CN114261420A - Automatic anti-slip system and method - Google Patents
Automatic anti-slip system and method Download PDFInfo
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- CN114261420A CN114261420A CN202111644301.4A CN202111644301A CN114261420A CN 114261420 A CN114261420 A CN 114261420A CN 202111644301 A CN202111644301 A CN 202111644301A CN 114261420 A CN114261420 A CN 114261420A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 112
- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 83
- 239000010959 steel Substances 0.000 claims abstract description 83
- 229910052742 iron Inorganic materials 0.000 claims abstract description 56
- 230000001360 synchronised effect Effects 0.000 claims description 70
- 230000001681 protective effect Effects 0.000 claims description 34
- 230000003287 optical effect Effects 0.000 claims description 15
- 230000002441 reversible effect Effects 0.000 claims description 13
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- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 6
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- 230000032258 transport Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
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Abstract
The invention discloses an automatic anti-slip system and an automatic anti-slip method, and belongs to the technical field of railway safety protection. The system comprises: a control box; the control box is fixedly connected beside a railway steel rail, a mechanical arm is connected in the control box, and a grabbing mechanism is connected on the mechanical arm; the anti-skid robot is clamped on the grabbing mechanism, and the grabbing mechanism is used for placing or withdrawing the anti-skid robot to or from a railway steel rail; the anti-slip robot is provided with anti-slip iron shoes, and is used for placing or withdrawing the anti-slip iron shoes from anti-slip positions on the railway steel rails. According to the anti-slip device, the mechanical arm in the control box drives the grabbing mechanism to place the anti-slip robot and the anti-slip iron shoes on the railway steel rail, and then the anti-slip robot places the anti-slip iron shoes at the anti-slip position, so that the automation degree of anti-slip operation is improved, the labor intensity is reduced, and the safety is improved.
Description
Technical Field
The invention relates to the technical field of railway safety protection, in particular to an automatic anti-slip system and an automatic anti-slip method.
Background
In the railway transportation operation process, the anti-slip braking of the iron shoes is always an important work of railway vehicle service work, the anti-slip operation of the iron shoes is finished by manually placing the iron shoes for a long time, and the situation of heavy anti-slip work task and high labor intensity is always faced. Workers walk on the rail back and forth and get and put the iron shoes under the vehicle body, so that great safety risks exist, and in order to improve the automation degree of anti-slip operation, reduce the labor intensity and improve the safety, an automatic anti-slip system and an automatic anti-slip method are urgently needed.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automatic anti-slip system and an automatic anti-slip method. The technical scheme is as follows:
in one aspect, an automatic anti-skid system is provided, the system comprising: a control box;
the control box is fixedly connected beside a railway steel rail, a mechanical arm is connected in the control box, and a grabbing mechanism is connected on the mechanical arm;
the anti-skid robot is clamped on the grabbing mechanism, and the grabbing mechanism is used for placing or withdrawing the anti-skid robot to or from a railway steel rail;
the anti-slip robot is provided with anti-slip iron shoes, and is used for placing or withdrawing the anti-slip iron shoes from anti-slip positions on the railway steel rails.
Furthermore, a plurality of fixing plates are fixedly connected to the lower surface of the railway steel rail, a box body installation base is fixedly connected to the lower surface of the control box, and the box body installation base is fixedly connected with the fixing plates;
one side of the control box is hinged with an opening and closing door, the opening and closing door faces a railway steel rail, a linear motor is fixedly connected in the control box, and the output end of the linear motor is hinged with the inner side of the opening and closing door;
the robot arm includes: the base, base fixed connection be in the control box, be connected with first elevating system on the base, be connected with rotary mechanism on the first elevating system, the last first cantilever of fixedly connected with of rotary mechanism, be connected with on the first cantilever snatch the mechanism.
Further, the first elevating mechanism includes: the lifting screw rod and the lifting driving motor;
the lifting screw rod is movably connected to the base, the lower end of the lifting screw rod is fixedly connected with a lifting driven synchronous belt pulley, a first screw rod nut is screwed on the lifting screw rod, and an upper movable plate and a lower movable plate are fixedly connected to the first screw rod nut;
the lifting driving motor is fixedly connected to the base, a lifting driving synchronous pulley is fixedly connected to a rotating shaft of the lifting driving motor, and a lifting transmission synchronous belt is connected between the lifting driven synchronous pulley and the lifting driving synchronous pulley;
the rotating mechanism includes: a rotation driving motor and a first rotation shaft;
the upper movable plate and the lower movable plate are provided with first through holes, the first rotating shaft is movably connected in the first through holes, and the lower end of the first rotating shaft is fixedly connected with a rotary driven synchronous belt pulley;
the rotary driving motor is fixedly connected to the upper and lower movable plates, and a rotary driving synchronous belt pulley is fixedly connected to a rotating shaft of the rotary driving motor;
a rotary transmission synchronous belt is connected between the rotary driven synchronous belt wheel and the rotary driving synchronous belt wheel;
the first cantilever is fixedly connected to the first rotating shaft.
Further, the grasping mechanism includes: a second rotation shaft;
a second through hole is formed in the first cantilever, and the second rotating shaft is movably connected into the second through hole;
the upper end of the second rotating shaft is fixedly connected with a directional driven synchronous belt wheel, the upper end of the first rotating shaft is fixedly connected with a directional driving synchronous belt wheel, and a directional driving synchronous belt is connected between the directional driven synchronous belt wheel and the directional driving synchronous belt wheel;
the lower end of the second rotating shaft is fixedly connected with a connecting plate, the side surface of the connecting plate is fixedly connected with a double-head reverse lead screw motor, two lead screws of the double-head reverse lead screw motor are movably connected with second lead screw nuts, the second lead screw nuts are fixedly connected with clamping plates,
the grip plate is in contact with opposite sides of the anti-creep robot.
Further, the anti-creep robot includes: the box body and the two second cantilevers;
a second lifting mechanism and a driving mechanism are fixedly connected in the box body;
at least two fourth through holes are formed in a bottom plate of the box body, the driving mechanism is connected with at least two driving side wheels through the fourth through holes, and the driving side wheels are respectively contacted with the inner side and the outer side of the railway steel rail;
two third through holes are formed in the side face of the box body and correspond to the direction of placing the iron shoes, one ends of the two second cantilevers are fixedly connected with the second lifting mechanism through the third through holes respectively, the size of each third through hole is larger than the size of the cross section of the second cantilever in each third through hole, the other end of each second cantilever is fixedly connected with a lifting arm, and the anti-slip iron shoes are placed on the lifting arms;
the clamping plates are in contact with two opposite sides of the box body;
the two opposite sides of the box body are fixedly connected with fixing rods, the fixing rods are movably connected with guide rollers, and the guide rollers are in contact with the railhead treads of the steel rails;
the two opposite sides of the box body are respectively fixedly connected with a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor respectively face to two ends of the steel rail.
Further, the second elevating mechanism includes: a screw rod motor,
the screw rod motor is fixedly connected in the box body, a screw rod of the screw rod motor is in threaded connection with a third screw rod nut, the third screw rod nut is fixedly connected with a moving plate, and one end of the second cantilever is fixedly connected with the moving plate through the third through hole;
the drive mechanism includes: at least two linear bearings and a motor drive;
the motor driver and the linear bearing are fixedly connected in the box body, the motor driver is in communication connection with the driving side wheel, the linear bearing is movably connected with an optical shaft through a clamp spring, the moving direction of the optical shaft respectively faces to the inner side and the outer side of the steel rail, a first spring is sleeved on the optical shaft, the optical shaft is fixedly connected with a movable baffle, the side surface of the movable baffle is fixedly connected with ejector rods, and the two ejector rods respectively face to the inner side and the outer side of the steel rail,
the two opposite sides of the box body are provided with fifth through holes, the fifth through holes correspond to the ejector rods in position, and the ejector rods are positioned in the fifth through holes;
an elastic rotating shaft is movably connected in the fourth through hole, an elastic baffle is fixedly connected on the elastic rotating shaft and connected with the movable baffle, a driving wheel cantilever is fixedly connected below the elastic rotating shaft and connected with the driving side wheel;
fixedly connected with orientation below the grip block the hem of the reverse lead screw motor of double-end, fixedly connected with unblock clamp plate below the hem, the roof of box is outstanding towards the inboard and outside direction of rail, the hem with the box with outstanding contact, unblock clamp plate with the ejector pin contact.
Further, the anti-slip skate includes: a shoe body and a U-shaped anti-theft clamping jaw;
the lower surface of the shoe body is contacted with the tread of the railway steel rail, the upper surface of the shoe body is fixedly connected with a protective shell, the interior of the protective shell is hollow, the upper surface of the protective shell is provided with a seventh through hole, the two opposite sides of the protective shell are provided with sixth through holes, the sixth through holes respectively correspond to the inner side and the outer side of the railway steel rail,
the number of the U-shaped anti-theft clamping jaws is two, one end of each U-shaped anti-theft clamping jaw is movably connected into the sixth through hole, a groove is formed in one end of each U-shaped anti-theft clamping jaw movably connected with the sixth through hole, an unlocking plate is movably connected into the groove, and the other end of each U-shaped anti-theft clamping jaw is in contact with the inner side and the outer side of the rail web of the railway steel rail;
a limiting plate is movably connected in the protective shell, two ends of the limiting plate are respectively located in the grooves, the limiting plate is located right above the unlocking plate, an eighth through hole is formed in the limiting plate, a connecting rod is movably connected in the eighth through hole, a pressure trigger rod is fixedly connected to the upper end of the connecting rod, the upper end of the pressure trigger rod is located in the seventh through hole, the diameter of the connecting rod is smaller than that of the pressure trigger rod, a second spring is sleeved on the connecting rod, and the second spring is located between the limiting plate and the pressure trigger rod;
the lower end of the connecting rod is fixedly connected with a lower pressing plate, the lower pressing plate is contacted with the upper surface of the unlocking plate, a guide shaft guide sleeve is fixedly connected to the upper part of the limiting plate in a penetrating manner, a guide shaft inner shaft is fixedly connected to the lower pressing plate, and the guide shaft inner shaft is positioned in the guide shaft guide sleeve;
a lower sliding guide post is fixedly connected to the lower surface of the lower pressing plate, a third spring is sleeved on the lower sliding guide post, and the third spring is in contact with the bottom of the inner side of the protective shell;
the U-shaped anti-theft clamping jaw is characterized in that an unlocking hole is formed in the side face of the groove of the U-shaped anti-theft clamping jaw, the unlocking hole is located in the outer side of the protection shell, and the lifting arm is located in the unlocking hole and located below the unlocking plate.
Furthermore, two opposite sides of the shoe body are fixedly connected with guide plates, and the guide plates are respectively contacted with the side surfaces of the rail heads of the railway steel rails;
the upper surface of the protective shell is inclined downwards towards the direction of the wheels and is arranged in an arc shape, and openings are formed in two opposite sides of the protective shell and face two ends of a railway steel rail respectively; a distance detector is fixedly connected in the protective shell;
the protection casing both sides fixedly connected with theftproof clamping jaw protection casing and backup pad relative, theftproof clamping jaw protection casing is located directly over the sixth through-hole, the backup pad is located under the sixth through-hole, and the backup pad is kept away from the spacing groove has been seted up to one side of protection casing, the side of U type theftproof clamping jaw is located the spacing inslot.
In another aspect, an automatic anti-skid method is provided, by which anti-skid is performed: the method comprises the following steps:
step (1): the mechanical arm drives the grabbing mechanism to place the anti-slip robot on the railway steel rail;
step (2): the anti-slip robot transports the anti-slip iron shoes to anti-slip positions on the railway steel rails;
and (3): after the anti-slip is finished, the anti-slip robot withdraws the anti-slip iron shoe from the anti-slip position,
the mechanical arm drives the grabbing mechanism to grab the anti-slip robot and the anti-slip iron shoes back into the control box.
Further, the step (1) specifically includes: the grabbing mechanism clamps the anti-skid robot, the rotating mechanism drives the first cantilever to rotate, the anti-skid robot is rotated to a position right above the railway steel rail, the rotating mechanism drives the first cantilever to rotate and simultaneously drives the grabbing mechanism to rotate, and the direction of the anti-skid robot is adjusted to be parallel to the railway steel rail; after adjustment is completed, the first lifting mechanism drives the first cantilever to move downwards, the anti-slip robot is placed on a railway steel rail, the grabbing mechanism is separated from the anti-slip robot, and the driving side wheels tightly hold two sides of the steel rail;
the step (2) specifically comprises: the driving mechanism drives the driving side wheels to run on the railway steel rail, when the anti-slip robot approaches to the wheels, the second lifting mechanism drives the second cantilever to move downwards, the anti-slip iron shoes are placed on the tread of the steel rail and continue to be pushed forwards until the anti-slip iron shoes are completely placed in place, the anti-slip robot withdraws the anti-slip iron shoes, and the U-shaped anti-theft clamping jaws fall down to clamp the steel rail;
the step (3) specifically comprises the following steps: the lifting arm enters an unlocking hole of the U-shaped anti-theft clamping jaw, the second lifting mechanism drives the second cantilever to move upwards to unlock the U-shaped anti-theft clamping jaw, the anti-slip iron shoe is lifted upwards to be separated from the steel rail by continuing to move upwards, the anti-slip robot moves reversely to the position below the grabbing mechanism, the grabbing mechanism clamps the anti-slip robot, the driving side wheels are separated from two sides of the steel rail, and finally the anti-slip robot and the anti-slip iron shoe are retracted into the control box through the first lifting mechanism and the rotating mechanism.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: according to the anti-slip device, the mechanical arm in the control box drives the grabbing mechanism to place the anti-slip robot and the anti-slip iron shoes on the railway steel rail, and then the anti-slip robot places the anti-slip iron shoes at the anti-slip position, so that the automation degree of anti-slip operation is improved, the labor intensity is reduced, and the safety is improved; and secondly, the anti-slip iron shoe is connected with a U-shaped anti-theft clamping jaw to tightly hold the steel rail, and the U-shaped anti-theft clamping jaw is combined with a video monitor on the anti-slip iron shoe, so that the anti-slip iron shoe has a physical anti-theft function and an electronic monitoring function simultaneously, and the anti-theft function is realized. In addition, the mechanical arm comprises a first lifting mechanism and a rotating mechanism, the first lifting mechanism and the rotating mechanism can accurately place the anti-slip robot clamped on the grabbing mechanism on a railway steel rail, the anti-slip robot is connected with a second lifting mechanism and a driving mechanism, a driving side wheel is driven to run on the steel rail through the driving mechanism, and the anti-slip iron shoes are placed and supported through the second lifting mechanism, so that automatic anti-slip operation can be achieved, labor intensity is reduced, and safety is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an automatic anti-skid system provided by the present invention;
FIG. 2 is a schematic view of an installation structure of an automatic anti-skid system provided by the present invention;
FIG. 3 is a schematic view of an installation structure of an automatic anti-skid system provided by the present invention;
FIG. 4 is a schematic structural view of a grasping mechanism according to the present invention;
FIG. 5 is a schematic illustration of an anti-skid robot and anti-skid shoes provided in accordance with the present invention on a railroad rail;
FIG. 6 is a schematic structural diagram of an anti-creep robot provided in the present invention;
FIG. 7 is a schematic diagram of an internal structure of an anti-creep robot provided in the present invention;
FIG. 8 is a schematic diagram of the internal structure of an anti-creep robot provided in the present invention;
FIG. 9 is a schematic structural view of an anti-slip skate provided by the present invention;
FIG. 10 is a schematic cross-sectional view of an anti-slip skate provided by the present invention;
FIG. 11 is a side view of an anti-roll skate provided by the present invention;
FIG. 12 is a front view of an anti-slip skate provided by the present invention.
Reference numerals: 1-a control box; 2, opening and closing the door; 3-a base; 4-a first cantilever; 5-lifting screw rod; 6-lifting driving motor; 7-lifting driven synchronous belt wheel; 8-upper and lower movable plates; 9-a controller; 10-lifting driving synchronous belt wheel; 11-lifting transmission synchronous belt; 12-a rotary drive motor; 13-a first axis of rotation; 14-rotating the driven synchronous pulley; 15-rotating the driving synchronous pulley; 16-a rotary transmission synchronous belt; 17-a second axis of rotation; 18-a directionally driven synchronous pulley; 19-directional driving synchronous pulley; 20-directional active synchronous belt; 21-a connecting plate; 22-double-head reverse lead screw motor; 23-a clamping plate; 24-a box body; 25-cantilever; 26-a drive side wheel; 27-a third via; 28-screw motor; 29-a sports board; 30-linear bearings; 31-a first spring; 32-a flapper; 33-a mandril; 34-an elastic rotating shaft; 35-a resilient flap; 36-drive wheel suspension; 37-unlocking the pressure plate; 38-shoe body; 39-U-shaped anti-theft clamping jaw; 40-a guide plate; 41-a protective housing; 42-unlocking plate; 43-a limiting plate; 44-a connecting rod; 45-pressure trigger lever; 46-a second spring; 47-a lower press plate; 48-guide shaft guide sleeve; 49-guide shaft inner shaft; 50-a lower slide guide post; 51-a third spring; 52-case mounting base; 53-fixing plate; 54-a linear motor; 55-lifting linear guide rail; 56-position sensor 56; 57-clamping plate; 58-a guide bar; 59-a fixation rod; 60-guide rollers; 61-a first vision sensor; 62-a second vision sensor; 63-a positioner; 64-a travel switch; 65-motor drive; 66-anti-theft jaw protection housing; 67-a support plate; 68-unlocking the hole; 69-lifting arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1-12, an automatic anti-skid system includes: the bottom of the control box 1 is fixedly connected with a box body mounting base 52 through bolts, the bottom of the railway steel rail is connected with a plurality of fixing plates 53 through bolts, the fixing plates 53 can be mounting angle steel, and the mounting base 52 is fixedly connected to the fixing plates 53 through bolts; one side of the control box 1 is hinged with an opening and closing door 2, the opening and closing door 2 faces a railway steel rail, the inner wall of the control box 1 is fixedly connected with a linear motor 54 through a screw, and the output end of the linear motor 54 is hinged with the inner wall of the opening and closing door 2; the control box 1 in-connection has the arm, is connected with on the arm and snatchs the mechanism, snatchs and has held the swift current robot in the mechanism, has placed on the swift current robot and has prevented swift current skate.
The arm includes: base 3 and upper and lower fly leaf 8, base 3 includes: the lifting device comprises a top plate and a bottom plate, wherein the top plate and the bottom plate are respectively fixed at the top and the bottom of the inner side of a control box 1 through screws, a side plate is welded between the top plate and the bottom plate, a mounting plate is welded in the middle of the side plate, first mounting holes are respectively formed in the top plate and the mounting plate, a lifting screw rod 5 is rotatably connected in each first mounting hole through a bearing, a lifting driving motor 6 is fixedly connected on the mounting plate through a bolt, a lifting driven synchronous belt pulley 7 is fixedly connected at the lower end of the lifting screw rod 5, a rotating shaft of the lifting driving motor 6 faces downwards, a lifting driving synchronous belt pulley 10 is fixedly connected on the rotating shaft of the lifting driving motor 6, the lifting driven synchronous belt pulley 7 and the lifting driving synchronous belt pulley 10 are at the same height, a lifting transmission synchronous belt 11 is connected between the lifting driven synchronous belt pulley 7 and the lifting driving synchronous belt pulley 10, second mounting holes are formed in an upper movable plate and a lower movable plate 8, and a first screw rod nut is arranged on the lifting screw rod 5, the first lead screw nut is fixedly connected in the second mounting hole; the side plates are vertically provided with lifting linear guide rails 55, the side surfaces of the upper and lower movable plates 8 corresponding to the side plates are welded with sliding blocks matched with the lifting linear guide rails 55, the sliding blocks are connected to the lifting linear guide rails 55 in a sliding mode, and the lifting linear guide rails 55 are provided with positioning sensors 56.
The upper and lower movable plates 8 are provided with a first through hole, a first rotating shaft 13 is rotatably connected in the first through hole through a bearing, the lower end of the first rotating shaft 13 is fixedly connected with a rotary driven synchronous pulley 14, the upper end of the first rotating shaft 13 is fixedly connected with a directional driving synchronous pulley 19, the upper and lower movable plates 8 are connected with a rotary driving motor 12 through a bolt, the rotating shaft of the rotary driving motor 12 faces downwards, the rotating shaft of the rotary driving motor 12 is fixedly connected with a rotary driving synchronous pulley 15, the rotary driven synchronous pulley 14 and the rotary driving synchronous pulley 15 are at the same height, a rotary transmission synchronous belt 16 is connected between the rotary driven synchronous pulley 14 and the rotary driving synchronous pulley 15, two clamping plates 57 are welded on the first rotating shaft 13, a first cantilever 4 is fixedly connected between the two clamping plates 57 through a bolt, and a second through hole is formed at one end of the first cantilever 4, which is far away from the first rotating shaft 13, a second rotating shaft 17 is rotatably connected in the second through hole through a bearing, an upper end of the second rotating shaft 17 is fixedly connected with a directional driven synchronous belt pulley 18, the directional driven synchronous belt pulley 18 and a directional driving synchronous belt pulley 19 are located at the same height, a directional driving synchronous belt 20 is connected between the directional driven synchronous belt pulley 18 and the directional driving synchronous belt pulley 19, a lower end of the second rotating shaft 17 is fixedly connected with a connecting plate 21, the side surface of the connecting plate 21, which is far away from the first cantilever 4, is fixedly connected with a double-head reverse lead screw motor 22 through bolts, two lead screws of the double-head reverse lead screw motor 22 face the left side and the right side of the first cantilever 4, second lead screw nuts are uniformly in threaded connection with the two lead screws of the double-head reverse lead screw motor 22, clamping plates 23 are welded on the second lead screw nuts, folded edges facing the double-head reverse lead screw motor 22 are welded below the clamping plates 23, and Z-shaped unlocking pressing plates 37 are welded on the side surfaces of the clamping plates 23.
The anti-creep robot includes: a box 24 and two second booms 25; a screw motor 28 and four linear bearings 30 are fixedly connected to the bottom of the inner side of the box body 24 through bolts, a third screw nut is connected to a screw of the screw motor 28 in a threaded manner, a moving plate 29 is fixedly connected to the third screw nut, a plurality of guide rods 58 are welded to the bottom of the inner side of the box body 24 at positions corresponding to the moving plate 29, the moving plate 29 is movably connected to the guide rods 58 through the linear bearings, two third through holes 27 are formed in the side surface of the box body 24 corresponding to the direction of placing the anti-slip iron shoes, and one ends of two second cantilevers 25 are respectively welded to the moving plate 29 through the third through holes 27; four fourth through holes are formed in a bottom plate of the box body 24, elastic rotating shafts 34 are movably connected in the fourth through holes through bearings, and the upper ends of the elastic rotating shafts 34 are connected with elastic baffle plates 35 through bolts; the linear bearings 30 are movably connected with optical axes which are limited on the outer sides of the linear bearings through clamp springs, so that the optical axes cannot slide out of the linear bearings, two linear bearings 30 form a group, the moving directions of the optical axes of the two groups of linear bearings 30 respectively face the inner side and the outer side of a steel rail, a first spring 31 is sleeved on the optical axes of the linear bearings 30, movable baffles 32 are welded at the other ends of the optical axes of the two groups of linear bearings 30, ejector rods 33 are welded on one sides, away from the optical axes, of the movable baffles 32, fifth through holes are formed in the side faces, corresponding to the ejector rods 33, of the box body 24, the ejector rods 33 are located in the fifth through holes, the elastic baffles 35 are connected with the movable baffles 32, the connecting position and the optical axis are positioned on the same side, the lower end of the elastic rotating shaft 34 is connected with a driving wheel cantilever 36 through a bolt, the driving wheel cantilever 36 is fixedly connected with a driving side wheel 26 through a bolt, and the driving side wheel 26 is respectively contacted with the inner side and the outer side of the railway steel rail; the opposite two sides of the top plate of the box body 24 are provided with protrusions which are chamfered and respectively face the inner side and the outer side of the steel rail, the folded edge of the clamping plate 23 is contacted with the protruding part of the top plate of the box body 24, and the unlocking pressing plate 37 is contacted with the ejector rod 33. Wherein, install in the drive side wheel 26 in the wheel hub motor, install in the box 24 with wheel hub motor communication connection's motor drive 65.
In addition, two fixing rods 59 are respectively welded on two opposite sides of the box body 24, the two fixing rods 59 respectively correspond to two ends of a railway steel rail, guide rollers 60 are movably connected to the two fixing rods 59, and the guide rollers 60 are in contact with the tread of the rail head of the steel rail and used for ensuring the motion direction of the anti-skid robot; the two opposite sides of the box body 24 are respectively and fixedly connected with a first visual sensor 61 and a second visual sensor 62 through bolts, the first visual sensor 61 and the second visual sensor 62 respectively face to the two ends of the railway steel rail, so that the anti-slide robot is ensured to detect the environmental states before and after moving, and the success of anti-slide arrangement or withdrawal is ensured; the box body 24 is also fixedly connected with a positioner 63 through bolts, so that the anti-slip robot can be positioned; a travel switch 64 is fixedly connected in the box body 24 through a bolt, an insertion hole is formed in the side surface of the box body 24 far away from the third through hole 27, and a contact of the travel switch 64 is positioned outside the box body 24 through the insertion hole.
The anti-slip iron shoe comprises: the anti-theft shoe comprises a shoe body 38 and a U-shaped anti-theft clamping jaw 39, wherein a guide plate 40 is fixedly connected to the opposite side surface of the shoe body 38, the lower surface of the shoe body 38 is contacted with a rail head tread of a railway rail, the guide plate 40 is respectively contacted with two sides of the rail head of the railway rail, a protective shell 41 is fixedly connected to the upper surface of the shoe body 38, the upper surface of the protective shell 41 is inclined downwards towards the direction of a railway wheel and is arranged in an arc shape, so that the contact with the railway wheel is facilitated, the interior of the protective shell 41 is hollow, openings are formed in the opposite two sides of the protective shell 41 and respectively face the two ends of the railway rail, sixth through holes are formed in the opposite two sides of the protective shell 41 and respectively correspond to the inner side direction and the outer side direction of the railway rail, a seventh through hole is formed in the upper surface of the protective shell 41, a distance detector is fixedly connected in the protective shell 41, and the anti-theft clamping jaw protective shell 66 and a supporting plate 67 are welded on the opposite two sides of the protective shell 41, the anti-theft clamping jaw protection shell 66 is located right above the sixth through hole, the supporting plate 67 is located right below the sixth through hole, and a limiting groove is formed in one side, far away from the protection shell 41, of the supporting plate 67.
Two U-shaped anti-theft clamping jaws 39 are provided, one end of each U-shaped anti-theft clamping jaw 39 is movably connected into the sixth through hole through a rotating shaft, a groove is formed in one end, rotatably connected with the sixth through hole, of each U-shaped anti-theft clamping jaw 39, an unlocking plate 42 is movably connected into the groove through the rotating shaft, and the other end of each U-shaped anti-theft clamping jaw 39 is in contact with two opposite sides of the railway steel rail; the side surface of the U-shaped anti-theft clamping jaw 39 is positioned in the limit groove of the supporting plate 67; a limiting plate 43 is movably connected in the protective shell 41, two ends of the limiting plate 43 are respectively positioned in the grooves, two end parts of the limiting plate 43 are contacted with the opposite side surfaces of the two grooves, the unlocking plate 42 is Z-shaped, the middle of the unlocking plate is movably connected in the grooves through a rotating shaft, one end in the protective shell 41 is lower than one end outside the protective shell 41, the lower surface of the limiting plate 43 is contacted with the unlocking plate 42 on the upper surface of one end outside the protective shell 41, an eighth through hole is formed in the limiting plate 43, a connecting rod 44 is movably connected in the eighth through hole, a pressure trigger rod 45 is welded at the upper end of the connecting rod 44, the upper end of the pressure trigger rod 45 is positioned in the seventh through hole, the diameter of the connecting rod 44 is smaller than that of the pressure trigger rod 45, a second spring 46 is sleeved on the connecting rod 44, the second spring 46 is positioned between the lower ends of the limiting plate 43 and the pressure trigger rod 45, the lower end of the connecting rod 44 is connected with a lower pressing plate 47 through a screw, the lower pressing plate 47 is in contact with the unlocking plate 42 on one end of the inner side of the protective shell 41, a third mounting hole is formed in the limiting plate 43, a guide shaft guide sleeve 48 is welded in the third mounting hole, a guide shaft inner shaft 49 is welded on the lower pressing plate 47, the guide shaft inner shaft 49 is located in the guide shaft guide sleeve 48, a lower sliding guide pillar 50 is welded below the lower pressing plate 47, a third spring 51 is sleeved on the lower sliding guide pillar 50, and the third spring 51 is in contact with the bottom of the inner side of the protective shell 41. Gaps are reserved between the two ends of the unlocking plate 42 and the bottom of the groove, an unlocking hole 68 is formed in the side face of the groove, the unlocking hole 68 is located on the outer side of the protection shell 41, and the lifting arm 69 is located in the unlocking hole 68 and contacts with the lower face of the unlocking plate 42 on the outer side of the protection shell 41.
It should be noted that the automatic anti-slip system further comprises a controller 9 and an upper computer, wherein the controller 9 is installed in the control box 1, the upper computer can be a computer and the like, and the control box 1, the anti-slip iron shoes and the anti-slip robot are also internally provided with a wireless communication module, a wireless charging module and a video monitor, and a storage battery for providing electric quantity for corresponding components. Secondly, wireless charging module, video monitor, battery, host computer, linear electric motor 54, lift driving motor 6, positioning sensor 57, rotary driving motor 12, double-end reverse lead screw motor 22, lead screw motor 28, motor driver 65, first vision sensor 61, second vision sensor 62, locator 63, travel switch 64, distance detector all pass through wireless communication module and controller 9 communication connection, and the staff can prevent the condition such as swift current robot, the operating condition that the swift current skate prevents the swift current, battery power through host computer control. In addition, the U-shaped anti-theft clamping jaw 39 of the anti-slip iron shoe holds the steel rail tightly and is combined with a video monitor on the anti-slip iron shoe, so that the anti-slip iron shoe has a physical anti-theft function and an electronic monitoring function simultaneously, and the anti-theft function is realized.
The complete work flow of the invention can be as follows: when the anti-skid robot needs to slide away, a worker controls the linear motor 54 to start through the upper computer, the output end of the linear motor 54 extends to push the opening and closing door 2 open and close, then the rotary driving motor 12 is started, the rotating shaft of the rotary driving motor 12 drives the rotary driving synchronous belt wheel 15 to rotate, the first rotating shaft 13 is driven to rotate through the rotary transmission synchronous belt 16 and the driven synchronous belt wheel 14, the first cantilever 4 is turned to the railway rail, the anti-skid robot is located right above the railway rail, the directional driving synchronous belt wheel 19 and the directional driving synchronous belt 20 drive the directional driven synchronous belt wheel 18 to rotate while the first rotating shaft 13 rotates, the second rotating shaft 17 rotates, the connecting plate 21 is driven to rotate, and the direction of the anti-skid robot is adjusted to be parallel to the railway rail.
After the anti-slip robot is adjusted, the lifting driving motor 6 is started, the rotating shaft of the lifting driving motor 6 drives the lifting driving synchronous belt pulley 10 to rotate, thereby driving the lifting driven synchronous belt pulley 7 to rotate through the lifting transmission synchronous belt 11, driving the lifting screw rod 5 to rotate through the lifting driven synchronous belt pulley 7, enabling the upper movable plate 8 and the lower movable plate 8 to move downwards on the lifting screw rod 5, placing the anti-slip robot on the railway steel rail tread, starting the double-end reverse screw rod motor 22 after the anti-slip robot is placed, enabling the clamping plates 23 and the locking pressing plates 37 on the two sides to move outwards, at the moment, the compressed first spring 31 extends to push the movable baffle 32 outwards, the movable baffle 32 drives the elastic baffle 35 to rotate outwards, the elastic baffle 35 drives the elastic rotating shaft 34 to rotate, the elastic rotating shaft 19 rotates the driving wheel cantilever 36, and the driving wheel cantilever 36 rotates the driving side wheel 26 inwards, so that the four driving side wheels 26 tightly hold two sides of the steel rail.
After the anti-skid robot is placed, the driving side wheels 26 are controlled to be started, the driving side wheels 26 move forwards on two sides of a steel rail, when the anti-skid robot is detected to be 0.5 m away from the bottom of a wheel through a distance detector, the speed is reduced, the distance between the anti-skid robot and the wheel is detected in real time, when the front end of the anti-skid iron shoe is 10mm away from the wheel (the distance between the tread of the iron shoe and the wheel), the lead screw of the lead screw motor 28 is controlled to be started, the lead screw of the lead screw motor 28 rotates, the moving plate 29 moves downwards, the anti-skid iron shoe is placed on the tread of the steel rail and continues to be pushed forwards until the anti-skid iron shoe is completely placed in place, after anti-skid setting is completed, the anti-skid robot starts to run backwards, two lifting arms 69 of the anti-skid robot are withdrawn from an unlocking hole 68 of the U-theft clamping jaw 39, and the U-theft clamping jaw 39 falls down to clamp the steel rail. The anti-slip robot reversely runs to the position below the grabbing mechanism, and the grabbed mechanism is retracted into the control box.
When the train wheels contact the upper end of the pressure trigger rod 45, the pressure trigger rod 45 moves downwards to drive the connecting rod 44 to move downwards, the connecting rod 44 pushes the pressing plate 47 downwards, the pressing plate 47 pushes the unlocking plate 42 downwards, the unlocking plate 42 rotates on the rotating shaft, the limiting plate 43 is firstly tilted when the unlocking plate 42 rotates, the limiting plate 43 is tilted out of the groove, the pressure trigger rod 45 continues to move downwards, the unlocking plate 42 continues to rotate, the unlocking plate 42 can drive the U-shaped anti-theft clamping jaw 39 to tilt up in a rotating mode, the state of clasping with the steel rail is relieved, and the anti-slip iron shoes can slide along the direction of the steel rail under the driving of the wheels. After the anti-slipping process is finished, the train wheel leaves the top end of the pressure trigger rod 45, the third spring 51 is recovered to jack the pressing plate 47 upwards, the second spring 46 is recovered to jack the pressure trigger rod 45 out of the seventh through hole, the U-shaped anti-theft clamping jaw 39 falls down to hold the steel rail tightly, the limiting plate 43 falls into the groove, and the U-shaped anti-theft clamping jaw 39 cannot rotate upwards under the action of external force, so that the anti-theft effect is achieved.
When the anti-skid robot needs to be withdrawn, the anti-skid robot is placed on the rail again, the anti-skid robot drives over, two lifting arms 69 of the anti-skid robot enter unlocking holes 68 of the U-shaped anti-theft clamping jaws 39, the screw rod motor 28 is started to move the moving plate 29 upwards by contacting the lower surface of the unlocking plate 42, the two lifting arms 69 are driven to rotate the end of the unlocking plate 42 outside the protective shell 41 upwards to jack the limit plate 43, so that the unlocking plate 42 and the limiting plate 43 are separated from the contact with the side surface of the groove, the shoe body 38 is lifted upwards by the upward movement of the second cantilever arm 25, the second cantilever arm is separated from the steel rail, the anti-slip robot moves reversely to the position below the grabbing mechanism, the anti-slip robot is clamped by the clamping plate 23, the push rods 33 are pushed inwards by the locking pressing plate 37, the side wheels 26 are driven to be separated from two sides of the railway steel rail, and finally the anti-slip robot and the anti-slip iron shoes are retracted into the control box 1 through the first lifting mechanism and the rotating mechanism.
It is worth mentioning that in the invention, the mechanical arm in the control box drives the grabbing mechanism to place the anti-slip robot and the anti-slip iron shoes on the railway steel rail, and then the anti-slip robot places the anti-slip iron shoes at the anti-slip position, thereby improving the automation degree of anti-slip operation, reducing the labor intensity and improving the safety; and secondly, the anti-slip iron shoe is connected with a U-shaped anti-theft clamping jaw to tightly hold the steel rail, and the U-shaped anti-theft clamping jaw is combined with a video monitor on the anti-slip iron shoe, so that the anti-slip iron shoe has a physical anti-theft function and an electronic monitoring function simultaneously, and the anti-theft function is realized. In addition, the mechanical arm comprises a first lifting mechanism and a rotating mechanism, the first lifting mechanism and the rotating mechanism can accurately place the anti-slip robot clamped on the grabbing mechanism on a railway steel rail, the anti-slip robot is connected with a second lifting mechanism and a driving mechanism, a driving side wheel is driven to run on the steel rail through the driving mechanism, and the anti-slip iron shoes are placed and supported through the second lifting mechanism, so that automatic anti-slip operation can be achieved, labor intensity is reduced, and safety is improved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An automated anti-skid system, the system comprising: a control box (1);
the control box (1) is fixedly connected beside a railway steel rail, a mechanical arm is connected in the control box (1), and a grabbing mechanism is connected on the mechanical arm;
the anti-skid robot is clamped on the grabbing mechanism, and the grabbing mechanism is used for placing or withdrawing the anti-skid robot to or from a railway steel rail;
the anti-slip robot is provided with anti-slip iron shoes, and is used for placing or withdrawing the anti-slip iron shoes from anti-slip positions on the railway steel rails.
2. The automatic anti-skid system as set forth in claim 1,
a plurality of fixing plates (53) are fixedly connected to the lower surface of the railway steel rail, a box body mounting base (52) is fixedly connected to the lower surface of the control box (1), and the box body mounting base (52) is fixedly connected with the fixing plates (53);
one side of the control box (1) is hinged with an opening and closing door (2), the opening and closing door (2) faces a railway steel rail, a linear motor (54) is fixedly connected in the control box (1), and the output end of the linear motor (54) is hinged with the inner side of the opening and closing door (2);
the robot arm includes: the base (3), base (3) fixed connection be in control box (1), be connected with first elevating system on base (3), be connected with rotary mechanism on the first elevating system, the first cantilever (4) of fixedly connected with on the rotary mechanism, be connected with on first cantilever (4) snatch the mechanism.
3. The automated anti-skid system of claim 2, wherein the first lifting mechanism comprises: a lifting screw rod (5) and a lifting driving motor (6);
the lifting screw rod (5) is movably connected to the base (3), the lower end of the lifting screw rod (5) is fixedly connected with a lifting driven synchronous belt pulley (7), a first screw rod nut is screwed on the lifting screw rod (5), and an upper movable plate and a lower movable plate (8) are fixedly connected to the first screw rod nut;
the lifting driving motor (6) is fixedly connected to the base (3), a lifting driving synchronous pulley (10) is fixedly connected to a rotating shaft of the lifting driving motor (6), and a lifting transmission synchronous belt (11) is connected between the lifting driven synchronous pulley (7) and the lifting driving synchronous pulley (10);
the rotating mechanism includes: a rotation drive motor (12) and a first rotation shaft (13);
a first through hole is formed in the upper and lower movable plates (8), the first rotating shaft (13) is movably connected in the first through hole, and the lower end of the first rotating shaft (13) is fixedly connected with a rotary driven synchronous belt pulley (14);
the rotary driving motor (12) is fixedly connected to the upper and lower movable plates (8), a rotary driving synchronous pulley (15) is fixedly connected to a rotating shaft of the rotary driving motor (12), and a rotary transmission synchronous belt (16) is connected between the rotary driven synchronous pulley (14) and the rotary driving synchronous pulley (15);
the first cantilever (4) is fixedly connected to the first rotating shaft (13).
4. The automated anti-skid system of claim 3, wherein said gripping mechanism comprises: a second rotation shaft (17);
a second through hole is formed in the first cantilever (4), and the second rotating shaft (17) is movably connected into the second through hole;
the upper end of the second rotating shaft (17) is fixedly connected with a directional driven synchronous pulley (18), the upper end of the first rotating shaft (13) is fixedly connected with a directional driving synchronous pulley (19), and a directional driving synchronous belt (20) is connected between the directional driven synchronous pulley (18) and the directional driving synchronous pulley (19);
the lower end of the second rotating shaft (17) is fixedly connected with a connecting plate (21), the side surface of the connecting plate (21) is fixedly connected with a double-head reverse lead screw motor (22), two lead screws of the double-head reverse lead screw motor (22) are movably connected with second lead screw nuts, the second lead screw nuts are fixedly connected with clamping plates (23),
the grip plate (23) is in contact with opposite sides of the anti-creep robot.
5. The automated anti-skid system of claim 4, wherein the anti-skid robot comprises: a box body (24) and two second cantilevers (25);
a second lifting mechanism and a driving mechanism are fixedly connected in the box body (24);
at least two fourth through holes are formed in a bottom plate of the box body (24), the driving mechanism is connected with at least two driving side wheels (26) through the fourth through holes, and the driving side wheels (26) are respectively contacted with the inner side and the outer side of the railway steel rail;
two third through holes (27) are formed in the side face of the box body (24), the third through holes (27) correspond to the direction of placing the iron shoes, one ends of the two second cantilevers (25) are fixedly connected with the second lifting mechanism through the third through holes (27), the size of each third through hole (27) is larger than the size of the section of the second cantilever (25) in the third through hole (27), the other end of the second cantilever (25) is fixedly connected with a lifting arm (69), and the anti-sliding iron shoes are placed on the lifting arms (69);
the clamping plates (23) are in contact with two opposite sides of the box body (24);
fixing rods (59) are fixedly connected to two opposite sides of the box body (24), guide rollers (60) are movably connected to the fixing rods (59), and the guide rollers (60) are in contact with the rail head treads of the steel rails;
the two opposite sides of the box body (24) are respectively and fixedly connected with a first visual sensor (61) and a second visual sensor (62), and the first visual sensor (61) and the second visual sensor (62) face the two ends of the steel rail respectively.
6. The automated anti-skid system of claim 5, wherein said second lift mechanism comprises: a screw rod motor (28),
the screw rod motor (28) is fixedly connected in the box body (24), a screw rod of the screw rod motor (28) is in threaded connection with a third screw rod nut, the third screw rod nut is fixedly connected with a moving plate (29), and one end of the second cantilever (25) is fixedly connected with the moving plate (29) through the third through hole (27);
the drive mechanism includes: at least two linear bearings (30) and a motor drive (65);
the motor driver (65) and the linear bearing (30) are fixedly connected in the box body (24), the motor driver (65) is in communication connection with the driving side wheel (26), the linear bearing (30) is movably connected with an optical axis through a clamp spring, the moving direction of the optical axis respectively faces to the inner side and the outer side of the steel rail, a first spring (31) is sleeved on the optical axis, a movable baffle (32) is fixedly connected on the optical axis, ejector rods (33) are fixedly connected on the side surface of the movable baffle (32), and the ejector rods (33) respectively face to the inner side and the outer side of the steel rail,
fifth through holes are formed in two opposite sides of the box body (24), the fifth through holes correspond to the ejector rods (33) in position, and the ejector rods (33) are located in the fifth through holes;
an elastic rotating shaft (34) is movably connected in the fourth through hole, an elastic baffle (35) is fixedly connected to the upper surface of the elastic rotating shaft (34), the elastic baffle (35) is connected with the movable baffle (32), a driving wheel cantilever (36) is fixedly connected to the lower surface of the elastic rotating shaft (34), and the driving wheel cantilever (36) is connected with the driving side wheel (26);
fixedly connected with orientation below grip block (23) the hem of reverse lead screw motor of double-end (22), fixedly connected with unblock clamp plate (37) below the hem, the roof of box (24) is outstanding towards the inboard and the outside direction of rail, the hem with box (24) with outstanding contact, unblock clamp plate (37) with ejector pin (33) contact.
7. The automated anti-skid system of claim 6, wherein said anti-skid skate comprises: a shoe body (38) and a U-shaped anti-theft clamping jaw (39);
the lower surface of the shoe body (38) is in contact with a railway steel rail tread, the upper surface of the shoe body (38) is fixedly connected with a protective shell (41), the interior of the protective shell (41) is hollow, a seventh through hole is formed in the upper surface of the protective shell (41), sixth through holes are formed in two opposite sides of the protective shell (41), the sixth through holes respectively correspond to the inner side and the outer side of a railway steel rail,
the number of the U-shaped anti-theft clamping jaws (39) is two, one end of each U-shaped anti-theft clamping jaw (39) is movably connected into the sixth through hole, a groove is formed in one end, movably connected with the sixth through hole, of each U-shaped anti-theft clamping jaw (39), an unlocking plate (42) is movably connected into the groove, and the other end of each U-shaped anti-theft clamping jaw (39) is in contact with the inner side and the outer side of the rail web of the railway rail;
a limiting plate (43) is movably connected in the protective shell (41), two ends of the limiting plate (43) are respectively located in the grooves, the limiting plate (43) is located right above the unlocking plate (42), an eighth through hole is formed in the limiting plate (43), a connecting rod (44) is movably connected in the eighth through hole, a pressure trigger rod (45) is fixedly connected to the upper end of the connecting rod (44), the upper end of the pressure trigger rod (45) is located in the seventh through hole, the diameter of the connecting rod (44) is smaller than that of the pressure trigger rod (45), a second spring (46) is sleeved on the connecting rod (44), and the second spring (46) is located between the limiting plate (43) and the pressure trigger rod (45);
the lower end of the connecting rod (44) is fixedly connected with a lower pressing plate (47), the lower pressing plate (47) is in contact with the upper surface of the unlocking plate (42), a guide shaft guide sleeve (48) is fixedly connected to the upper portion of the limiting plate (43) in a penetrating mode, a guide shaft inner shaft (49) is fixedly connected to the lower pressing plate (47), and the guide shaft inner shaft (49) is located in the guide shaft guide sleeve (48);
a lower sliding guide post (50) is fixedly connected to the lower surface of the lower pressing plate (47), a third spring (51) is sleeved on the lower sliding guide post (50), and the third spring (51) is in contact with the bottom of the inner side of the protection shell (41);
an unlocking hole (68) is formed in the side face of the groove of the U-shaped anti-theft clamping jaw (39), the unlocking hole (68) is located on the outer side of the protection shell (41), and the lifting arm (69) is located in the unlocking hole (68) and located below the unlocking plate (42).
8. An automatic anti-skid system as claimed in claim 7, characterized in that said shoe body (38) is fixedly connected, on opposite sides, with guide plates (40), said guide plates (40) being in contact with respective head sides of the railway rail;
the upper surface of the protective shell (41) is inclined downwards towards the direction of the wheels and is arranged in an arc shape, and openings are formed in two opposite sides of the protective shell (41) and face two ends of a railway steel rail respectively; a distance detector is fixedly connected in the protective shell (41);
protection casing (41) relative both sides fixedly connected with theftproof clamping jaw protection casing (66) and backup pad (67), theftproof clamping jaw protection casing (66) are located directly over the sixth through-hole, backup pad (67) are located under the sixth through-hole, and backup pad (67) are kept away from the spacing groove has been seted up to one side of protection casing (41), the side of U type theftproof clamping jaw (39) is located the spacing inslot.
9. An automatic anti-skid method for anti-skid using an automatic anti-skid system according to any one of claims 1 to 8, the method comprising:
step (1): the mechanical arm drives the grabbing mechanism to place the anti-slip robot on the railway steel rail;
step (2): the anti-slip robot transports the anti-slip iron shoes to anti-slip positions on the railway steel rails;
and (3): after the anti-slip is finished, the anti-slip robot withdraws the anti-slip iron shoe from the anti-slip position, and the mechanical arm drives the grabbing mechanism to grab the anti-slip robot and the anti-slip iron shoe into the control box.
10. An automatic anti-slip method according to claim 9,
the step (1) specifically comprises: the grabbing mechanism clamps the anti-skid robot, the rotating mechanism drives the first cantilever (4) to rotate, the anti-skid robot is rotated to a position right above a railway steel rail, the rotating mechanism drives the first cantilever (4) to rotate and simultaneously drives the grabbing mechanism to rotate, and the direction of the anti-skid robot is adjusted to be parallel to the railway steel rail; after adjustment is completed, the first lifting mechanism drives the first cantilever (4) to move downwards, the anti-skid robot is placed on a railway steel rail, the grabbing mechanism is separated from the anti-skid robot, and the driving side wheels (26) tightly hold two sides of the steel rail;
the step (2) specifically comprises: the driving mechanism drives the driving side wheels (26) to run on the railway steel rail, when the anti-slip robot approaches to the wheels, the second lifting mechanism drives the second cantilever (25) to move downwards, anti-slip iron shoes are placed on the tread of the steel rail and continue to be pushed forwards until the anti-slip iron shoes are completely placed in place, the anti-slip robot withdraws the anti-slip iron shoes, and the U-shaped anti-theft clamping jaws (39) fall down to clamp the steel rail;
the step (3) specifically comprises the following steps: the lifting arm (69) enters an unlocking hole (68) of the U-shaped anti-theft clamping jaw (39), the second lifting mechanism drives the second cantilever (25) to move upwards to unlock the U-shaped anti-theft clamping jaw (39), the anti-slip iron shoe is lifted upwards to be separated from a steel rail by continuing to move upwards, the anti-slip robot moves reversely to the position below the grabbing mechanism, the grabbing mechanism clamps the anti-slip robot, the driving side wheels (26) are separated from two sides of the steel rail of a railway, and finally the anti-slip robot and the anti-slip iron shoe are retracted into the control box (1) through the first lifting mechanism and the rotating mechanism.
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| CN117103320A (en) * | 2023-10-25 | 2023-11-24 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117103320A (en) * | 2023-10-25 | 2023-11-24 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
| CN117103320B (en) * | 2023-10-25 | 2024-01-16 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114261420B (en) | 2023-10-24 |
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