CN110843648A - Automatic assembly system for train equipment box - Google Patents
Automatic assembly system for train equipment box Download PDFInfo
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- CN110843648A CN110843648A CN201911188835.3A CN201911188835A CN110843648A CN 110843648 A CN110843648 A CN 110843648A CN 201911188835 A CN201911188835 A CN 201911188835A CN 110843648 A CN110843648 A CN 110843648A
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- China
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- equipment box
- carrying platform
- driving
- lead screw
- driving device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses an automatic assembly system of a train equipment box, which comprises a carrying platform, a four-axis movement mechanism, a bearing tray, a navigation laser radar, a first depth camera and a controller, wherein a steering wheel driving device is arranged at the bottom of the carrying platform, the four-axis movement mechanism comprises a rotary table, a lifting device and a two-dimensional plane moving device, and the bottom of the bearing tray is arranged on the rotary table. When the device is used, the large equipment box is placed on the bearing tray, and the carrying platform slowly approaches to a corresponding mounting position of a train under the navigation of the controller; the controller controls the four-axis movement mechanism to drive the equipment box to adjust the position, the bolt holes of the equipment box correspond to hanging bolts on the train, then nuts and the hanging bolts are utilized to be connected, the equipment box is installed on the train, and installation of the equipment box is completed.
Description
Technical Field
The invention relates to the technical field of train assembly equipment, in particular to an automatic assembly system of a train equipment box.
Background
The train equipment box is a common accessory group of a train, and comprises a train air conditioning unit, an electrical control group, a living facility module group and other common accessory groups. The volume of the equipment boxes is different, and when the train equipment box is assembled, if the small equipment box is assembled, the small equipment can be transported by adopting lifting equipment such as a hydraulic lifting trolley and the like, and then transported to a corresponding train position for assembly; if assemble comparatively large-scale equipment box, then need large-scale air cushion carrier to carry and the lifting, and in the air cushion vehicle handling, still need many people to accompany and attend to, let the equipment box can not touch other facilities of assembly shop, afterwards, after large-scale equipment box reaches train assembly position, if the mounted position is inaccurate, the bolted hole on the mount pad of equipment box is to the suspension bolt of installing in advance on the inaccurate train, then need a large amount of assembly workman's cooperation to move the position to large-scale equipment box, consume a large amount of manpowers and time, it is very inconvenient to lead to large-scale equipment box to assemble, assembly efficiency is low.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the automatic assembly system for the train equipment box provided by the invention has the advantages that the labor and the assembly time are saved, the assembly efficiency of the equipment box is greatly improved, and the assembly of the equipment box is facilitated.
The invention provides an automatic assembly system of a train equipment box, which comprises:
the bottom of the carrying platform is provided with a movable chassis, the movable chassis is provided with a steering wheel driving device, and the middle part of the upper side of the carrying platform is provided with a placing groove;
the four-axis movement mechanism is arranged in the placing groove and comprises a rotary table, a lifting device for driving the rotary table to lift and a two-dimensional plane movement device for driving the lifting device and the rotary table to move;
the carrying tray is positioned above the carrying platform, and the bottom of the carrying tray is arranged on the rotating table and used for carrying the equipment box;
the navigation laser radar is arranged on the front side of the carrying platform and used for acquiring space map information;
the first depth camera is arranged on the left side of the carrying platform and used for detecting the distance between the train body and the carrying platform;
and the controller is electrically connected with the navigation laser radar, the first depth camera, the steering wheel driving device and the four-axis movement mechanism.
The automatic assembly system of the train equipment box provided by the embodiment of the invention at least has the following technical effects: when the device is used, the large equipment box is placed on the bearing tray, the controller drives the steering wheel driving device to start, the carrying platform moves, then the current carrying platform position is calculated by matching with data feedback of the navigation laser radar and the first depth camera, the moving direction and the moving speed of the steering wheel driving device are further adjusted, and the carrying platform is enabled to be slowly close to a corresponding mounting position of a train under the navigation of the controller; when arriving the installation position of train, the helm drive device stops, the transport platform stops, controller control four-axis motion drive equipment case carries out the adjustment of position afterwards, let the bolt hole of equipment case correspond the hanger bolt on the train, then utilize nut and hanger bolt to be connected, install the equipment case on the train, then accomplish the installation of equipment case, consequently in the assembling process of equipment case, can remove the step that a large amount of assembly workman's cooperation moved the position to large-scale equipment case from, use manpower sparingly and assemble time, improve the assembly efficiency of equipment case greatly, the assembly of the equipment case of being convenient for.
According to some embodiments of the invention, the front end of the left side of the carrying platform is further provided with an obstacle avoidance laser radar electrically connected with the controller.
According to some embodiments of the invention, a lifting push rod is arranged on the left side of the carrying platform, and a second depth camera is arranged at the upper end of the lifting push rod.
According to some embodiments of the invention, a placing table is provided at an upper end of the lifting push rod, the second depth camera is provided on the placing table, and the placing table is provided with a protection plate for protecting a left side of the second depth camera at a left side of the lifting push rod.
According to some embodiments of the invention, a lifting seat is arranged in the middle of the left side of the carrying platform, the lifting push rod is arranged on the lifting seat, and the first depth camera is arranged on the left side of the lifting seat.
According to some embodiments of the invention, the bottom of the carrying tray is provided with a plurality of feet which abut against the upper side of the carrying platform.
According to some embodiments of the invention, the steering wheel driving device comprises two steering wheels and two universal wheels arranged at the bottom of the mobile chassis, and a steering wheel motor driving the steering wheels to rotate.
According to some embodiments of the present invention, the two-dimensional plane moving device includes a first lead screw driving device and a second lead screw driving device disposed on the first lead screw driving device, the first lead screw driving device includes a first sliding base disposed at the bottom of the receiving slot, a first sliding block slidably connected to the first sliding base, a first driving lead screw threadedly connected to the first sliding block, and a first driving motor driving the first driving lead screw to rotate, and the second lead screw driving device is disposed on the first sliding block.
According to some embodiments of the present invention, the second lead screw driving device includes a second sliding base disposed on the first sliding base, a second sliding base slidably connected to the second sliding base, a second driving lead screw threadedly connected to the second sliding base, and a second driving motor for driving the second driving lead screw to rotate, and the lifting device is disposed on the second sliding base.
According to some embodiments of the invention, the edge of the carrying tray is provided with a fence.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of an automatic train equipment box assembling system according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of another perspective of the automatic train equipment rack assembly system shown in FIG. 1;
FIG. 3 is a schematic cross-sectional view of the automatic train equipment box assembling system shown in FIG. 1;
FIG. 4 is a schematic structural view of the four-axis motion mechanism shown in FIG. 1;
fig. 5 is a schematic circuit diagram of a controller according to an embodiment of the present invention.
Reference numerals:
a carrying platform 100, a moving chassis 110, a steering wheel driving device 120, a steering wheel 121, a universal wheel 122, a placing groove 130, a lifting push rod 140, a placing platform 141, a protective plate 142, a second depth camera 150, a lifting seat 160, a lifting device,
A four-axis motion mechanism 200, a rotary table 210, a lifting device 220, a two-dimensional plane moving device 230, a first screw rod driving device 240, a first slide seat 241, a first slide block 242, a first driving screw rod 243, a first driving motor 244, a second screw rod driving device 250, a second slide seat 251, a second slide block 252, a second driving screw rod 253, a second driving motor 254, a first guide rail, a second guide rail, a first guide rail, a second guide rail,
A carrying tray 300, a support leg 310, a fence 320,
A navigation laser radar 400,
A first depth camera 500,
A controller 600,
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 5, an automatic train equipment box assembling system includes:
the bottom of the carrying platform 100 is provided with a movable chassis 110, the movable chassis 110 is provided with a steering wheel driving device 120, and the middle part of the upper side of the carrying platform 100 is provided with a placing groove 130;
a four-axis movement mechanism 200, which is disposed in the placement groove 130, and includes a rotary table 210, a lifting device 220 for driving the rotary table 210 to move up and down, and a two-dimensional plane movement device 230 for driving the lifting device 220 and the rotary table 210 to move;
a carrying tray 300 located above the carrying platform 100, wherein the bottom of the carrying tray 300 is mounted on the rotating table 210 and is used for carrying the equipment box;
the navigation laser radar 400 is arranged on the front side of the carrying platform 100 and used for acquiring space map information;
the first depth camera 500 is arranged on the left side of the carrying platform 100 and used for detecting the distance between the train body and the carrying platform 100;
and the controller 600 is electrically connected with the navigation laser radar 400, the first depth camera 500, the steering wheel driving device 120 and the four-axis movement mechanism 200.
The steering wheel driving device 120 is disposed at the bottom of the moving chassis 110, and is used for driving the moving chassis 110 to move, that is, for driving the carrying platform 100 to move. As shown in fig. 2, the steering wheel driving device 120 includes two steering wheels 121 and two universal wheels 122 disposed at the bottom of the movable chassis 110, and a steering wheel motor for driving the steering wheels 121 to rotate. That is, the steering wheel motor can drive the steering wheel 121 to rotate, so that the steering wheel 121 drives the carrying platform 100 to move. The steering wheel 121 is a driving wheel commonly used on an AGV, and can steer and rotate, so that turning and translation movement in various directions can be conveniently performed. Two steering wheels 121 are respectively positioned at the opposite corners of the moving chassis 110, so as to support and drive the moving platform 100 to move. The steering wheel 121 is provided with an encoder, and the number of turns of the steering wheel 121 can be recorded to calculate the distance traveled by the carrying platform 100. The four-axis movement mechanism 200 is used for driving the bearing tray 300 to perform two-dimensional planar motion of a horizontal plane, perform lifting motion and rotate around the central shaft of the rotating platform 210, and then the equipment box borne on the bearing tray 300 can be controlled to perform horizontal plane translation, lifting and rotating motion through the four-axis movement mechanism 200, so that the relative position between the equipment box and a train can be adjusted, bolt holes of the equipment box correspond to reserved holes of the train, subsequent bolt installation and fixation of the equipment box are facilitated, the step of moving the position of the large equipment box by matching a large number of assembly workers can be omitted, manpower and assembly time are saved, the assembly efficiency of the equipment box is greatly improved, and the equipment box is convenient to install. The navigation laser radar 400 is used for detecting the distance between the object in front and the carrying platform 100 and detecting the movement speed of the object in front, so as to obtain the current space map information, and then feeding back the information to the controller 600, so that the controller 600 establishes a space map, and is convenient for making a navigation route and controlling the action of the steering wheel driving device 120, so that the speed and the movement distance of the current carrying platform 100 can be calculated by matching with an encoder of the steering wheel driving device 120, and then the distance between the train body and the carrying platform 100 can be obtained by matching with the first depth camera 500, so that the calculation can be performed by the controller 600, the position of the current carrying platform 100 can be obtained, the controller 600 adjusts the direction and the rotating speed of the steering wheel 121 according to the current position, so that the carrying platform 100 slowly approaches the train, and the purpose of accurate navigation. The navigation method is similar to the principle of the existing inertial navigation system, and therefore, the detailed description is omitted. And navigation laser radar 400 can detect whether there is an obstacle in the front, so that transport platform 100 can avoid the obstacle, and the equipment box and transport platform 100 are prevented from colliding with the object in the front during movement. When the device is used, the large equipment box is placed on the bearing tray 300, the controller 600 drives the steering wheel driving device 120 to start, the carrying platform 100 moves, then the current position of the carrying platform 100 is calculated by matching with data feedback of the navigation laser radar 400 and the first depth camera 500, the moving direction and the moving speed of the steering wheel driving device 120 are further adjusted, and the carrying platform 100 is enabled to be slowly close to the corresponding installation position of the train under the navigation of the controller 600; when the installation position of the train is reached, the steering wheel driving device 120 stops, the carrying platform 100 stops, then the controller 600 controls the four-axis movement mechanism 200 to drive the equipment box to adjust the position, bolt holes of the equipment box correspond to reserved hanging bolts on the train, then the equipment box is installed on the train through nuts, and then the installation of the equipment box is completed. It should be noted that the controller is an MCU control chip, and can perform operation and control output, so that the whole machine can be controlled to operate according to a flow.
In some embodiments of the present invention, as shown in fig. 1 and fig. 2, the front end of the left side of the carrying platform 100 is further provided with an obstacle avoidance laser radar 700 electrically connected to the controller 600. The obstacle avoidance laser radar 700 is used for detecting the distance between the left obstacle and the left front obstacle and the distance between the left obstacle and the carrying platform 100, and then feeds back information to the controller 600, so that the carrying platform 100 avoids the obstacle when the controller 600 controls the steering wheel driving device 120 to move, and collision is avoided.
In some embodiments of the present invention, as shown in fig. 1 and 2, the left side of the carrying platform 100 is provided with a lifting push rod 140, and the upper end of the lifting push rod 140 is provided with a second depth camera 150. The second depth camera 150 can go up and down, that is, when bearing the equipment box, the second depth camera 150 rises, the height of the second depth camera 150 is higher than the top of the equipment box, the second depth camera 150 can detect the distance between the obstacle on the upper side of the equipment box and the equipment box, thereby feeding back information to the controller 600, the controller 600 controls the steering wheel driving device 120 to change the direction, the equipment box is enabled to avoid the obstacle, and the collision between the equipment box and the obstacle is avoided. It should be noted that the lifting push rod 140 is a commonly used electric push rod in the market, and in addition, may also be a pneumatic or hydraulic push rod.
In some embodiments of the present invention, as shown in fig. 1 and 2, a placing table 141 is provided at an upper end of the elevation push rod 140, the second depth camera 150 is provided on the placing table 141, and the placing table 141 is provided with a shielding plate 142 for shielding a left side of the second depth camera 150 at a left side of the elevation push rod 140. The upper end of the protection plate 142 is higher than the second depth camera 150, so that the left obstacle and the upper obstacle can be prevented from directly colliding with the second depth camera 150, and the second depth camera 150 is prevented from being damaged. But also can reach and detect the distance between the barrier that is located the equipment box upside and the equipment box, reach the effect of avoiding equipment box and barrier collision. In order to adjust the position of the equipment box conveniently, magnetically adsorbed red and blue markers can be respectively adhered to the centers of the bottoms of the hanger bolts of the train, which are opposite to each other, in advance, the second depth camera 150 can detect the positions of the hanger bolts at opposite angles, and feed the positions of the hanger bolts back to the controller 600, so that the controller controls the four-axis movement mechanism to move, and bolt holes of the equipment box are automatically aligned to the positions of the hanger bolts.
In some embodiments of the present invention, as shown in fig. 1 and 2, the middle of the left side of the carrying platform 100 is provided with a lifting base 160, the lifting push rod 140 is arranged on the lifting base 160, and the first depth camera 500 is arranged at the left side of the lifting base 160. That is, the first depth camera 500 and the lifting push rod 140 are both disposed on the lifting seat 160, the first depth camera 500 and the second depth camera 150 are both located in the middle of the left side of the carrying platform 100, and then the second depth camera 150 can detect and position the hanger bolt of the train approaching the left first, if the carrying platform 100 needs to be moved, the first depth camera 150 can feed back the information of the obstacle on the left side of the carrying platform 100 to the controller 600, the carrying platform 100 can better avoid the obstacle in the moving process, avoid collision, ensure that the obstacle cannot be collided on the left side, facilitate the positioning of the equipment box, and reduce collision when the carrying platform 100 is moved. The depth and position parameters fed back by the first depth camera 500 and the second depth camera 150 are close to the horizontal coordinate of the carrying platform 100, so that the controller 600 can calculate the distance between the obstacle and the vehicle body conveniently and control conveniently.
In some embodiments of the present invention, as shown in fig. 1, 2, and 3, the bottom of the carrying tray 300 is provided with a plurality of legs 310, and the legs 310 abut against the upper side of the carrying platform 100. The feet 310 are located at the bottom of the carrying tray 300, and the bottom of the carrying tray 300 is larger than the opening of the receiving slot 130, so that the feet 310 can be better supported on the carrying platform 100. In the moving process of the transporting platform 100, the supporting tray 300 can be supported on the upper side of the transporting platform 100 by the supporting legs 310, so as to increase the stress point of the supporting tray 300, disperse the pressure of the four-axis motion mechanism 200, and improve the supporting effect.
In some embodiments of the present invention, referring to fig. 3 and 4, the two-dimensional plane moving device 230 includes a first lead screw driving device 240 and a second lead screw driving device 250 disposed on the first lead screw driving device 240, the first lead screw driving device 240 includes a first slide seat 241 disposed at the bottom of the receiving slot 130, a first slide block 242 slidably connected to the first slide seat 241, a first driving lead screw 243 threadedly connected to the first slide block 242, and a first driving motor 244 driving the first driving lead screw 243 to rotate, and the second lead screw driving device 250 is disposed on the first slide block 242. The second lead screw driving device 250 includes a second slide seat 251 disposed on the first slide block 242, a second slide block 252 slidably connected to the second slide seat 251, a second driving lead screw 253 threadedly connected to the second slide block 252, and a second driving motor 254 for driving the second driving lead screw 253 to rotate, and the lifting device 220 is disposed on the second slide block 252. Wherein the transport direction of first lead screw drive arrangement 240 is perpendicular with the transport direction of second lead screw drive arrangement 250, consequently can carry out the X, Y axle transportation of two-dimensional plane, carry out two-dimensional plane's translation motion through elevating gear 220 promptly and revolving stage 210 drive bearing tray 300, first lead screw drive arrangement 240 and second lead screw drive arrangement 250 all can carry out the position that the stepless regulation bore tray 300, thereby can let the position control more accurate, conveniently carry out the control of four-axis motion 200. The lifting device 220 is a cylinder type oil cylinder and can be driven to lift. Secondly. The lifting device 220 may also be an electric linear driving module or an air cylinder. The rotating platform 210 is a rotating platform driven by a servo motor, and has a servo motor and a rotating platform, the servo motor drives the rotating platform to rotate, and the rotating platform is connected with the bottom of the bearing tray 300.
In some embodiments of the present invention, referring to fig. 1-3, the edge of the carrying tray 300 is provided with a fence 320. The rail 320 can increase the height of the edge of the carrying tray 300, so that the equipment box is more stable and cannot easily fall when being placed on the carrying tray 300.
Referring to fig. 1 to 5, an automatic train equipment box assembling system according to an embodiment of the present invention will be described in detail with reference to a specific embodiment. It is to be understood that the following description is only exemplary, and not a specific limitation of the invention.
The bottom of the carrying platform 100 is provided with a movable chassis 110, the movable chassis 110 is provided with a steering wheel driving device 120, and the middle part of the upper side of the carrying platform 100 is provided with a placing groove 130; the four-axis motion mechanism 200 is arranged in the placing groove 130, and the four-axis motion mechanism 200 comprises a rotary table 210, a lifting device 220 for driving the rotary table 210 to lift, a two-dimensional plane moving device 230 for driving the lifting device 220 and the rotary table 210 to move; the carrying tray 300 is located above the carrying platform 100, and the bottom of the carrying tray 300 is installed on the rotating platform 210 for carrying the equipment box; the navigation laser radar 400 is arranged on the front side of the carrying platform 100 and used for acquiring space map information; the first depth camera 500 is arranged on the left side of the carrying platform 100 and used for detecting the distance between the train body and the carrying platform 100; the controller 600 is electrically connected with the navigation laser radar 400, the first depth camera 500, the steering wheel driving device 120 and the four-axis movement mechanism 200. The front end of the left side of the carrying platform 100 is also provided with an obstacle avoidance laser radar 700 electrically connected with the controller 600. A lifting push rod 140 is provided on the left side of the carrying platform 100, and a second depth camera 150 is provided on the upper end of the lifting push rod 140. A placing table 141 is provided at an upper end of the elevation push rod 140, the second depth camera 150 is provided on the placing table 141, and a shielding plate 142 is provided at the left side of the elevation push rod 140 by the placing table 141. The middle part of the left side of the carrying platform 100 is provided with a lifting seat 160, the lifting push rod 140 is arranged on the lifting seat 160, and the first depth camera 500 is arranged on the left side of the lifting seat 160. The bottom of the loading tray 300 is provided with a plurality of legs 310, and the legs 310 are used for supporting the loading tray 300 on the upper side of the carrying platform 100. The steering wheel driving device 120 includes two steering wheels 121 and two universal wheels 122 disposed at the bottom of the mobile chassis 110, and a steering wheel motor for driving the steering wheels 121 to rotate. The two-dimensional plane moving device 230 includes a first lead screw driving device 240 and a second lead screw driving device 250 disposed on the first lead screw driving device 240, the first lead screw driving device 240 includes a first slide seat 241 disposed at the bottom of the receiving groove 130, a first slide block 242 slidably connected to the first slide seat 241, a first driving lead screw 243 threadedly connected to the first slide block 242, and a first driving motor 244 for driving the first driving lead screw 243 to rotate, and the second lead screw driving device 250 is disposed on the first slide block 242. The second lead screw driving device 250 includes a second slide seat 251 disposed on the first slide block 242, a second slide block 252 slidably connected to the second slide seat 251, a second driving lead screw 253 threadedly connected to the second slide block 252, and a second driving motor 254 for driving the second driving lead screw 253 to rotate, and the lifting device 220 is disposed on the upper side surface of the second slide block 252. The edge of the carrying tray 300 is provided with a fence 320. When the device is used, a large-scale equipment box is placed on the bearing tray 300, the controller 600 drives the steering wheel driving device 120 to start, the lifting push rod 140 rises, the height of the second depth camera 150 is higher than the top of the equipment box, then the carrying platform 100 moves, the controller 600 cooperates with the navigation laser radar 400, the first depth camera 500, the second depth camera 150, the obstacle avoidance laser radar 700 and data feedback of the encoder arranged in the steering wheel driving device 120 to calculate the current position of the carrying platform 100, further the moving direction and the moving speed of the steering wheel driving device 120 are adjusted, and the carrying platform 100 is made to slowly approach to the corresponding installation position of a train and avoid obstacles under the navigation of the controller 600; in order to facilitate the first depth camera 500 to detect the position of the train more easily and calculate the distance between the carrying platforms 100, an identification two-dimensional code can be pasted on the mounting position value of the train body to be mounted in advance, so that the first depth camera 500 can identify and position more easily in the moving process of the carrying platforms 100, and the automatic navigation of the carrying platforms 100 is facilitated. In order to facilitate automatic positioning, it is expected that red markers and blue markers are respectively adhered to the centers of the bottoms of the hanger bolts which are opposite to each other, when the train arrives at the installation position, the steering wheel driving device 120 stops, the carrying platform 100 stops, then the lifting push rod 140 ascends, the second depth camera 150 detects the red markers and the blue markers which are reserved at the centers of the bottoms of the bolts, the position of the current hanger bolt of the train is calculated, then the controller 600 controls the four-axis movement mechanism 200 to drive the equipment box to adjust the position, namely, the front-back direction, the left-right direction, the up-down direction and the rotation around the center of rotation are carried out, the bolt holes of the equipment box correspond to the hanger bolts on the train, then the equipment box is installed on the train by connecting the nuts and the hanger bolts, and the installation of the equipment box is finished, therefore, the step of moving the large-size equipment box by matching with a large number of assembling workers can be omitted in, the labor and the assembly time are saved, the assembly efficiency of the equipment box is greatly improved, and the equipment box is convenient to install.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. An automatic train equipment box assembly system, comprising:
the device comprises a carrying platform (100), wherein a movable chassis (110) is arranged at the bottom of the carrying platform, a steering wheel driving device (120) is arranged on the movable chassis (110), and a placement groove (130) is formed in the middle of the upper side of the carrying platform (100);
the four-axis movement mechanism (200) is arranged in the placing groove (130) and comprises a rotary table (210), a lifting device (220) for driving the rotary table (210) to lift, and a two-dimensional plane movement device (230) for driving the lifting device (220) and the rotary table (210) to move;
a carrying tray (300) positioned above the carrying platform (100), wherein the bottom of the carrying tray (300) is installed on the rotating platform (210) and is used for carrying an equipment box;
the navigation laser radar (400) is arranged on the front side of the carrying platform (100) and is used for acquiring space map information;
the first depth camera (500) is arranged on the left side of the carrying platform (100) and used for detecting the distance between the train body and the carrying platform (100);
and the controller (600) is electrically connected with the navigation laser radar (400), the first depth camera (500), the steering wheel driving device (120) and the four-axis movement mechanism (200).
2. The automatic train equipment box assembling system according to claim 1, wherein: and the front end of the left side of the carrying platform (100) is also provided with an obstacle avoidance laser radar (700) electrically connected with the controller (600).
3. The automatic train equipment box assembling system according to claim 1, wherein: the left side of the carrying platform (100) is provided with a lifting push rod (140), and the upper end of the lifting push rod (140) is provided with a second depth camera (150).
4. The automatic train equipment box assembling system according to claim 3, wherein: a placing table (141) is arranged at the upper end of the lifting push rod (140), the second depth camera (150) is arranged on the placing table (141), and a protection plate (142) used for protecting the left side of the second depth camera (150) is arranged on the left side of the lifting push rod (140) of the placing table (141).
5. The automatic train equipment box assembling system according to claim 3, wherein: the middle part of the left side of the carrying platform (100) is provided with a lifting seat (160), the lifting push rod (140) is arranged on the lifting seat (160), and the first depth camera (500) is arranged on the left side of the lifting seat (160).
6. The automatic train equipment box assembling system according to claim 1, wherein: the bottom of the bearing tray (300) is provided with a plurality of support legs (310), and the support legs (310) are abutted to the upper side face of the carrying platform (100).
7. The automatic train equipment box assembling system according to claim 1, wherein: the steering wheel driving device (120) comprises two steering wheels (121) and two universal wheels (122) which are arranged at the bottom of the movable chassis (110), and a steering wheel motor for driving the steering wheels (121) to rotate.
8. The automatic train equipment box assembling system according to claim 1, wherein: the two-dimensional plane moving device (230) comprises a first lead screw driving device (240) and a second lead screw driving device (250) arranged on the first lead screw driving device (240), wherein the first lead screw driving device (240) comprises a first sliding seat (241) arranged at the bottom of the placement groove (130), a first sliding block (242) in sliding connection with the first sliding seat (241), a first driving lead screw (243) in threaded connection with the first sliding block (242), and a first driving motor (244) for driving the first driving lead screw (243) to rotate, and the second lead screw driving device (250) is arranged on the first sliding block (242).
9. The automatic train equipment box assembling system according to claim 8, wherein: the second lead screw driving device (250) comprises a second sliding seat (251) arranged on the first sliding block (242), a second sliding block (252) connected with the second sliding seat (251) in a sliding mode, a second driving lead screw (253) connected with the second sliding block (252) in a threaded mode, and a second driving motor (254) driving the second driving lead screw (253) to rotate, and the lifting device (220) is arranged on the second sliding block (252).
10. The automatic train equipment box assembling system according to any one of claims 1 to 9, wherein: the edge of the carrying tray (300) is provided with a fence (320).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911188835.3A CN110843648A (en) | 2019-11-28 | 2019-11-28 | Automatic assembly system for train equipment box |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911188835.3A CN110843648A (en) | 2019-11-28 | 2019-11-28 | Automatic assembly system for train equipment box |
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| CN110843648A true CN110843648A (en) | 2020-02-28 |
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| CN201911188835.3A Pending CN110843648A (en) | 2019-11-28 | 2019-11-28 | Automatic assembly system for train equipment box |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112297989A (en) * | 2020-11-02 | 2021-02-02 | 北京特种机械研究所 | Backpack wheel set transfer trolley and transfer method |
| CN112644602A (en) * | 2020-09-14 | 2021-04-13 | 汤春秋 | Power-assisted traction device for transportation in production workshop |
| CN113427242A (en) * | 2021-06-17 | 2021-09-24 | 五邑大学 | Automatic assembly robot for train equipment box |
| CN115576330A (en) * | 2022-11-17 | 2023-01-06 | 杭州蓝芯科技有限公司 | Method and device for realizing butt joint of one-way latent traction type AGV and skip car |
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2019
- 2019-11-28 CN CN201911188835.3A patent/CN110843648A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644602A (en) * | 2020-09-14 | 2021-04-13 | 汤春秋 | Power-assisted traction device for transportation in production workshop |
| CN112644602B (en) * | 2020-09-14 | 2022-04-08 | 新疆金大禹环境科技有限公司 | Power-assisted traction device for transportation in production workshop |
| CN112297989A (en) * | 2020-11-02 | 2021-02-02 | 北京特种机械研究所 | Backpack wheel set transfer trolley and transfer method |
| CN112297989B (en) * | 2020-11-02 | 2022-06-17 | 北京特种机械研究所 | Backpack wheel set transfer trolley and transfer method |
| CN113427242A (en) * | 2021-06-17 | 2021-09-24 | 五邑大学 | Automatic assembly robot for train equipment box |
| CN115576330A (en) * | 2022-11-17 | 2023-01-06 | 杭州蓝芯科技有限公司 | Method and device for realizing butt joint of one-way latent traction type AGV and skip car |
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