 23 is in butt joint with the water-filling port of the train, the water-feeding end cap 302 is sleeved into the water-filling port of the train to be in contact with the outer wall of the water-filling port of the train or the water tank housing around the water-filling port of the train.
In the train water feeding head part 23 provided by the embodiment, the flexible water feeding end sleeve 302 is arranged at the outlet end of the joint housing 301, and after the water feeding head part 23 is in butt joint with the water injection port of the train, the water feeding end sleeve 302 can be subjected to compression deformation by applying certain pressure along the axial direction of the joint housing 301, so that the sealing in the water feeding process is realized.
Further optimizing the structure of the water head 23 on the train, as shown in fig. 4-9, a water feeding fixture 303 for clamping the water feeding end sleeve 302 on the water filling port of the train is arranged outside the water feeding end sleeve 302, so that on one hand, the reliable connection between the water feeding end sleeve 302 and the water filling port of the train is ensured, and on the other hand, on the basis of axially compressing the water feeding end sleeve 302, the water feeding end sleeve 302 can be further compressed and deformed along the radial direction, thereby effectively ensuring the tightness in the water feeding process and preventing the water leakage phenomenon in the water feeding process.
The water feeding clamp 303 can be a manual clamp, for example, a pipe clamp is arranged, and the tightness of the pipe clamp is controlled manually. In the present embodiment, it is preferable to use a water feeding jig 303 that automatically clamps and releases; specifically, the following are examples of several kinds of the water feeding jigs 303: (1) Referring to fig. 4-7, the water supply fixture 303 includes a flexible collar 3032 having an annular inner cavity and a plurality of electromagnets 3031 embedded in the inner cavity of the collar 3032, wherein each electromagnet 3031 is arranged at intervals along the circumferential direction of the inner cavity of the collar 3032, and each two adjacent electromagnets 3031 are mutually close to each other and have different magnetic poles. Preferably, the flexible collar 3032 is a flexible composite film structure, the flexible composite film encloses an inner cavity of the collar 3032, and each electromagnet 3031 is covered by the flexible composite film; the flexible composite film is preferably formed to have a certain thickness, and is capable of shrinking and deforming and being restored to an original shape and size when the external force is removed, and for example, a rubber hose, a silicone hose, or the like can be used.
Specifically, as shown in fig. 6, when each electromagnet 3031 is energized, due to the arrangement of the different-name magnetic poles, adjacent electromagnets 3031 can attract each other, so that the shrinkage of the magnet ring formed by arranging the electromagnets 3031 is reduced, and the flexible hoop 3032 is shrunk and deformed along with the shrinkage, so that the water filling end sleeve 302 clamps the water filling port of the train. When each electromagnet 3031 is powered off, the reset of each electromagnet 3031 is realized under the recovery action of the flexible hoops 3032.
Each electromagnet 3031 is preferably an arc electromagnet 3031, and the electromagnets 3031 are uniformly arranged at intervals, so that the resultant force of magnetic acting forces received by each electromagnet 3031 is ensured to be directed to the center of the hoop 3032, and the electromagnets 3031 are always distributed in the form of circular magnet rings, so that the clamping effect between the water feeding end sleeve 302 and the water injection port of the train is ensured.
(2) As shown in fig. 7-9, the water supply fixture 303 includes a tightening member and an electromagnet assembly connected to a movable portion of the tightening member for driving the tightening member to tighten or loosen.
The hooping piece can be a hoop and comprises two half hoop plates, wherein each half hoop plate is provided with two wing plates, the two wing plates opposite to each side are respectively provided with an electromagnet and are connected through a reset spring, when two electromagnets are powered on, the two electromagnets attract each other and overcome the elastic force of the reset spring to enable the two wing plates to approach each other, so that the hoop is held tightly, and when the electromagnets are powered off, the hoop is loosened under the action of the reset spring.
In this embodiment, as shown in fig. 8 and 9, the tightening member is a hose clamp 3034, a through hole is formed in the strap, one end of the strap passes through the through hole and makes the strap enclose into a ring, the electromagnet assembly includes two movable electromagnets 3036 respectively fixed at two ends of the strap and two fixed electromagnets 3035 respectively fixed on the outer strap surface of the strap, the two movable electromagnets 3036 are located between the two fixed electromagnets 3035 and respectively close to the two fixed electromagnets 3035, and each fixed electromagnet 3035 is connected with the adjacent movable electromagnet 3036 by a connecting rope 3038. Specifically, one end of the band has a smaller width than the other part of the band, so that the narrow end band body can pass through the through hole; the narrow end belt body has a certain length, so that the narrow end belt body can move relative to the penetrating hole to realize the adjustment of the size of the enclosed laryngeal opening. In the non-energized state, the fixed electromagnet 3035 and the adjacent movable electromagnet 3036 are far away from each other, the connecting rope 3038 between the fixed electromagnet 3035 and the adjacent movable electromagnet 3036 is in a tight state, and when the electromagnets are energized, the fixed electromagnet 3035 and the adjacent movable electromagnet 3036 are attracted to each other and close to each other, so that the hose clamp 3034 contracts and clamps the water feeding end sleeve 302.
Further preferably, as shown in fig. 8, the cuff 3034 is provided with a sliding cover 3037, and the sliding cover 3037 and an outer belt surface of the cuff 3034 enclose a sliding cavity for limiting the movable electromagnet 3036 to slide along the circumferential direction of the cuff, and each electromagnet is accommodated in the sliding cavity. It will be appreciated that the sliding cover 3037 may be broken into a relatively slidable configuration at an intermediate position (i.e., intermediate position of the sliding cover 3037 along the circumference of the ferrule 3034, i.e., between the two movable electromagnets 3036) or may be provided as a collapsible corrugated panel, etc., for the purpose of accommodating the scaling characteristics of the ferrule 3034, as will not be described in detail herein. By providing the sliding cover 3037 for restricting relative movement between the movable electromagnet 3036 and the fixed electromagnet 3035 in a particular direction, the clamping effect of the ferrule 3034 can be ensured.
It will be appreciated that the wires of the electromagnets described above may be routed on the outer wall of the joint housing 301 and further from within the robotic arm 20 of the water feeding robot 100.
Continuing the structure of the water feeding head 23 of the train, as shown in fig. 4, 7 and 10, the flexible inner wall coating layer 304 is provided on the inner wall of the joint housing 301, so as to further improve the tightness of the water feeding head 23 after being abutted with the water filling port of the train and reduce the collision friction between the joint housing 301 and the water filling port of the train. Preferably, the water-feeding end cap 302 and the flexible inner wall coating 304 are integrally formed, that is, the water-feeding end cap 302 is formed by extending the flexible inner wall coating 304 outwards, or the water-feeding end cap 302 extends into the diverging section 3011 and is fixedly connected with the inner wall of the diverging section 3011, so as to ensure sealing reliability. The flexible inner wall coating 304 and the connector housing 301 may be fixed by an adhesive. It is further preferred that the flexible inner wall cladding 304 is movable radially relative to the inner wall of the diverging section 3011 at the outlet end of the housing, i.e., not bonded to the inner wall of the diverging section 3011, preferably with a gap therebetween, so that the water-filling end cap 302 can clamp the train water filling port radially.
Further preferably, as shown in fig. 4, 7 and 10, the connector housing 301 includes a diverging section 3011 that diverges in the water-feeding direction to the housing outlet end. The gradually-expanding water feeding head part 23 is adopted, so that the device can adapt to different train water injection port models, realize a safe and convenient water feeding process, and eliminate the phenomenon of water resource waste caused by mismatching of the water feeding head part 23 and the train water injection port model. Further, as shown in fig. 4, 7 and 10, the connector housing 301 further includes an equal diameter section 3012 connected to the small diameter end of the diverging section 3011, and the equal diameter section 3012 can be fixed to the train launch robot by a fixing structure (such as a pipe hoop, a collar, etc.) and is in butt joint with the launch hose 200. The flexible inner wall cladding 304 may not be provided as the constant diameter section 3012 does not interface with the train fill port.
As a preferred embodiment, as shown in fig. 10, at least one group of the water supply clamps 303 is sleeved on the flexible inner wall coating 304, and one end of the flexible inner wall coating 304, which is far away from the outlet end of the housing, is fixedly connected with the inner wall of the connector housing 301. The structure of the water feeding jig 303 will not be described here. Based on the structure, besides the water feeding end sleeve 302 can clamp the water filling port of the train, the inner flexible inner wall coating layer 304 can also clamp the water filling port of the train, so that multi-layer clamping sealing is realized, the sealing effect is remarkably improved, and the water resource waste is reduced. In particular, with the above-described structure in which the joint housing 301 includes the divergent section 3011, it is possible to prevent the water filling effect and the water filling tightness from being affected by the flush bulge between the outer wall of the train water filling port and the inner wall of the joint housing 301.
In addition, as shown in fig. 4, the outer wall of the joint housing 301 is further covered with an outer wall rubber coating 305, so that the upper head portion 23 can be well protected.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a water robot multidimensional location water supply system on train, includes the water robot on train, the water robot on train has the search unit that is used for searching the position of the water filling port of train, its characterized in that: the water feeding robot on the train is further provided with a mechanical arm, a water feeding part for completing a water feeding task and a control cabinet for receiving information of the water feeding part and controlling the operation of the water feeding part, the water feeding part is provided with a receiving end for receiving control signals transmitted by the control cabinet, the water feeding part comprises a water feeding head part capable of being inserted into a water feeding port and a water feeding hose for feeding water, the water feeding head part is arranged at the end part of the mechanical arm, the water feeding hose is arranged on the mechanical arm along the extending direction of the mechanical arm, the water feeding head part comprises a joint housing, the outlet end of the joint housing is provided with a water feeding part in a protruding mode, the water feeding part is provided with a water clamping part, the two end of the joint housing is provided with a water clamping part, the two end of the water clamping part is provided with a water clamping part, the two end clamping part is respectively, the two end clamping parts are respectively provided with a water clamping part and the two clamping parts are respectively fastened with a water clamping part, the two clamping parts are respectively fastened with a water clamping part and the two clamping parts are respectively fastened with a water clamping part, the movable electromagnets are positioned between the fixed electromagnets and are respectively close to the fixed electromagnets, and each fixed electromagnet is connected with the adjacent movable electromagnet through a connecting rope, wherein the magnetic poles of the fixed electromagnets and the magnetic poles of the adjacent movable electromagnets which are close to each other are different.
2. The multi-dimensional positioning water supply system of a train water supply robot as set forth in claim 1, wherein: the first driving assembly comprises a rotary joint, the cradle head is arranged on the rotary joint, and the rotary joint is in spherical hinge connection with a support column for supporting the searching part.
3. The multi-dimensional positioning water supply system of a train water supply robot as set forth in claim 1, wherein: the second driving assembly comprises a guide rail arranged on the cradle head, a base which is in sliding connection with the guide rail and a driving piece which is used for driving the base to slide on the guide rail, and the camera is arranged on the base; the guide rail is horizontally arranged, and the length direction of the guide rail is consistent with the length direction of the train.
4. A multi-dimensional positioning water supply system for a train water supply robot as set forth in claim 3, wherein: the driving piece is a driving motor, and the driving motor is arranged in the base.
5. The multi-dimensional positioning water supply system of a train water supply robot as set forth in claim 1, wherein: the third driving assembly comprises an electric rotating shaft, one end of the electric rotating shaft is installed on the cradle head, and the camera is installed on the other end of the electric rotating shaft; the rotation shaft of the electric rotation shaft is vertically arranged.
6. The multi-dimensional positioning water supply system of a train water supply robot as set forth in claim 1, wherein: the number of cameras is two, and the two cameras are arranged on the holder at intervals.
7. The multi-dimensional positioning water supply system of a train water supply robot as set forth in claim 1, wherein: the camera is an infrared camera.
8. The multi-dimensional positioning water supply system of a train water supply robot as set forth in claim 1, wherein: the water injection part further comprises an electromagnetic valve, and the electromagnetic valve is installed at one end, far away from the searching part, of the water supply hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360342.9A CN109367576B (en) | 2018-11-15 | 2018-11-15 | Multi-dimensional positioning water supply system of train water supply robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811360342.9A CN109367576B (en) | 2018-11-15 | 2018-11-15 | Multi-dimensional positioning water supply system of train water supply robot |
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| CN109367576A CN109367576A (en) | 2019-02-22 |
| CN109367576B true CN109367576B (en) | 2024-03-26 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191109933A (en) * | 1911-04-24 | 1911-06-15 | Dino Pesci | Improvements in Devices for Supplying Feed-water to Travelling Locomotives. |
| CN201056210Y (en) * | 2007-02-13 | 2008-05-07 | 闫松林 | Water-supply device of railway train |
| CN104835163A (en) * | 2015-05-11 | 2015-08-12 | 华中科技大学 | Embedded real-time high-speed binocular vision system for moving target detection |
| CN104986164A (en) * | 2015-07-30 | 2015-10-21 | 南车成都机车车辆有限公司 | Automatic water supply system for bus and water supply method |
| CN105262946A (en) * | 2015-09-23 | 2016-01-20 | 上海大学 | Three-dimensional binocular camera platform experimental device |
| 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 |
| CN207481921U (en) * | 2017-11-28 | 2018-06-12 | 王雨坤 | Compartment upper hose driving device |
| CN209274610U (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 train water multi-dimensional robot degree positioning water-feeding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191109933A (en) * | 1911-04-24 | 1911-06-15 | Dino Pesci | Improvements in Devices for Supplying Feed-water to Travelling Locomotives. |
| CN201056210Y (en) * | 2007-02-13 | 2008-05-07 | 闫松林 | Water-supply device of railway train |
| CN104835163A (en) * | 2015-05-11 | 2015-08-12 | 华中科技大学 | Embedded real-time high-speed binocular vision system for moving target detection |
| CN104986164A (en) * | 2015-07-30 | 2015-10-21 | 南车成都机车车辆有限公司 | Automatic water supply system for bus and water supply method |
| CN105262946A (en) * | 2015-09-23 | 2016-01-20 | 上海大学 | Three-dimensional binocular camera platform experimental device |
| CN207481921U (en) * | 2017-11-28 | 2018-06-12 | 王雨坤 | Compartment upper hose driving device |
| 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 |
| CN209274610U (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 train water multi-dimensional robot degree positioning water-feeding system |
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|---|---|
| CN109367576A (en) | 2019-02-22 |
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