CN110421598A - A kind of train set comprehensive detection device collision avoidance system - Google Patents
A kind of train set comprehensive detection device collision avoidance system Download PDFInfo
- Publication number
- CN110421598A CN110421598A CN201910746198.0A CN201910746198A CN110421598A CN 110421598 A CN110421598 A CN 110421598A CN 201910746198 A CN201910746198 A CN 201910746198A CN 110421598 A CN110421598 A CN 110421598A
- Authority
- CN
- China
- Prior art keywords
- collision
- train set
- detection device
- comprehensive detection
- joint robot
- 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
- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 7
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 208000014674 injury Diseases 0.000 abstract description 4
- 208000033999 Device damage Diseases 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of train set comprehensive detection device collision avoidance systems; the train set comprehensive detection device is placed in the trench in train service shop; the train set comprehensive detection device includes moving body, six-joint robot and image detection module; the image detection module is arranged on the six-joint robot; the collision avoidance system includes safety sensor, anti-collision mechanical device and force moment protection device, and safety sensor is ultrasonic sensor；Anti-collision mechanical device includes rubber bumper；Force moment protection device connects the 6th axis of described image detection module and the six-joint robot, with for perceiving the collision when image detection module and train set component are collided and sending a signal to controller, controller controls six-joint robot stop motion.The present invention can carry out multiple-protection to operating personnel and comprehensive detection device, with strong points, highly-safe, and vehicle bottom equipment, comprehensive detection device damage and operating personnel's injury can be effectively prevented.
Description
Technical field
The invention belongs to train overhaul apparatus fields, use more particularly, to a kind of train set comprehensive detection device anti-
Collision system.
Background technique
Train part in daily operation can gradually wear away, corrode and damage, such as: bearing shell abrasion are transfinited, wheel tread
Scratch, brake beam loose or dislocation, spring failure fracture etc..If processing will jeopardize traffic safety not in time, so to make vehicle
Often processing quality kilter, it is ensured that traffic safety, extend vehicle service life, it is necessary to vehicle carry out maintenance repair,
Keep the intact and safe operation of vehicle.It is reliable will also to pay attention to equipment other than the efficiency of restorer to be paid attention to for maintenance now
Property, availability, maintainability and safety etc..
Train set generally has the equipment such as bogie, braking system and dynamical system, therefore train set is also emphasis inspection
Survey object.Train set comprehensive detection device is to detect in the trench being placed in train service shop to train set.Make
During industry, there are multitask cross-operation situations in trench, therefore need to guarantee that vehicle bottom comprehensive detection device cannot trench culture over the ground
The other staff of industry, equipment damage, while also to guarantee that equipment itself is not damaged.Current safety measure mainly passes through
Artificial observation in emergency circumstances presses emergency stop or installs common sensor forecast.But artificial observation is easy to appear deviation,
Situations such as will appear artificial reaction simultaneously not in time, exists by artificial observation and unexpected risk occur；And common safety
Sensor sensing range is small, distance of reaction is small, is easy to miss trench furrow bank barrier or operating personnel, easily cause equipment damage or
Personal injury
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of train set comprehensive detection devices
With collision avoidance system, protectiveness is strong, highly-safe.
To achieve the above object, according to one aspect of the present invention, a kind of train set comprehensive detection device use is provided
Collision avoidance system, the train set comprehensive detection device are placed in the trench in train service shop, the comprehensive inspection of the train set
Surveying device includes moving body, six-joint robot and image detection module, which is mounted on the moving body, should
Image detection module is arranged on the six-joint robot, which is characterized in that the collision avoidance system includes safety sensor, mechanical anti-
Crash device and force moment protection device, wherein
The safety sensor is ultrasonic sensor, and scanning scope includes the solid of entire trench in set distance
Space, when ensuring that train set comprehensive detection device is run in trench, when encountering barrier or operation people in scanning scope
When member, safety sensor sends a signal to controller, and controller controls train set comprehensive detection device and stops movement；
The anti-collision mechanical device includes rubber bumper, is arranged on the moving body；
6th axis of the connection of force moment protection device the described image detection module and the six-joint robot, for scheming
The collision is perceived when colliding as detection module and train set component and sends a signal to controller, and controller controls six axis machines
Device people's stop motion.
Preferably, there are two the safety sensor settings, and they are separately positioned on the front end of moving body with after
End.
Preferably, there are two which is arranged and they are separately positioned on the front end of moving body with after
End.
Preferably, which is arranged in the top of the anti-collision mechanical device.
Preferably, the anti-collision mechanical device has multiple rubber bumpers.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1) for safety sensor of the invention using the situation in ultrasonic sensor scanning area, scanning scope is big, protection
The safety of operating personnel and equipment itself in trench.
2) anti-collision mechanical device of the invention uses rubber bumper, does not need operation power, can pass in safety
Sensor protects the safety of operating personnel and equipment to greatest extent in the case where failing.
3) force moment protection device of the invention is arranged between image detection module and the 6th axis of six-joint robot, Ke Yi
Image detection module and vehicle bottom parts protect image detection module when colliding.
4) present invention can carry out multiple-protection to operating personnel and comprehensive detection device, with strong points, highly-safe, can
To effectively prevent vehicle bottom equipment, comprehensive detection device damage and operating personnel's injury.
Detailed description of the invention
Fig. 1 is the schematic diagram that safety sensor and anti-collision mechanical device of the invention are mounted on moving body；
Fig. 2 is the schematic diagram that force moment protection device of the invention is mounted on the 6th axis of robot.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1 and Figure 2, a kind of train set comprehensive detection device collision avoidance system, the train set comprehensive detection
Device is placed in the trench in train service shop, which includes moving body 1, six-joint robot
2 and image detection module 3, the six-joint robot 2 be mounted on the moving body 1, the image detection module 3 be arranged in six axis
In robot 2, which is characterized in that the collision avoidance system includes safety sensor 4, anti-collision mechanical device 5 and force moment protection device
6, wherein
The safety sensor 4 is ultrasonic sensor, and scanning scope includes the vertical of entire trench in set distance
Body space, when ensuring that train set comprehensive detection device is run in trench, when encountering barrier or operation in scanning scope
When personnel, safety sensor 4 sends a signal to controller, and controller controls train set comprehensive detection device and stops movement；
The anti-collision mechanical device 5 includes rubber bumper, is arranged on the moving body 1；Preferably, the machine
Tool collision prevention device 5 has multiple rubber bumpers；
The force moment protection device 6 connects the 6th axis of described image detection module 3 and the six-joint robot 2, to be used for
The collision is perceived when image detection module 3 and train set component are collided and sends a signal to controller, controller control
2 stop motion of six-joint robot.
The scanning that the safety sensor 4 installed before and after moving body 1 of the present invention uses can be as required apart from big, scanning scope
The ultrasonic sensor of setting, scanning scope may include the solid space of entire trench in certain distance, it is ensured that equipment is on ground
When running in ditch, when encountering in scanning scope barrier or operating personnel, equipment can stop immediately, protect equipment and personnel
Safety.
The front and back end of moving body 1 is equipped with rubber bumper, when front and back safety sensor 4 is because of the unexpected failure of electric fault
When, rubber bumper can utmostly reduce the injury of equipment and personnel.
Image detection module 3 can take pictures to train set, and since vehicle bottom structure is complicated, robot arm is at vehicle bottom
There may be the risks of image detection module 3 and the collision of vehicle bottom parts when movement, in order to protect image detection module 3 and six axis machines
Device people 2, when image detection module 3 under fortuitous event and the collision of vehicle bottom parts, force moment protection device 6 can be perceived delicately, In
Stop robot in the extremely short time, protects image detection module 3 to greatest extent.
Further, there are two the safety sensor 4 settings, and they be separately positioned on moving body 1 front end and
Rear end can be detected when moving body 1 advances or moves backward in this way, guarantee the safety of 1 front and back of moving body.
Further, the anti-collision mechanical device 5 setting there are two and they be separately positioned on moving body 1 front end and
Rear end, in this way can in 4 failure of safety sensor to moving body 1 before and after carry out effective protection.
Further, which is arranged in the top of the anti-collision mechanical device 5, and such safety sensor 4 can be with
There is bigger scanning range, and the one end of anti-collision mechanical device 5 far from moving body 1 can exceed safety sensor 4,
It can first collide in anti-collision mechanical device 5 in this way, so as to protect safety sensor 4.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of train set comprehensive detection device collision avoidance system, which is placed in train inspection
In the trench of Xiu Kunei, which includes moving body, six-joint robot and image detection module, is somebody's turn to do
Six-joint robot is mounted on the moving body, which is arranged on the six-joint robot, which is characterized in that should
Collision avoidance system includes safety sensor, anti-collision mechanical device and force moment protection device, wherein
The safety sensor is ultrasonic sensor, and scanning scope includes that the solid of entire trench in set distance is empty
Between, when ensuring that train set comprehensive detection device is run in trench, when encountering barrier or operating personnel in scanning scope
When, safety sensor sends a signal to controller, and controller controls train set comprehensive detection device and stops movement；
The anti-collision mechanical device includes rubber bumper, is arranged on the moving body；
6th axis of the connection of force moment protection device the described image detection module and the six-joint robot, for being examined in image
It perceives the collision when surveying module and the collision of train set component and sends a signal to controller, controller controls six-joint robot
Stop motion.
2. a kind of train set comprehensive detection device collision avoidance system according to claim 1, which is characterized in that described
There are two safety sensor settings, and they are separately positioned on the front-end and back-end of moving body.
3. a kind of train set comprehensive detection device collision avoidance system according to claim 1, which is characterized in that the machine
There are two tool collision prevention device is arranged and they are separately positioned on the front-end and back-end of moving body.
4. a kind of train set comprehensive detection device collision avoidance system according to claim 1, which is characterized in that the peace
The top of the anti-collision mechanical device is arranged in full sensor.
5. a kind of train set comprehensive detection device collision avoidance system according to claim 1, which is characterized in that described
Anti-collision mechanical device has multiple rubber bumpers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910746198.0A CN110421598A (en) | 2019-08-13 | 2019-08-13 | A kind of train set comprehensive detection device collision avoidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910746198.0A CN110421598A (en) | 2019-08-13 | 2019-08-13 | A kind of train set comprehensive detection device collision avoidance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110421598A true CN110421598A (en) | 2019-11-08 |
Family
ID=68416048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910746198.0A Pending CN110421598A (en) | 2019-08-13 | 2019-08-13 | A kind of train set comprehensive detection device collision avoidance system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110421598A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205256315U (en) * | 2015-11-17 | 2016-05-25 | 广东科达洁能股份有限公司 | Automobile -used collision avoidance system and vehicle |
| CN206316827U (en) * | 2016-10-19 | 2017-07-11 | 东莞市尚发电子科技有限公司 | Intelligent handling equipment for CNC |
| CN108274463A (en) * | 2017-01-06 | 2018-07-13 | 苏州华兴致远电子科技有限公司 | Train Ku Jian robots and Train Parts detection method |
| CN108858211A (en) * | 2018-09-26 | 2018-11-23 | 珠海格力智能装备有限公司 | Anti-collision mechanism, robot and collision-proof method |
-
2019
- 2019-08-13 CN CN201910746198.0A patent/CN110421598A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205256315U (en) * | 2015-11-17 | 2016-05-25 | 广东科达洁能股份有限公司 | Automobile -used collision avoidance system and vehicle |
| CN206316827U (en) * | 2016-10-19 | 2017-07-11 | 东莞市尚发电子科技有限公司 | Intelligent handling equipment for CNC |
| CN108274463A (en) * | 2017-01-06 | 2018-07-13 | 苏州华兴致远电子科技有限公司 | Train Ku Jian robots and Train Parts detection method |
| CN108858211A (en) * | 2018-09-26 | 2018-11-23 | 珠海格力智能装备有限公司 | Anti-collision mechanism, robot and collision-proof method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108373086B (en) | Elevator service personnel collision protection system | |
| CN105292085B (en) | To anti-collision system before a kind of vehicle based on infrared laser auxiliary | |
| US11465659B2 (en) | Autonomous scouting rail vehicle | |
| CN110027592A (en) | The unmanned vehicle control syetem of CBTC with disturbance of intelligence analyte detection and warning function | |
| US20070170315A1 (en) | Method of detecting obstacles on railways and preventing train accidents | |
| CN110419071A (en) | Method for the haulage vehicle of container guided automatically and for running the vehicle, and the system of the haulage vehicle with automatic Pilot | |
| CN205256315U (en) | Automobile -used collision avoidance system and vehicle | |
| CN210819569U (en) | Vehicle bottom inspection robot and inspection system based on two-dimensional code positioning | |
| CN203079601U (en) | Automatic collision avoidance system for dock hoisting devices | |
| CN108860205A (en) | A kind of derailing detection method and device used for rail vehicle | |
| WO2018188860A1 (en) | A safety control system and method for use in vehicles | |
| CN113401184A (en) | Remote speed-limiting operation control method and device, electronic equipment and storage medium | |
| CN110421598A (en) | A kind of train set comprehensive detection device collision avoidance system | |
| CN202766069U (en) | Protection device for elevator drive device | |
| CN112441086B (en) | Rail vehicle, control method and system thereof and train control and management system | |
| CN106564384B (en) | Guide wheel derailing detection method | |
| EP2384298B1 (en) | Carriage for a cable transportation system, cable transportation system comprising such a carriage, and cable transportation system control method | |
| CN205113303U (en) | To anti -collision system before vehicle based on infrared laser is supplementary | |
| CN114572279B (en) | Intelligent protection system for remote driving of rail transit | |
| CN209439422U (en) | Travelling bogie security protection system | |
| CN212022628U (en) | Dual-redundancy train obstacle and derailment detection device | |
| KR20070097014A (en) | The system of monitoring the damage to the pantograph for electric-powered train | |
| JP6308681B2 (en) | Crossover equipment monitoring device and method | |
| CN210589388U (en) | Anti-collision system for train bottom comprehensive detection device | |
| CN109335714A (en) | A kind of anticollision reclaimer and its collision avoidance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |