CN114803469A - Automatic carrying robot for train wheel shafts - Google Patents

Abstract

The invention relates to an automatic train wheel shaft carrying robot which comprises a sensing sensor, a limiting sensor, a moving mechanism, a controller and a pushing gear rod mechanism. The pushing gear lever mechanism is provided with a group of pushing gear lever units which are symmetrically arranged, each group of pushing gear lever units comprises a pair of gear levers which are oppositely arranged and can lift and keep synchronous movement, and when the gear levers lift, the gear levers are used for clamping the central shaft of the detected wheel shaft. The controller receives the acquisition signals of the sensing sensor and the limiting sensor and sends out a lifting signal for controlling the pushing of the stop lever in the stop lever mechanism and a moving signal for controlling the moving mechanism to move forwards and backwards. The invention realizes the automatic transmission process of the train wheel shaft with high efficiency, reliability and intellectualization, reduces the frequent conversion times of the train wheel shaft in the detection process of the detection equipment, improves the detection efficiency, reduces the detection cost, reduces the labor intensity and improves the transportation safety.

Description

Automatic carrying robot for train wheel shafts

Technical Field

The invention belongs to the field of automatic control, particularly relates to an automatic train wheel shaft carrying robot, and particularly relates to an automatic train wheel shaft carrying robot which clamps a wheel pair to be detected by using a lifting stop lever and then automatically pushes a detection wheel shaft to move to a station to be detected.

Background

The railway is used as a national economic aorta, a national important infrastructure and a popular vehicle, and has a very important position and function in the development of the national economic society. With the continuous development of the railway industry in China, the high-speed heavy load of railway wagons is an important development strategy at present. The running speed of the train is greatly increased from the past 40km/h-60km/h to the present 80km/h-120km/h, and the load capacity of each carriage is also increased to 70 tons-80 tons. The axle and the bogie of the train are important components for the running of the train, in the actual running process, the phenomenon of a bearing 'hot shaft' of the axle happens occasionally, and the faults of components such as a swing bolster, a side frame, a wedge, a spring and the like of the bogie frequently occur, so that the running safety of the railway is directly influenced. In order to ensure the safe and reliable operation of the truck, the requirements on the reliability and safety of the truck axles and the trucks are higher and higher. For this reason, the railway department issues related documents, and requires that the truck axles and the trucks must be detected after being assembled.

At present, a crown block or a manipulator is generally adopted for detecting the train wheel shaft and the bogie, and the train wheel shaft and the bogie are moved to detection stations for detection. Even some detection production lines, degree of automation is lower, and the process that shaft and bogie got into and exited from the detection station need be operated through the mode of artifical propelling movement, and not only intensity of labour is big, still has the danger of damaging.

In order to solve the problems, it is necessary to develop an automatic train wheel shaft carrying robot.

Disclosure of Invention

In view of this, the present invention provides an automatic train wheel shaft handling robot, which aims to solve the problem of low detection efficiency caused by frequent switching of a plurality of detection stations dispersedly arranged in the prior art by using a crown block or a manipulator.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:

train wheel shaft automatic handling robot, including the robot body to and:

the pushing gear lever mechanism is arranged in the robot body and is provided with a group of pushing gear lever units which are symmetrically arranged, each group of pushing gear lever units comprises a pair of gear levers which are oppositely arranged and can lift and keep synchronous movement, and when the gear levers lift, the gear levers are used for clamping the central shaft of the detected wheel shaft;

the sensing sensor is arranged on the upper surface of the robot body and is positioned at the center of the pushing gear lever mechanism, and is used for sensing whether the detected wheel axle is positioned above the sensing sensor or not;

the limiting sensor is arranged on the lower surface of the robot body, senses a navigation strip or an electronic tag laid on the ground, and guides the robot body to walk on the ground through the navigation strip or the electronic tag;

the moving mechanisms are arranged on four corners of the robot body and drive the robot body to move along a planned route; and

and the controller is arranged in the robot body, receives the acquisition signals of the sensing sensor and the limiting sensor, sends out a lifting signal for controlling the pushing of the stop lever in the stop lever mechanism and a moving signal for controlling the moving mechanism to move forwards and backwards, and realizes the automatic pushing of the detected wheel shaft.

Preferably, the pushing gear lever unit further comprises a speed reducer, a connecting shaft and circular gear wheels, the speed reducer is installed in the robot body and controlled by the controller, the output ends of the left side and the right side of the speed reducer are respectively connected with the connecting shaft, each connecting shaft is further provided with a gear lever, and the gear levers are further provided with a plurality of circular gear wheels which are uniformly distributed and can freely slide from top to bottom.

Preferably, the distance between the two oppositely arranged shift levers is slightly larger than the diameter of the central shaft of the detected wheel shaft.

Preferably, the moving mechanism includes a group of steering wheels arranged diagonally and a group of casters arranged diagonally, and the steering wheels and the casters are installed in the robot body and located at four corners of the robot body.

Preferably, the steering wheel further comprises a first servo driver for controlling the traveling direction of the steering wheel and a second servo driver for controlling the steering wheel to move forward and backward, and the first servo driver and the second servo driver are respectively communicated with the controller and receive the moving signals sent by the controller.

Preferably, the steering wheel is installed in the robot body through a steering wheel connecting seat, and the universal caster is installed in the robot body through a caster support.

Preferably, the sensing sensor is located at the center of the shift lever mechanism, specifically: the perception sensor is arranged in the middle of the two symmetrically-arranged speed reducers.

Preferably, the sensing sensor is an infrared sensor, the distance measuring sensors are respectively arranged on the left side and the right side of the robot body, the gear lever is also provided with a torque sensor, and the infrared sensor, the distance measuring sensors and the torque sensor are respectively communicated with the controller.

Preferably, a power supply battery is further disposed in the robot body for supplying power to the electric equipment in the robot body.

Preferably, the housing of the robot body is further provided with a charging terminal connected to the power supply battery, and the charging terminal supplies power to the battery after contacting with an electric retractable charging brush disposed on an external charging device.

The invention has the beneficial effects that:

the train wheel shaft automatic transfer robot of the present invention has four effects:

firstly, in the moving aspect, the robot body, the steering wheel and the universal caster are utilized to form a freely moving walking trolley by the robot body, and the robot body can realize frequent switching among different detection stations by matching with a navigation bar or an electronic tag laid on the ground;

secondly, in the pushing aspect, the sensing sensor is used for sensing the position of the wheel pair, the distance measuring sensor is combined to judge whether an obstacle is in front of the trolley for avoiding the obstacle, and meanwhile, when the sensing sensor senses the detected wheel pair, the controller controls the blocking rod to rise so as to clamp the detected wheel pair, and the detected wheel pair is pushed to be frequently conveyed on each detection station through the movement of the walking trolley;

third, in a control aspect, the controller of the present invention integrates a GPC algorithm with a PID control algorithm to form a high precision controller that combines the two. The intelligent navigation algorithm of the train wheel shaft automatic transfer robot combines a GPC algorithm and a PID control algorithm based on an ARIMAX model, and a system output value obtained by combining the PID algorithm and the GPC algorithm can ensure that a trolley stably runs in the line hunting process.

In the aspect of charging, the robot body is charged by using the charging terminal of the robot body and the externally arranged telescopic charging brush, and when the robot body needs to be charged, the walking trolley automatically moves to the position of external charging equipment for automatic charging, so that the problem of complicated wiring is greatly solved.

Based on the four aspects, the invention realizes the efficient, reliable and intelligent automatic transmission process of the train wheel shaft, reduces the frequent conversion times of the train wheel shaft in the detection process of the detection equipment, improves the detection efficiency, reduces the detection cost, reduces the labor intensity and improves the transportation safety.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a diagram showing a state of clamping a wheel set when a stopper rod is lifted in the automatic transfer robot for train wheels according to the present invention;

FIG. 2 is a left side view of the state shown in FIG. 1;

FIG. 3 is a top view of the automatic transfer robot for train wheels according to the present invention, showing the shift lever lowered and returned to its original position

FIG. 4 is a view taken along line A of FIG. 2;

FIG. 5 is a schematic view of the pushing link unit of FIG. 1 being raised to a maximum position;

FIG. 6 is a schematic view of the pushing link unit shown in FIG. 1 in a lowered position;

FIG. 7 is a top view of the rudder wheel attachment base of FIG. 3;

FIG. 8 is a cross-sectional view taken along line B-B of FIG. 7;

FIG. 9 is a top view of the caster mount of FIG. 6;

fig. 10 is a left side view of the structure shown in fig. 9.

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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The train wheel shaft and the bogie need to be switched back and forth between a plurality of detection stations through a crown block or a manipulator, so that the problems of low detection efficiency and high detection cost are caused. The applicant finds that the frequent switching of the detected train wheel among a plurality of detection stations can be realized by clamping the detected train wheel shaft through the automatic control system matched with the automatic sensing device and combining the lifting blocking wheel, so that the problems of frequent switching, low detection efficiency and high detection cost of the train wheel shaft on the detection stations are well solved.

The automatic train wheel shaft carrying robot is designed based on a three-layer basic architecture of the Internet of things, and comprises a sensing layer (comprising a sensing sensor, a limit sensor, a distance measuring sensor and a moment sensor), a transmission layer (comprising a controller and a communication system), a working system (comprising an electric pushing gear rod unit, a moving mechanism and a robot body) and the like, as shown in figure 1. The perception layer uses perception sensor, spacing sensor, range finding sensor. The position of the train wheel shaft needing to be carried is judged through the sensing sensor, the obstacle in front is judged to the robot body through the distance measuring sensor to avoid the obstacle, and the robot body is navigated through the limiting sensor. The pushing gear lever unit of the working layer is convenient to control, response speed is high, frequent switching of the detected wheel pair carried by the robot body between each detection station can be rapidly realized, and transportation efficiency is greatly improved. The transmission layer constructs a network transmission protocol of a corresponding communication layer according to the function and the instruction characteristic of the controller, and the requirement of real-time communication rapid control is met.

Based on the above design principle, the train wheel shaft automatic handling robot has the following specific structure: as shown in fig. 1-4. The invention discloses an automatic train wheel shaft carrying robot which comprises a robot body 1, a pushing blocking rod mechanism 2, a sensing sensor 5, a limiting sensor, a moving mechanism 3 and a controller 4.

In this example, the sensing sensor 5 is disposed on the upper surface of the robot body 1 and at the center of the shift lever mechanism 2, so as to sense whether the detected wheel axle is above the sensing sensor 5. Wherein, the central position is also the central position of the robot body 1. The sensor 5 in this example is an infrared sensor.

In this example, the shift lever mechanism 2 is provided in the robot body 1 and has a set of symmetrically installed shift lever units 201, each set of shift lever units 201 includes a pair of lever 202 that can be raised and lowered and keep the motion synchronization after being disposed in opposite directions, and when the lever 202 is raised, the lever can clamp the central axis of the detected wheel shaft, and when the robot body 1 moves, the lever can clamp the detected wheel shaft to rapidly shift. The distance between the two oppositely arranged shift levers 202 is slightly larger than the diameter of the central shaft of the detected wheel axle.

As a further improvement of this embodiment, as shown in fig. 5 to 6, in order to realize the synchronous movement and the lifting process of the shift lever 202, the shift lever unit 201 further includes: the robot comprises a speed reducer 203, a connecting shaft 204 and circular catch wheels 205, wherein the speed reducer 203 is installed in the robot body 1 and controlled by the controller 4, the output ends of the left side and the right side of the speed reducer 203 are respectively connected with the connecting shaft 204, each connecting shaft 204 is connected with a catch rod 202, and the catch rods 202 are further provided with a plurality of circular catch wheels 205 which are uniformly distributed and can freely slide from top to bottom.

The circular catch wheel 205 is adopted, so that the original hard contact can be changed into the sliding contact of the invention, the damage and the damage to the surface of the wheel to be detected are reduced, and the processing precision of the surface of the train wheel shaft is ensured to the maximum extent. Meanwhile, the torque sensor 206 is arranged on the stop lever 202, so that the clamping force data acquired in real time can be transmitted back to the controller 4 in real time to form a data set, and the data set is used as a reference setting standard later.

The synchronous operation of the stop lever is ensured through the output ends on the left side and the right side of the same speed reducer 203, the speed reducer 203 is controlled by the controller 4, and when the wheel axle is sensed to be detected, the stop lever 202 is lifted synchronously through the action of the speed reducer 203 in time.

The center position of the shift lever mechanism 2 here means: the sensing sensor is located at the center of the robot body, and is also located at the center of the two reducers of the shift lever mechanism.

In this example, the limit sensor is disposed on the lower surface of the robot body 1 and senses a navigation bar or an electronic tag laid on the ground, and the robot body 1 is guided to walk on the ground by the navigation bar or the electronic tag. Thus, the robot body 1 forms a freely movable trolley. The distance measuring sensors are arranged on the left side and the right side of the robot body 1 respectively, and obstacles in front of and behind the detected wheel pair can be avoided.

In this example, the moving mechanism 3 is installed at four corners of the robot body 1, and drives the robot body 1 to move along a planned route, that is, a route of a navigation bar or an electronic tag. Wherein, moving mechanism 3 includes a set of helm 301 that diagonal set up and a set of caster 302 that diagonal set up, just helm 301 and caster 302 are all installed in robot body 1 and be located the four corners of this robot body 1.

In this example, the steering wheel 301 further includes a first servo driver for controlling the traveling direction of the steering wheel 301 and a second servo driver for controlling the forward and backward movement of the steering wheel 301, and the first servo driver and the second servo driver are both in communication with the controller 4 and receive the movement signal from the controller 4. In the present invention, the steering wheel 301 is a driving wheel, and the caster 302 is a driven wheel.

As shown in fig. 7 to 10, in the process of installing the steering wheel 301 and the universal caster 302, the steering wheel 301 is installed in the robot body 1 through a steering wheel connection base, and the universal caster 302 is installed in the robot body 1 through a caster bracket.

In this example, the controller 4 is disposed in the robot body 1, receives the signals collected by the sensor 5 and the limit sensor, and sends out a lifting signal for controlling the shift lever 202 in the shift lever mechanism 2 and a moving signal for controlling the moving mechanism 3 to move forward and backward, so as to automatically shift the detected wheel axle.

That is to say, the infrared sensor, the distance measuring sensor 101 and the moment sensor 206 are all respectively communicated with the controller 4, and respectively collect respective signals to the controller 4, and the controller 4 sends out a lifting signal for controlling the stop lever 202 and a moving signal for controlling the moving mechanism 3 after receiving the signals.

In the aspect of designing the controller, the controller control system is designed by adopting visual-basic programming language, so that the basic requirements of the transportation wheel shaft (wheel pair) of the walking trolley are met, the convenience of a user is fully considered, a plurality of modules such as a monitoring interface, data recording, parameter setting, fault inquiry, user authority, remote control and the like are arranged, and the user can operate according to the system interface. The monitoring interface comprises a date part, an equipment running state part, a function button part and the like. In the data recording module, the trolley records the number of transport wheel shafts on the day, and a user can check the transport workload in real time. The parameter setting module completes wireless connection of the controller to the computer and sets parameters such as equipment names, IP addresses and the like. The fault query module can enable a maintainer to make quick judgment and processing through the module, for example, the connection between a trolley and a human-computer interaction interface fails; a trolley driving system is in failure; the transportation trolley cannot be decelerated and positioned when moving to a destination; the pushing stop lever mechanism cannot lift; the trolley can not avoid the obstacle to the front obstacle and the like. The user authority module can add and delete operations such as providing operation limitation for external visitors. In the remote control module, a user can directly send start-stop commands and other operations to the trolley through the mobile equipment.

In the aspect of the transportation technology research of the controller. Since the GPC algorithm and the PID control algorithm have similarity in terms of control rate, integrating the GPC algorithm and the PID control algorithm can form a high-precision controller combining the two. The intelligent navigation algorithm of the device is based on an ARIMAX model and combines a GPC algorithm and a PID control algorithm, and the output value of the system obtained by combining the PID algorithm and the GPC algorithm can ensure that the trolley stably runs in the routing process. And aiming at software and hardware faults of the carrying robot, the faults occurring in the intelligent carrying wheel shaft device are displayed in a human-computer interaction interface based on an expert system.

In this example, a power supply battery is further provided in the robot body 1 to supply power to the electric equipment in the robot body 1, and a charging terminal connected to the power supply battery is further provided on the housing of the robot body 1, and the charging terminal supplies power to the battery after contacting with an electric retractable charging brush provided on an external charging device. When the robot body 1 needs to be charged, the walking trolley automatically moves to the position of external charging equipment to be charged automatically, and the problem of complicated wiring is greatly solved.

The automatic intelligent detection process of the automatic train wheel shaft carrying robot comprises the following steps: the moving mechanism and the pushing stop lever mechanism on the robot body automatically carry the wheel shaft and transmit the wheel shaft to the detection station for detection. The automatic pushing device detects the position of a train wheel shaft by using a sensing sensor, and a controller judges and sends out a signal for controlling the pushing stop lever unit to lift, and meanwhile, the lifted stop lever carries the train wheel shaft and is matched with a signal for starting a moving mechanism sent by the controller to start the moving mechanism to automatically transmit the train wheel shaft to a detection station. After the wheel axle detection is finished, the controller sends out a signal again, and the carrying wheel axle faces to the next detection station or is transported to the detected station, so that the problem of automatic loading and unloading in the wheel axle detection process is solved, the detection efficiency is improved, and the detection cost is reduced.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (10)

1. Train wheel shaft automatic handling robot, including the robot, its characterized in that still including:

the pushing gear lever mechanism is arranged in the robot body and is provided with a group of pushing gear lever units which are symmetrically arranged, each group of pushing gear lever units comprises a pair of gear levers which are oppositely arranged and can lift and keep synchronous movement, and when the gear levers lift, the gear levers are used for clamping the central shaft of the detected wheel shaft;

the sensing sensor is arranged on the upper surface of the robot body and is positioned at the center of the pushing gear lever mechanism, and is used for sensing whether the detected wheel axle is positioned above the sensing sensor or not;

the limiting sensor is arranged on the lower surface of the robot body, senses a navigation strip or an electronic tag laid on the ground, and guides the robot body to walk on the ground through the navigation strip or the electronic tag;

the moving mechanisms are arranged on four corners of the robot body and drive the robot body to move along a planned route; and

and the controller is arranged in the robot body, receives the acquisition signals of the sensing sensor and the limiting sensor, sends out a lifting signal for controlling the pushing of the stop lever in the stop lever mechanism and a moving signal for controlling the moving mechanism to move forwards and backwards, and realizes the automatic pushing of the detected wheel shaft.

2. The automatic train wheel shaft handling robot as claimed in claim 1, wherein the pushing and shifting lever unit further comprises a reducer, a connecting shaft and a circular blocking wheel, the reducer is mounted in the robot body and controlled by the controller, output ends of left and right sides of the reducer are respectively connected with the connecting shaft, a blocking lever is further provided on each connecting shaft, and a plurality of circular blocking wheels which are uniformly distributed and can freely slide are further provided on the blocking lever from top to bottom.

3. The automatic train wheel shaft handling robot as claimed in claim 2, wherein the distance between the two oppositely disposed shift levers is slightly larger than the diameter of the central shaft of the detected wheel shaft.

4. The train wheel axle automatic handling robot of claim 1, wherein the moving mechanism comprises a diagonally disposed set of steering wheels and a diagonally disposed set of casters, and the steering wheels and casters are mounted within the robot body and located at the four corners of the robot body.

5. The automatic train wheel shaft handling robot as claimed in claim 4, wherein the steering wheel further comprises a first servo driver for controlling the traveling direction of the steering wheel and a second servo driver for controlling the forward and backward movement of the steering wheel, and the first servo driver and the second servo driver are both in communication with the controller and receive the movement signal from the controller.

6. The train wheel axle automatic handling robot of claim 5, wherein the steering wheel is mounted within the robot body by a steering wheel attachment mount and the caster wheel is mounted within the robot body by a caster mount.

7. The automatic train wheel shaft handling robot as claimed in claim 1, wherein the location of the sensor at the center of the shift lever mechanism is specifically: the perception sensor is arranged in the middle of the two symmetrically-arranged speed reducers.

8. The automatic train wheel shaft handling robot according to any one of claims 1 to 7, wherein the sensing sensor is an infrared sensor, distance measuring sensors are respectively disposed on the left side and the right side of the robot body, a torque sensor is further disposed on the gear lever, and the infrared sensor, the distance measuring sensors and the torque sensor are respectively in communication with the controller.

9. The automatic train wheel shaft handling robot as claimed in claim 8, wherein a power supply battery is further disposed in the robot body for supplying power to the electric equipment in the robot body.

10. The automatic train wheel shaft handling robot of claim 9, wherein the housing of the robot body further comprises a charging terminal connected to the power supply battery, and the charging terminal is configured to contact an electric retractable charging brush disposed on an external charging device and supply power to the battery.

Images