CN112720505A

CN112720505A - Automatic brake shoe replacing robot

Info

Publication number: CN112720505A
Application number: CN202110081222.0A
Authority: CN
Inventors: 邱华; 任昭红; 李文轩; 任万君; 倪明正
Original assignee: Chongqing Yuhong Rail Vehicle Accessories Co ltd
Current assignee: Chongqing Yuhong Rail Vehicle Accessories Co ltd
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-04-30

Abstract

The invention discloses an automatic brake shoe replacing robot, which comprises: the robot comprises a machine main body, a control system and a control system, wherein a mechanical arm is arranged on one side of the machine main body, one end of the mechanical arm is connected with a support arm, and a mechanical claw is arranged on the inner side of one end of the support arm; the control system comprises a positioning module, a wireless module, an integrated element, a control mainboard, a power supply module, a central processing unit, a communication interface and a memory; a positioning module; the invention provides an accurate positioning system for the wagon brake shoe through the arranged pattern collector and the matched auxiliary structure thereof, and when in operation, the position of the wagon brake shoe can be accurately found through image collection and pattern analysis, so that the automatic replacement and recovery functions can be carried out, the information record of the operation can be provided, and the data record can be provided for the subsequent reexamination.

Description

Automatic brake shoe replacing robot

Technical Field

The invention relates to the field of robots, in particular to a robot for automatically replacing a brake shoe.

Background

Robots are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are also a number of taxonomies and controversy over the definition of robots in the narrow sense, and some computer programs are even referred to as robots. In modern industry, robots refer to man-made machines capable of automatically performing tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits.

The robot usually refers to the mechanical equipment that can replace manual operation in the industrial field, is usually robotic arm and various big and small-size industrial equipment, and on rail wagon's brake shoe was changed, current structure was usually manual operation mode, and this kind of mode is wasted time and energy, has misoperation moreover, and overall efficiency is lower scheduling problem, therefore an automatic more smooth robot of brake shoe that can replace manual operation is urgently needed.

Disclosure of Invention

The invention aims to provide an automatic brake shoe replacing robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic brake shoe replacement robot, comprising:

the main body of the machine is provided with a machine body,

a mechanical arm is arranged on one side of the machine main body, one end of the mechanical arm is connected with a support arm, a mechanical claw is arranged on the inner side of one end of the support arm, and the machine main body further comprises a control system;

the control system is used for controlling the system,

the control system comprises a positioning module, a wireless module, an integrated element, a control mainboard, a power supply module, a central processing unit, a communication interface and a memory;

a positioning module for positioning the optical fiber and the optical fiber,

the positioning module comprises a pattern collector, an infrared photoelectric sensor, a driving motor, a driver, a digital gyroscope, a camera module, a heat dissipation module and an ultrasonic sensor;

and a controller.

The inner side of the mechanical claw is provided with a speed reducer, and the speed reducer is connected with a driving motor.

The power supply module is a lithium battery in structure, and the power supply module is charged by adopting AC220V/50hz alternating current.

Wherein, communication interface is including RS232/485, MODBUS, CAN, planet speed reduction and lead screw reduction gears are adopted in the inside of reduction gear.

The image collector is electrically connected with the camera module, the camera module comprises a lens, the lens is arranged on one side of the machine main body, and the bottom of the machine main body is provided with a moving wheel and a universal wheel.

The mobile wheel is also connected with an additional driving motor, the ultrasonic sensors are arranged on the periphery of the machine main body, and the infrared photoelectric sensors and the digital gyroscope are arranged at the bottom of the machine main body.

The communication interface, the central processing unit, the integrated element and the wireless module are integrated on the control mainboard, and the power supply module, the memory and the positioning module are electrically connected with the control mainboard.

The driver comprises a driving board and a driving chip, and the pattern collector, the infrared photoelectric sensor, the driving motor, the digital gyroscope, the camera module and the ultrasonic sensor are electrically connected with the driver.

The heat radiation module comprises heat radiation fins and a heat radiation fan, and the driver and the central processing unit are both provided with the heat radiation module which is electrically connected.

The cooling fan of the cooling module adopts PWM intelligent speed regulation, and the cooling fins of the cooling module are aluminum metal sheet groups with six copper pipes inserted inside.

Compared with the prior art, the invention has the beneficial effects that:

1. through the figure collector and assorted auxiliary structure who sets up, provide the accurate positioning system to freight train brake shoe, when operating, can accurately find the position of freight train brake shoe through image acquisition and figure analysis, carry out automatic change and the function of retrieving to can provide the information record of operation, provide data record for subsequent reexamination.

2. Through the infrared photoelectric sensor, the ultrasonic sensor, the digital gyroscope and the matched auxiliary structure, when the positioning device is used, a stable positioning effect can be provided, the situation around the positioning device is detected while the machine body is positioned, the moving device advances according to a pre-drawn route, the moving device is stable, and surrounding obstacles can be avoided.

3. Through the wireless module and the controller that set up, provide the remote control to the machine main part to overall control adopts BP neural network + PID controller to realize optimal control based on BP neural network, and neural network makes the robot can oneself study, automatically regulated PID parameter, and control is more nimble.

Drawings

FIG. 1 is a side view of the present invention;

FIG. 2 is a schematic structural view of a gripper according to the present invention;

FIG. 3 is a schematic diagram of the operation of the control system of the present invention;

FIG. 4 is a schematic diagram of the operation of the positioning module of the present invention;

fig. 5 is a working schematic diagram of the intelligent motion control of the present invention.

In FIGS. 1-5: 10-a machine body; 11-a mechanical arm; 12-a support arm; 13-a gripper; 131-a reducer; 14-a moving wheel; 15-universal wheels; 16-a lens; 20-a control system; 21-a positioning module; 211-a graph collector; 212-infrared photoelectric sensor; 213-a drive motor; 214-a driver; 215-digital gyroscope; 216-camera module; 217-a heat dissipation module; 218-an ultrasonic sensor; 22-a wireless module; 23-an integrated component; 24-a control mainboard; 25-a power supply module; 26-a central processing unit; 27-a communication interface; 28-memory.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: an automatic brake shoe replacement robot, comprising:

the main body 10 of the machine is,

the robot comprises a machine body 10 and is characterized in that a mechanical arm 11 is arranged on one side of the machine body 10, one end of the mechanical arm 11 is connected with a support arm 12, a mechanical claw 13 is arranged on the inner side of one end of the support arm 12, the machine body 10 further comprises a control system 20, a speed reducer 131 is arranged on the inner side of the mechanical claw 13, the speed reducer 131 is connected with a driving motor 213, a planetary speed reduction and lead screw speed reduction mechanism is adopted in the speed reducer 131, the mechanical arm 11 and the support arm 12 are controlled by a motor, power output and regulation and control are carried out by the motor and a gear, and the speed reducer 131 is connected between structures for speed reduction, so that stable work between;

the control system (20) is controlled such that,

the control system 20 comprises a positioning module 21, a wireless module 22, an integrated element 23, a control mainboard 24, a power supply module 25, a central processing unit 26, a communication interface 27 and a memory 28, the positioning module 21 is used for positioning the position of the machine body 10 and positioning a brake shoe of a railway wagon, the wireless module 22 is used for wireless control, the integrated element 23 is an auxiliary electronic element integrated on the control mainboard 24, the central processing unit 26 is used for analyzing, summarizing, sorting and outputting various data, and is in communication connection through the communication interface 27, and the communication interface 27 comprises RS232/485, MODBUS and CAN;

the positioning module (21) is provided with a positioning module,

the positioning module 21 comprises a pattern collector 211, an infrared photoelectric sensor 212, a driving motor 213, a driver 214, a digital gyroscope 215, a camera module 216, a heat dissipation module 217 and an ultrasonic sensor 218;

and a controller.

The communication interface 27, the central processing unit 26, the integrated component 23, and the wireless module 22 are all integrated on the control motherboard 24, the power supply module 25, the memory 28, and the positioning module 21 are all electrically connected to the control motherboard 24, the driver 214 includes a driving board and a driving chip, the image collector 211, the infrared photoelectric sensor 212, the driving motor 213, the digital gyroscope 215, the camera module 216, and the ultrasonic sensor 218 are all electrically connected to the driver 214, and the connection relationship between the structures of each part is mainly described;

the power supply module 25 is a lithium battery, and the power supply module 25 is charged by adopting AC220V/50hz alternating current

The pattern collector 211 is electrically connected with the camera module 216, the camera module 216 comprises a lens 16, the lens 16 is arranged on one side of the machine body 10, when the device is used, video recording is carried out through the camera module 216, the video shot by the camera module 216 is collected and analyzed through the pattern collector 211, image information inside a triangular hole of a side frame of a railway wagon brake shoe is obtained, after the image information is processed, an arc contour of a wheel is positioned by utilizing edge information inside the triangular hole of the side frame, the arc contour of the wheel is used as a reference datum, the position of the brake shoe is positioned, and the thickness of the brake shoe is detected through brake shoe image processing to judge whether the brake shoe is replaced or not;

wherein, the bottom of the machine body 10 is provided with a moving wheel 14 and a universal wheel 15, the moving wheel 14 is also connected with an additional driving motor 213, the ultrasonic sensor 218 is arranged around the machine body 10, the infrared photoelectric sensor 212 and the digital gyroscope 215 are both arranged at the bottom of the machine body 10, the robot detects a path by using the infrared photoelectric sensor 212, moves along a track painted on the ground, senses the position change of the robot by using the digital gyroscope 215 to assist the infrared tracking to realize motion navigation, detects an obstacle in real time by using the ultrasonic sensor 218, stops moving or avoids the obstacle by combining with the navigation of the digital gyroscope 215, and is matched with the moving wheel 14 to control the movement in the process, the driving motor 213 provides power output, the data of each structure is uniformly sent to the central processing unit 26 to be analyzed and processed, the processed digital signal is converted into an electric signal to be returned to the source data structure again, and performing work;

the heat dissipation module 217 comprises heat dissipation fins and a heat dissipation fan, the driver 214 and the central processing unit 26 are both provided with the heat dissipation module 217 which is electrically connected, the heat dissipation fan of the heat dissipation module 217 adopts PWM intelligent speed regulation, the heat dissipation fins of the heat dissipation module 217 are aluminum metal sheet groups with six copper tubes inserted inside, intelligent temperature control heat dissipation is provided by adopting the PWM intelligent speed regulation principle, the heat dissipation effect is guaranteed, and the whole power consumption and the system optimization are reduced;

the optimization formula of the BP neural network is as follows:

the working principle is as follows: when the robot is used, the mechanical arm 11 and the support arm 12 provide control over the mechanical claw 13, the digital gyroscope 215, the ultrasonic sensor 218 and the infrared photoelectric sensor 212 provide functions of positioning the position of the machine body 10, judging obstacles and avoiding obstacles, the camera module 216 and the image collector 211 provide a positioning structure for the brake shoes, an accurate positioning function is provided, data are stored through the arranged memory 28, operation and working time of each work are stored and recorded, and optimal control is realized by adopting a BP neural network and a PID controller.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An automatic brake shoe replacement robot, comprising:

a machine body (10),

a mechanical arm (11) is arranged on one side of the machine main body (10), one end of the mechanical arm (11) is connected with a support arm (12), a mechanical claw (13) is arranged on the inner side of one end of the support arm (12), and the machine main body (10) further comprises a control system (20);

a control system (20) for controlling the operation of the motor,

the control system (20) comprises a positioning module (21), a wireless module (22), an integrated element (23), a control mainboard (24), a power supply module (25), a central processing unit (26), a communication interface (27) and a memory (28);

a positioning module (21),

the positioning module (21) comprises a graph collector (211), an infrared photoelectric sensor (212), a driving motor (213), a driver (214), a digital gyroscope (215), a camera module (216), a heat dissipation module (217) and an ultrasonic sensor (218);

and a controller.

2. The automatic brake shoe replacement robot according to claim 1, further comprising:

the inner side of the mechanical claw (13) is provided with a speed reducer (131), and the speed reducer (131) is connected with a driving motor (213).

3. The automatic brake shoe replacement robot according to claim 1, further comprising:

the power supply module (25) is a lithium battery in structure, and the power supply module (25) is charged by adopting AC220V/50hz alternating current.

4. The automatic brake shoe replacement robot according to claim 2, further comprising:

the communication interface (27) comprises RS232/485, MODBUS and CAN, and a planetary speed reduction and lead screw speed reduction mechanism is adopted in the speed reducer (131).

5. The automatic brake shoe replacement robot according to claim 1, comprising:

the image collector (211) is electrically connected with the camera module (216), the camera module (216) comprises a lens (16), the lens (16) is arranged on one side of the machine body (10), and the bottom of the machine body (10) is provided with a moving wheel (14) and a universal wheel (15).

6. The automatic brake shoe replacement robot according to claim 5, further comprising:

the moving wheel (14) is also connected with an additional driving motor (213), the ultrasonic sensors (218) are arranged on the periphery of the machine body (10), and the infrared photoelectric sensor (212) and the digital gyroscope (215) are arranged at the bottom of the machine body (10).

7. The automatic brake shoe replacement robot according to claim 1, further comprising:

the communication interface (27), the central processing unit (26), the integrated element (23) and the wireless module (22) are integrated on the control mainboard (24), and the power supply module (25), the memory (28) and the positioning module (21) are electrically connected with the control mainboard (24).

8. The automatic brake shoe replacement robot according to claim 1, comprising:

the driver (214) comprises a driving board and a driving chip, and the pattern collector (211), the infrared photoelectric sensor (212), the driving motor (213), the digital gyroscope (215), the camera module (216) and the ultrasonic sensor (218) are electrically connected with the driver (214).

9. The automatic brake shoe replacement robot according to claim 8, comprising:

the heat dissipation module (217) comprises heat dissipation fins and a heat dissipation fan, and the driver (214) and the central processing unit (26) are both provided with the heat dissipation module (217) which is electrically connected.

10. The automatic brake shoe replacement robot according to claim 9, comprising:

the cooling fan of the cooling module (217) adopts PWM intelligent speed regulation, and the cooling fins of the cooling module (217) are aluminum metal sheet groups with six copper tubes inserted inside.