CN109532945A - A kind of train water robot assisted positioning water-feeding system - Google Patents
A kind of train water robot assisted positioning water-feeding system Download PDFInfo
- Publication number
- CN109532945A CN109532945A CN201811361321.9A CN201811361321A CN109532945A CN 109532945 A CN109532945 A CN 109532945A CN 201811361321 A CN201811361321 A CN 201811361321A CN 109532945 A CN109532945 A CN 109532945A
- Authority
- CN
- China
- Prior art keywords
- water
- train
- positioning component
- filling port
- feeding system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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 present invention relates to train water technical fields, provide a kind of train water robot assisted positioning water-feeding system, including train water robot, the train water robot has the search section of the position of pedestal and the water filling port for searching train, described search portion include for search train need plus water water filling port approximate location the first positioning component and for further search train need plus water water filling port accurate location the second positioning component, the first positioning component and second positioning component are set on the pedestal；The train water robot also has the control cabinet for coordinating the work between first positioning component and second positioning component.A kind of train water robot assisted of the invention positions water-feeding system, labour has been liberated using train water robot, and by positioning twice, has first determined the approximate location of water filling port, the accurate location for determining water filling port again, can quickly and accurately find the water filling port for needing water.
Description
Technical field
The present invention relates to train water technical field, specially a kind of train water robot assisted positions water-feeding system.
Background technique
Water bolt includes water bolt in traditionally water bolt and automatic rewinding type on currently used passenger train, the former is in upper water knot
Need water conservancy project people that original position is extracted and withdrawn from train water mouth by upper hose after beam, water bolt then can be upper in automatic rewinding type
Automatic-falling and backrush after water.Above two upper water bolt is intended to that upper hose is inserted into the upper of each compartment by upper water conservancy project people
The mouth of a river, it is larger to artificial degree of dependence, on the one hand, the upper water conservancy project inherently safe to shuttle between station track is difficult to be protected, separately
On the one hand, upper water conservancy project people itself labor intensity is larger, and upper water inefficiency.In addition, water in automatic rewinding type currently on the market
Bolt quality is very different, and " card pipe " phenomenon happens occasionally in reeling up process, brings security risk for driving.
Summary of the invention
The purpose of the present invention is to provide a kind of train water robot assisteds to position water-feeding system, using train water machine
Device people has liberated labour, and by positioning twice, first determines the approximate location of water filling port, then determine the accurate position of water filling port
It sets, can quickly and accurately find the water filling port for needing water.
To achieve the above object, the embodiment of the present invention provides the following technical solutions: a kind of train water robot assisted is fixed
Position water-feeding system, including train water robot, the train water robot have pedestal and the note for searching train
The search section of the position at the mouth of a river, described search portion include for search train need plus water water filling port approximate location first
It positioning component and is needed plus the second positioning component of the accurate location of the water filling port of water for further searching train, described the
One positioning component and second positioning component are set on the pedestal；The train water robot also has for assisting
Adjust the control cabinet of the work between first positioning component and second positioning component.
Further, first positioning component includes the upright bar being perpendicularly fixed on the pedestal, and the upright bar is far from institute
The end for stating pedestal is equipped with electric rotation shaft, the length direction one in the direction of the rotation axis of the electric rotation shaft and the upright bar
It causes；Second holder is installed on the electric rotation shaft, the picture signal that can be will acquire is installed on second holder and is sent to
The second camera of the control cabinet.
Further, first positioning component further include for adjusting the pitch angle of second holder second manually
Shaft, second hand-operated rotating shaft are mounted on the one end of the electric rotation shaft far from the pedestal, and second hand-operated rotating shaft
Rotation axis perpendicular to the upright bar, second holder is mounted on second hand-operated rotating shaft.
Further, second light source is installed on second holder.
Further, the upright bar has the hollow chamber for accommodating power line and signal bus.
Further, second positioning component include the control that can receive the control cabinet and stretch mechanical arm, be set to
The first holder on the mechanical arm and the picture signal that can be will acquire are sent to the first camera of the control cabinet, and described
One camera is set on first holder.
Further, it there are two the first cameras, and is arranged at intervals on first holder.
Further, first light source is installed on first holder.
Further, the train water robot also has the water filling portion for completing water filling task, the water filling portion tool
There is the receiving end for receiving the control signal that the control cabinet transmitting comes.
Further, the water filling portion includes the upper head portion that can be inserted into water filling port and the upper water hose for sending water, institute
It states head portion to install in the end of the mechanical arm, the upper water hose is laid in institute along the extending direction of the mechanical arm
It states on mechanical arm.
Compared with prior art, the beneficial effects of the present invention are: a kind of train water robot assisted positions water-feeding system,
Labour has been liberated using train water robot, and by positioning twice, has first determined the approximate location of water filling port, then determine note
The accurate location at the mouth of a river can quickly and accurately find the water filling port for needing water.
Detailed description of the invention
Fig. 1 is that the overall structure that a kind of train water robot assisted provided in an embodiment of the present invention positions water-feeding system is shown
It is intended to；
Fig. 2 is the second positioning group that a kind of train water robot assisted provided in an embodiment of the present invention positions water-feeding system
The main view of part；
Fig. 3 is the second positioning group that a kind of train water robot assisted provided in an embodiment of the present invention positions water-feeding system
The top view of part；
Fig. 4 is a kind of second camera of train water robot assisted positioning water-feeding system provided in an embodiment of the present invention
Field range schematic diagram；
Fig. 5 is a kind of structural schematic diagram of water connector on train provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the upper water fixture in Fig. 5 water connector on train；
Fig. 7 is the stress diagram of water fixture on Fig. 6；
Fig. 8 is the structural schematic diagram of another water connector on train provided in an embodiment of the present invention；
Fig. 9 and Figure 10 is the structural schematic diagram of the upper water fixture in Fig. 8 water connector on train；
Figure 11 is the structural schematic diagram that flexible inner walls clad provided in an embodiment of the present invention is externally provided with water fixture.
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.
In following each embodiment, the first and second of use are for the differentiation as feature, clear convenient for reference
It is clear, have no other purposes.
Referring to Fig. 1, the embodiment of the present invention provides a kind of train water robot assisted positioning water-feeding system, including train
Shang Shui robot, the train water robot have the search section of the position of pedestal 3 and the water filling port for searching train,
Described search portion include for search train need plus water water filling port approximate location the first positioning component 1 and for into
One step search train needs plus the second positioning component 2 of the accurate location of the water filling port of water, first positioning component 1 and institute
The second positioning component 2 is stated to be set on the pedestal 3；The train water robot also has for coordinating first positioning
The control cabinet 4 of work between component 1 and second positioning component 2.In the present embodiment, using train water robot solution
Labour has been put, and respectively by the first positioning component 1 and the second positioning component 2, has first determined the approximate location of water filling port, then really
Determine the accurate location of water filling port, can quickly and accurately find the water filling port for needing water.
The following are specific embodiments:
Optimize above scheme, please refer to Fig. 1-4, first positioning component 1 includes being perpendicularly fixed on the pedestal 3
Upright bar 10, the upright bar 10 are equipped with electric rotation shaft 11 far from the end of the pedestal 3, the rotation axis of the electric rotation shaft 11
Direction is consistent with the length direction of the upright bar 10；Second holder 12, second holder are installed on the electric rotation shaft 11
The picture signal that being equipped on 12 can will acquire is sent to the second camera 13 of the control cabinet 4.In the present embodiment, to needs
When the water filling port of upper water carries out Primary Location, that is, when positioning the approximate location of water filling port, water filling port is obtained using second camera 13
Image, and the picture signal after will acquire is sent in control cabinet 4.The mode that control cabinet 4 handles the picture signal is existing
Introduction is just no longer developed in details in technology.Second camera 13 is mounted on holder, controls cloud platform rotation by electric rotation shaft 11, then
Second camera 13 can also and then be swung together, hereinafter simply referred to as be swung, and realize the movement of primary search water filling port.As
The preferred embodiment of the present embodiment, the angle that electric rotation shaft 11 rotates are not less than 166 °, as shown in figure 4, can make the range searched
It is bigger.
Above scheme is advanced optimized, Fig. 1-3 is please referred to, first positioning component 1 further includes for adjusting described
Second hand-operated rotating shaft 14 of the pitch angle of two holders 12, it is separate that second hand-operated rotating shaft 14 is mounted on the electric rotation shaft 11
One end of the pedestal 3, and the rotation axis of second hand-operated rotating shaft 14, perpendicular to the upright bar 10, second holder 12 is pacified
On second hand-operated rotating shaft 14.It in the present embodiment, can be according to the practical height of train water filling port before train enters the station
Degree adjusts the pitch angle of second holder 12 by second hand-operated rotating shaft 14 one step ahead, can be in order to swinging
It searches more smooth when water filling port.Certainly in addition to this, adjustment herein also can be set to adjust automatically, put with above-mentioned left and right
It is dynamic the same, it can also be realized by electric rotation shaft 11.
As the prioritization scheme of the embodiment of the present invention, referring to Fig. 1, being equipped with second light source on second holder 12
15.In the present embodiment, it by the installation second light source 15 on the second holder 12, can be opened when light is bad, in order to
Second camera 13 works.
As the prioritization scheme of the embodiment of the present invention, referring to Fig. 1, the upright bar 10 have for accommodating power line 90 with
And the hollow chamber of signal bus 9.ON TRAINS in water robot, needs to use the power supply of power supply line 90 and use signal bus 9
Transmit signal, therefore, in order to prevent they be exposed to it is outer receives damage, also for not disorderly and unsystematic, set in the inside of upright bar 10
Power supply line 90 and signal bus 9 can be accommodated in the hollow chamber by hollow chamber, not only protected they safety but also not
It can seem disorderly and unsystematic.
As the prioritization scheme of the embodiment of the present invention, referring to Fig. 1, second positioning component 2 includes receivable described
The control of control cabinet 4 and mechanical arm 20, the first holder 21 on the mechanical arm 20 and the figure that can be will acquire stretched
As signal is sent to the first camera 22 of the control cabinet 4, the first camera 22 is set on first holder 21.In this reality
It applies in example, mechanical arm 20 can receive the signal that control cabinet 4 transmits and be stretched or retracted by control, second positioning component 2
What is completed is accurately to position, it is the positioning for completing to carry out on the basis of the positioning of approximate location in the first positioning component 1, because
After the first positioning component 1 is completed to position and send information in control cabinet 4 by second camera 13, control cabinet 4 passes through for this
Then direction that the information controls mechanical arm 20 towards the approximate location of the water filling port found close to the first positioning component 1 is handled to stretch
Exhibition, being located at first holder 21 of the mechanical arm 20 close to water filling port one end will be driven by mechanical arm 20 close to water filling port, so that setting
The image of water filling port, the picture signal that then will acquire again can be closely obtained in the first camera 22 on the first holder 21
Control cabinet 4 is fed back to again, that is, completes the positioning of the accurate location of water filling port.
Above scheme is advanced optimized, after control cabinet 4 receives the signal that the first positioning component 1 transmits, handles the letter
Number (particularly picture signal is first converted to digital signal by the image pick-up card in the control cabinet 4, then the digital signal is passed
Be handed in PC machine and handled in image processing system), to obtain the accurate three-dimensional coordinate of water filling port, then control water filling portion according to
The three-dimensional coordinate is accurately performed docking and realizes water filling.
Above scheme is advanced optimized, Fig. 2-3 is please referred to, there are two the first cameras 22, and is arranged at intervals at described
On first holder 21.In the present embodiment, if two first cameras 22, are made into binocular camera, positioning can be made more accurate,
And obtain three-dimensional image information.
As the prioritization scheme of the embodiment of the present invention, image pick-up card is equipped in control cabinet 4, it can receive above-mentioned
First camera 22 and the image that comes of the transmitting of second camera 13, and image information is converted into data information for image procossing system
System receives and processes.
As the prioritization scheme of the embodiment of the present invention, above-mentioned first camera 22 and second camera 13 can use CCD
Camera can also use infrared camera.
As the prioritization scheme of the embodiment of the present invention, first light source 23 is installed on first holder 21.In this implementation
In example, as above-mentioned use second light source 15, purpose using first light source 23 when light is bad also for can beat
It opens, in order to the work of first camera 22.Preferably, first light source 23 and second light source 15 can use LED light source.
As the prioritization scheme of the embodiment of the present invention, the train water robot also has for completing water filling task
Water filling portion, the water filling portion have the receiving end for receiving the control signal that the transmitting of control cabinet 4 comes.In the present embodiment, when
After navigating to the accurate location for needing the water filling port filled the water, control cabinet 4 sends control signal and gives water filling portion, the reception in water filling portion
Termination carries out docking and upper water after receiving instruction.
Above scheme is advanced optimized, the water filling portion includes that can be inserted into the upper head portion 6 of water filling port and for sending water
Upper water hose 200, the upper head portion 6 is installed in the end of the mechanical arm 20, and the upper water hose 200 is along the machine
The extending direction of tool arm 20 is laid on the mechanical arm 20.In the present embodiment, upper water hose 200 is soft material, its energy
Enough shapes along mechanical arm 20 are laid, and when mechanical arm 20 is close to water filling port, drive water hose 200 and upper head portion 6 on this
Close to water filling port, it is docked in water filling port convenient for upper head portion 6.
The water filling portion further includes solenoid valve 8, and the solenoid valve 8 is mounted on the upper water hose 200 far from described search
The one end in portion.In the present embodiment, which is mounted between water conduit tube 7 and upper water hose 200, plays the work of switch
With opening then water flowing, closing is then cut off the water.
Optimize above-mentioned upper head portion 6 comprising joint housing 301, the outlet end of the joint housing 301, which outwardly protrudes, to be set
It is equipped with water end (W.E.) set 302, the upper water end (W.E.) set 302 is that can cover the flexible annular part being filled on train water filling port.
It is easy-to-understand to, the inner diameter of above-mentioned upper water end (W.E.) set 302 is greater than the outer diameter of train water filling port, to guarantee to be somebody's turn to do
Upper water end (W.E.) set 302 can be inserted on train water filling port.Generally, train water filling port is cylinder straight tube, and above-mentioned upper water end (W.E.) set 302 can
It is corresponding to use cylindrical-shaped structure；It in a further embodiment, can also be the round table-like knot being gradually increased along upper water orient diameter
Structure, and its minimum diameter is advisable with being greater than train water filling port outer diameter.On this water end (W.E.) set 302 from the outlet end of joint housing 301 to
The setting of outer protrusion, namely the outlet sides of joint housing 301 are connected to along the axial water end (W.E.) set 302 on this of joint housing 301, upper
When head portion 6 is docked with train water filling port, on this water end (W.E.) set 302 be first inserted in train water filling port to train water filling port outer wall or column
Tank shell contacts around vehicle water filling port.
Train water head 6 provided in this embodiment, the setting upper water end (W.E.) set 302 flexible in 301 outlet end of joint housing,
After upper head portion 6 is docked with train water filling port, by the pressure certain along the axial application of joint housing 301, water end (W.E.) can be made
Compressive deformation occurs for set 302, to realize the sealing during upper water.
The structure for advanced optimizing above-mentioned train water head 6, such as Fig. 5-Figure 10, the upper water end (W.E.) set 302 is externally provided with
On the one hand upper water fixture 303 for being clamped on the train water filling port guarantees upper water end (W.E.) set 302 and train water filling port
Be reliably connected, on the other hand, it is above-mentioned keep upper water end (W.E.) set 302 axially compressed on the basis of, can also further make
Compressive deformation radially occurs for water end (W.E.) set 302, to effectively guarantee the leakproofness during upper water, prevents from leaking during water
The generation of water phenomenon.
Above-mentioned upper water fixture 303 can be manual, and pipe collar is such as arranged, and elastic by manual control pipe collar is
It can.In the present embodiment, preferably using Automatic-clamping and the upper water fixture 303 loosened；Specifically, several upper water exemplified below
The embodiment of fixture 303:
(1) such as Fig. 5-Fig. 7, the upper water fixture 303 includes having the flexible hoop 3032 of annular cavity and being embedded at
Multiple electromagnet 3031 in 3032 inner cavity of hoop, each electromagnet 3031 is between the circumferential direction of 3032 inner cavity of hoop
Every arrangement, and the magnetic pole different name close to each other per adjacent two electromagnet 3031.Preferably, above-mentioned flexible hoop 3032 is
Flexible composite film structure, is enclosed to set by flexible composite film and forms its 3032 inner cavity of hoop, and each electromagnet 3031 is multiple by flexibility
Close film coated；The flexible composite film preferably has certain thickness, and can contraction distortion, while when external force disappears
When can be reduced to original geomery, such as rubber hose or silica gel hose etc. can be used in it.
Specifically, the stress condition when energization of each electromagnet 3031 is shown such as Fig. 7, when each electromagnet 3031 is powered,
It due to being arranged in a manner of synonyms pole between adjacent electromagnet 3031, can attract each other, can finally make each electromagnet 3031
The magnet circle contraction being arranged in becomes smaller, and the flexible contraction distortion therewith of hoop 3032 makes water end (W.E.) set 302 clamp train water filling port.
When each 3031 power loss of electromagnet, under the reactivation of flexible hoop 3032, realize that each electromagnet 3031 resets.
Between it is arc-shaped electromagnet 3031 that each electromagnet 3031, which is both preferably, and each electromagnet 3031 is in uniform
Every arrangement, guarantee that the resultant force for the magnetic force that each electromagnet 3031 is subject to is directed toward 3032 center of hoop, so that each electromagnet
3031 are arranged in the form of circular magnet circle always, the clamping effect in guarantee between water end (W.E.) set 302 and train water filling port.
(2) such as Fig. 8-Figure 10, the upper water fixture 303 includes banding part 3034 and the movable part with the banding part 3034
Connection is with the electromagnet assembly for driving the banding part 3034 to hold tightly or unclamp.
Above-mentioned banding part 3034 can be anchor ear, including two half hoop plates, and for half hoop plate tool there are two wing plate, every side is opposite
Two wing plates be respectively equipped between electromagnet and two wing plates by reset spring connect, when two electromagnet obtain electric, should
Two electromagnet are attracting and the elastic force of reset spring is overcome to act on and make two wing plates close to each other, thus hold anchor ear tightly,
When each electromagnet power loss, loosen anchor ear under the action of reset spring.
In the present embodiment, such as Fig. 9 and Figure 10, the banding part 3034 is hose clamp 3034, is worn in offering on band
Hole, wherein one end of the band, which passes through the perforating and encloses the band, is set as ring, and the electromagnet assembly includes point
It is not fixed on two movable electro-magnets 3036 of two ends of the band and is separately fixed on the outer zone face of the band
Two fixed electromagnets 3035, two movable electro-magnets 3036 are between two fixed electromagnets 3035 and lean on respectively
Nearly two fixed electromagnet 3035, each fixed electromagnet 3035 are mutual with the adjacent movable electro-magnet 3036
It close magnetic pole different name and is connected by connecting rope 3038.Specifically, the width of wherein one end of the band is less than other parts
The width of band, so that the narrow end can pass through above-mentioned perforating with body；Narrow end has certain length with body, guarantees that it can phase
The adjusting for enclosing the aditus laryngis size being set as is realized for perforating activity.Under obstructed electricity condition, fixed electromagnet 3035 with
Adjacent movable electro-magnet 3036 is located remotely from each other, and connecting rope 3038 between the two is in tight state, when each electromagnet obtains electric,
It attracts each other between fixed electromagnet 3035 and adjacent movable electro-magnet 3036 and close, shrinks hose clamp 3034 and clamp upper water
End cap 302.
It is further preferred that such as Fig. 9, the hose clamp 3034 is equipped with sliding closure 3037, the sliding closure 3037 with it is described
The outer zone face of hose clamp 3034 encloses the sliding cavity for setting and being formed and circumferentially being slid for limiting the movable electro-magnet 3036 along the band,
Each electromagnet is contained in the sliding cavity.It is to be appreciated that the characteristics of being scaled for cooperation hose clamp 3034, above-mentioned sliding closure
3037 (i.e. along the middle position of the circumferential sliding closure 3037 of hose clamp 3034, namely can be located at two in middle position
Between movable electro-magnet 3036) be broken as the structure that can be slided relatively, or be set as foldable corrugated plating, etc., herein not
It is described further.By the way that sliding closure 3037 is arranged, to limit between movable electro-magnet 3036 and fixed electromagnet 3035 along specific
Direction relative motion, it is ensured that the clamping effect of hose clamp 3034.
It is to be appreciated that the conducting wire of above-mentioned electromagnet can be in 301 outer wall upward wiring of joint housing, and further from train
7 interior cabling of mechanical arm of Shang Shui robot 100.
The structure for connecting above-mentioned train water head 6, such as Fig. 5, Fig. 8 and Figure 11, above-mentioned 301 inner wall of joint housing is equipped with soft
Property inner wall clad 304, the leakproofness after head portion 6 is docked with train water filling port can be further improved, and reduce
Collision friction between joint housing 301 and train water filling port.Preferably above-mentioned upper water end (W.E.) set 302 and the flexible inner walls clad
304 are structure as a whole, i.e., upper water end (W.E.) set 302 extends outward to form for the flexible inner walls clad 304, in other words upper water end (W.E.) set
302 extend in divergent segment 3011 and are connected with 3011 inner wall of divergent segment, guarantee sealing reliability.Above-mentioned flexible inner walls cladding
Bonding mode can be used between layer 304 and joint housing 301 to fix.It is further preferred that above-mentioned flexible inner walls clad 304
At housing outlet end one can not be bonded in 3011 inner wall of divergent segment radially relative to divergent segment 3011 inner wall activity
It rises, preferably there is therebetween certain gap, can radially clamp train water filling port convenient for upper water end (W.E.) set 302.
It is further preferred that the joint housing 301 includes extending to along upper water direction flaring such as Fig. 5, Fig. 8 and Figure 11
The divergent segment 3011 of housing outlet end.Using the upper head portion 6 of gradual-enlargement type, it is adapted to different train water filling port models, it is real
Now safely and conveniently upper water process, it is existing to eliminate water resource waste caused by mismatching because of upper head portion 6 with train water filling port model
As.Further, such as Fig. 5, Fig. 8 and Figure 11, which further includes connecting with above-mentioned 3011 smaller diameter end of divergent segment
Isometrical section 3012, this isometrical section 3012 can be fixed in train water robot by fixed structure (such as pipe collar, lantern ring), and
It is docked with upper water hose 200.Since this isometrical section 3012 does not dock with train water filling port, above-mentioned flexible inner walls can not be set
Clad 304.
It is at least one set of above-mentioned upper in being set with outside flexible inner walls clad 304 as preferred embodiment, such as Figure 11
Water fixture 303, one end of the separate housing outlet end of flexible inner walls clad 304 and 301 inner wall of joint housing are connected.Water on this
The structure of fixture 303 does not repeat herein.Based on the structure, in addition to upper water end (W.E.) set 302 can clamp train water filling port, internal is soft
Property inner wall clad 304 can also clamp train water filling port, realize Multilayer clamping sealing, improve sealing effect significantly, reduce water
The wasting of resources.In particular, for the structure of above-mentioned joint housing 301 including divergent segment 3011, can be to avoid train water filling port outside
Between 301 inner wall of wall and joint housing wash by water bulging and influence flood effectiveness and upper water tightness.
In addition, it is also wrapped on outer wall rubber adhesive 305 on above-mentioned 301 outer wall of joint housing such as Fig. 5, it can be preferably
Head portion 6 in protection.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of train water robot assisted positions water-feeding system, including train water robot, the train water machine
People has the search section of the position of pedestal and the water filling port for searching train, it is characterised in that: described search portion includes using
Need to add the first positioning component of the approximate location of the water filling port of water in search train and for further searching train needs
Add the second positioning component of the accurate location of the water filling port of water, first positioning component and second positioning component are all provided with
In on the pedestal；The train water robot also has for coordinating first positioning component and the second positioning group
The control cabinet of work between part.
2. a kind of train water robot assisted as described in claim 1 positions water-feeding system, it is characterised in that: described first
Positioning component includes the upright bar being perpendicularly fixed on the pedestal, and the upright bar is equipped with electric rotating far from the end of the pedestal
Axis, the direction of the rotation axis of the electric rotation shaft are consistent with the length direction of the upright bar；Is equipped on the electric rotation shaft
Two holders are equipped with the second camera that the picture signal that can be will acquire is sent to the control cabinet on second holder.
3. a kind of train water robot assisted as claimed in claim 2 positions water-feeding system, it is characterised in that: described first
Positioning component further includes the second hand-operated rotating shaft for adjusting the pitch angle of second holder, the second hand-operated rotating shaft peace
One end mounted in the electric rotation shaft far from the pedestal, and the rotation axis of second hand-operated rotating shaft is perpendicular to the upright bar,
Second holder is mounted on second hand-operated rotating shaft.
4. a kind of train water robot assisted as claimed in claim 2 positions water-feeding system, it is characterised in that: described second
Second light source is installed on holder.
5. a kind of train water robot assisted as claimed in claim 2 positions water-feeding system, it is characterised in that: the upright bar
With the hollow chamber for accommodating power line and signal bus.
6. a kind of train water robot assisted as described in claim 1 positions water-feeding system, it is characterised in that: described second
Positioning component include the control that can receive the control cabinet and stretch mechanical arm, the first holder on the mechanical arm with
And the picture signal that can be will acquire is sent to the first camera of the control cabinet, the first camera is set to first holder
On.
7. a kind of train water robot assisted as described in right wants 6 positions water-feeding system, it is characterised in that: first phase
There are two machines, and is arranged at intervals on first holder.
8. a kind of train water robot assisted as claimed in claim 6 positions water-feeding system, it is characterised in that: described first
First light source is installed on holder.
9. a kind of train water robot assisted as claimed in claim 6 positions water-feeding system, it is characterised in that: the train
Shang Shui robot also has the water filling portion for completing water filling task, and the water filling portion, which has, receives what the control cabinet transmitting came
Control the receiving end of signal.
10. a kind of train water robot assisted as claimed in claim 9 positions water-feeding system, it is characterised in that: the note
Water portion includes the upper head portion that can be inserted into water filling port and the upper water hose for sending water, and the upper head portion is installed in the machine
The end of tool arm, the upper water hose are laid on the mechanical arm along the extending direction of the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361321.9A CN109532945A (en) | 2018-11-15 | 2018-11-15 | A kind of train water robot assisted positioning water-feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811361321.9A CN109532945A (en) | 2018-11-15 | 2018-11-15 | A kind of train water robot assisted positioning water-feeding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109532945A true CN109532945A (en) | 2019-03-29 |
Family
ID=65847458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811361321.9A Pending CN109532945A (en) | 2018-11-15 | 2018-11-15 | A kind of train water robot assisted positioning water-feeding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109532945A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644525A (en) * | 2020-12-31 | 2021-04-13 | 苏州立创致恒电子科技有限公司 | Water supply control system and water supply control method for automatically supplying water when train stops |
Citations (9)
| 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 |
| CN204383499U (en) * | 2015-01-12 | 2015-06-10 | 王雨坤 | Railway carriage full-automatic water feeding device |
| 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 |
| CN209351401U (en) * | 2018-11-15 | 2019-09-06 | 中铁第四勘察设计院集团有限公司 | A kind of train water robot assisted positioning water-feeding system |
-
2018
- 2018-11-15 CN CN201811361321.9A patent/CN109532945A/en active Pending
Patent Citations (9)
| 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 |
| CN204383499U (en) * | 2015-01-12 | 2015-06-10 | 王雨坤 | Railway carriage full-automatic water feeding device |
| 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 |
| CN209351401U (en) * | 2018-11-15 | 2019-09-06 | 中铁第四勘察设计院集团有限公司 | A kind of train water robot assisted positioning water-feeding system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644525A (en) * | 2020-12-31 | 2021-04-13 | 苏州立创致恒电子科技有限公司 | Water supply control system and water supply control method for automatically supplying water when train stops |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209351401U (en) | A kind of train water robot assisted positioning water-feeding system | |
| US20190009865A1 (en) | Control Device for Fluid Loading and/or Unloading System | |
| US8296914B2 (en) | Device for connecting the end of a flexible liquid supply pipe to a fixed tubing such as the manifold on a ship | |
| US9592895B2 (en) | Underwater docking system and docking method using the same | |
| CN102320362B (en) | Docking device of autonomous underwater vehicle and submarine observation network | |
| US4492847A (en) | Manipulator welding apparatus with sensing arrangements for weld slam tracking | |
| CN110718823B (en) | Automatic cable processing system and method | |
| CN109532945A (en) | A kind of train water robot assisted positioning water-feeding system | |
| CN109732555A (en) | A kind of robot system of robot arm end effector that playing leak stopping with twirl | |
| CN209274610U (en) | A kind of train water multi-dimensional robot degree positioning water-feeding system | |
| CN109367577A (en) | A kind of train water robot multistage positions upper water method | |
| CN108001648B (en) | A kind of submarine navigation device docking facilities | |
| CN109677574B (en) | Life support system for large depth underwater targets | |
| CN109532944A (en) | A kind of train water robot multistage positions water-feeding system | |
| CN209225171U (en) | The Shang Shui robot and train water system of built-in upper hose | |
| CN209351402U (en) | Shang Shui robot and train water system | |
| CN104238056A (en) | Cable splice closure with both ends mechanically sealed | |
| CN207579126U (en) | A kind of laser welding apparatus of tubular structure | |
| CN109367576A (en) | A kind of train water multi-dimensional robot degree positioning water-feeding system | |
| CN109515474B (en) | Water feeding robot and train water feeding system | |
| CN105172124A (en) | Junction buoy for aquaculture and the side of the body welding apparatus and method | |
| CN201876605U (en) | Endoscope with rotating lens tube | |
| CN107932919A (en) | A kind of laser welding apparatus of tubular structure | |
| CN109398412B (en) | Water feeding robot with built-in water feeding pipe and train water feeding system | |
| CN109519627A (en) | Scalable fixture, sealing structure and water connector on train |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |