CN116476705B - Intelligent maintenance operation vehicle and maintenance method for contact network - Google Patents
Intelligent maintenance operation vehicle and maintenance method for contact network Download PDFInfo
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- CN116476705B CN116476705B CN202310722359.9A CN202310722359A CN116476705B CN 116476705 B CN116476705 B CN 116476705B CN 202310722359 A CN202310722359 A CN 202310722359A CN 116476705 B CN116476705 B CN 116476705B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000003384 imaging method Methods 0.000 claims abstract description 14
- 230000003068 static effect Effects 0.000 claims abstract description 5
- 238000001816 cooling Methods 0.000 claims description 12
- 239000002828 fuel tank Substances 0.000 claims description 5
- 238000004887 air purification Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 241001669679 Eleotris Species 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000013102 re-test Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The invention provides an intelligent maintenance operation vehicle and a maintenance method for a contact network, which relate to the technical field of maintenance of the contact network and comprise the following steps: the automobile body can be followed the railway track and travel, is provided with on it: the positioning device is used for enabling the vehicle body to travel to the target position according to the vehicle body position and the target position; the cooperative robot is arranged on the moving end of the working platform and is provided with a cooperative tool; the force unloading device comprises an industrial robot, a clamping mechanism is arranged on the industrial robot, the clamping mechanism can clamp a contact net wire or a carrier rope, and the contact net wire or the carrier rope can be supported through movement in the vertical and horizontal directions, so that the supporting force of the cantilever structure is unloaded; the detection system comprises an imaging module and a measurement module, wherein the imaging module is used for imaging the contact net to form a contact net image, and the measurement module is used for measuring static geometric parameters on the contact net image to obtain measurement data; the intelligent maintenance of the contact net can be realized, and the maintenance efficiency and effect are improved.
Description
Technical Field
The invention belongs to the technical field of contact network overhaul, and particularly relates to an intelligent contact network overhaul operation vehicle and an overhaul method.
Background
The contact net is used as key equipment of a railway traction power supply system, and the quality of the performance of the contact net directly determines the current-carrying quality of the pantograph of the electric locomotive, so that the running speed and the safety of a train are affected. Because the contact net is an open-air device, the structure, parts and the like of the contact net are necessarily affected by various natural condition changes, and the pantograph of the electric locomotive rubs and slides along the contact line at a high speed, the contact net is often in vibration, friction, electric heating and physical change of a component, and various parameters can be out of tolerance, loosening of bolts and the like after a period of use.
At present, the maintenance operation of the overhead line system is performed manually by workers by means of a basic working platform of a working vehicle, the maintenance working efficiency is low due to the operation mode, the operation time is long, a large amount of human resources are needed to be input in the operation mode, the operation intensity of the overhead line system is high, and therefore the risk of operation accidents caused by fatigue of the workers is increased. Especially in northern alpine regions, outdoor operation environment is bad in winter, operation difficulty of workers is increased, and operation safety and operation quality are more difficult to guarantee.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent maintenance operation vehicle and an intelligent maintenance method for a contact network, which solve the problems that the maintenance of the contact network in the prior art is performed manually by means of a basic working platform of the operation vehicle, the maintenance efficiency is low, the labor is consumed, and the safety and the maintenance quality are difficult to ensure.
In order to achieve the above object, the present invention provides an intelligent maintenance operation vehicle for a contact network, comprising:
the vehicle body can run along a railway track, and is provided with a positioning device, a working platform, a cooperative robot, a force unloading device and a detection system;
the positioning device is used for enabling the vehicle body to travel to the target position according to the vehicle body position and the target position;
the cooperation robot is arranged on the moving end of the working platform, and a cooperation tool is arranged on the cooperation robot;
the force unloading device comprises an industrial robot, wherein a clamping mechanism is arranged on the industrial robot, can clamp a contact net wire or a carrier rope, and can support the contact net wire or the carrier rope through movement in the vertical and horizontal directions, so that the supporting force of the cantilever structure is unloaded;
the detection system comprises an imaging module and a measuring module, wherein the imaging module is used for imaging the contact net to form a contact net image, and the measuring module is used for measuring static geometric parameters on the contact net image to obtain measurement data.
Optionally, the vehicle body is provided with a front cab and a rear cab, the positioning device is arranged at the top of the front cab, the force unloading device and the detection system are arranged at the top of the rear cab, and the front cab and the rear cab are provided with access doors close to each other.
Optionally, the positioning device comprises a camera visual identification module and a laser radar module.
Optionally, the working platform is a straight arm double-rotation platform.
Optionally, the cooperative robot is a 6-degree-of-freedom UR cooperative robot, the cooperative tool includes a plurality of electric wrenches, and the plurality of electric wrenches can respectively tighten bolts of a plurality of specifications with set torque.
Optionally, the clamping mechanism is a pneumatic clamping mechanism or an electric clamping mechanism.
Optionally, a resistive brake is provided on top of the front cab.
Optionally, a power battery is arranged below the working platform.
Optionally, power bogie, traction converter cabinet, hydraulic system, fuel tank, generator, engine, radiator, total reservoir, air purification unit, air compressor machine and traction air cooling device have been hung to the below of automobile body, the generator connect in the output of engine, the engine is used for driving the generator electricity generation, and is after traction converter cabinet handles for power bogie's traction motor power supply, and for the radiator the air compressor machine traction air cooling device with hydraulic system power supply, the radiator is used for the engine with the generator heat dissipation, traction air cooling device is used for power bogie's traction motor heat dissipation.
The invention also provides an intelligent maintenance method of the overhead line system, which comprises the following steps of:
driving the vehicle body to a target position by using a positioning device;
detecting measurement data of the overhead line system by using a detection system and sending the measurement data to an maintainer;
the force unloading device is used for clamping the contact net wire or the carrier rope, and supporting the contact net wire or the carrier rope through movement in the vertical and horizontal directions, so that the supporting force of the cantilever structure is unloaded;
the working platform is utilized to send an maintainer and the cooperative robot to the vicinity of the cantilever structure, and the maintainer disassembles the fasteners through the cooperative robot;
determining an adjustment amount according to the difference value between the measurement data and the standard data, adjusting according to the adjustment amount, and simultaneously moving the force unloading device to assist in adjustment;
the cooperative robot is used for fastening bolts according to set torque through a cooperative tool.
The invention provides an intelligent maintenance operation vehicle and a maintenance method for a contact network, which have the beneficial effects that: the intelligent maintenance operation vehicle for the overhead contact system is characterized in that a positioning device, an operation platform, a cooperative robot, a force unloading device and a detection system are arranged on a vehicle body, the vehicle body can be driven to a target position by the positioning device, measurement data of the overhead contact system can be detected by the detection system, the measurement data are sent to maintenance staff, the force unloading device can clamp a contact net wire or a carrier cable by a clamping mechanism, the contact net wire or the carrier cable is supported by movement in vertical and horizontal directions, the supporting force of a cantilever structure is unloaded, the maintenance staff and the cooperative robot can be sent to the vicinity of the cantilever structure by the operation platform, the maintenance staff can disassemble fasteners by the cooperative robot, an adjustment amount is determined according to a difference value between the measurement data and standard data and is adjusted according to the adjustment amount, meanwhile, the force unloading device can move to assist adjustment, and the cooperative robot can fasten bolts according to set torque by a cooperative tool; the intelligent maintenance operation vehicle for the overhead line system realizes intelligent positioning, detection and auxiliary operation, greatly improves maintenance efficiency and maintenance quality, greatly improves the degree of mechanization, reduces manpower consumption and also improves maintenance safety.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
Fig. 1 shows a schematic diagram of a front view structure of an intelligent maintenance operation vehicle for a contact network according to an embodiment of the present invention.
Fig. 2 shows a schematic bottom structure of an intelligent maintenance vehicle for a catenary according to an embodiment of the present invention.
Fig. 3 shows a schematic layout of on-board equipment of the intelligent maintenance operation vehicle for the overhead line system according to an embodiment of the invention.
Fig. 4 shows a flow chart of a method for intelligent maintenance of a catenary according to an embodiment of the present invention.
Reference numerals illustrate:
1. a vehicle body; 2. a positioning device; 3. an operation platform; 4. a collaborative robot; 5. a force unloading device; 6. a detection system; 7. a front cab; 8. a rear cab; 9. an access door; 10. a power battery; 11. a power bogie; 12. traction converter cabinet; 13. a hydraulic system; 14. a fuel tank; 15. a generator; 16. an engine; 17. a heat sink; 18. a total air cylinder; 19. an air purifying unit; 20. an air compressor; 21 traction air cooling device; 22. a front driver's desk; 23. a driver seat; 24. a sleeper; 25. monitoring equipment cabinets; 26. an intelligent control cabinet; 27. a detection cabinet; 28. a work table; 29 a brake cabinet; 30. a rear driver's desk.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the preferred embodiments of the present invention are described below, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1 to 3, the present invention provides an intelligent maintenance operation vehicle for a catenary, including:
the vehicle body 1, the vehicle body 1 can run along a railway track, and a positioning device 2, a working platform 3, a cooperative robot 4, a force unloading device 5 and a detection system 6 are arranged on the vehicle body 1;
the positioning device 2 is used for enabling the vehicle body 1 to travel to a target position according to the position of the vehicle body 1 and the target position;
the cooperative robot 4 is arranged on the moving end of the working platform 3, and a cooperative tool is arranged on the cooperative robot 4;
the force unloading device 5 comprises an industrial robot, wherein a clamping mechanism is arranged on the industrial robot, can clamp a contact net wire or a carrier rope, and can support the contact net wire or the carrier rope through movement in the vertical and horizontal directions, so that the supporting force of the cantilever structure is unloaded;
the detection system 6 comprises an imaging module and a measuring module, wherein the imaging module is used for imaging the contact net to form a contact net image, and the measuring module is used for measuring static geometric parameters on the contact net image to obtain measurement data.
Specifically, in order to solve the problems that in the prior art, the maintenance of the overhead line system is manually carried out by means of a basic working platform of a working vehicle, the maintenance efficiency is low, the labor is consumed, and the safety and the maintenance quality are difficult to ensure; according to the intelligent maintenance operation vehicle for the overhead line system, the positioning device 2, the operation platform 3, the cooperative robot 4, the force unloading device 5 and the detection system 6 are arranged on the vehicle body 1, the vehicle body 1 can be driven to a target position by using the positioning device 2, measurement data of the overhead line system can be detected by using the detection system 6 and sent to maintenance staff, the force unloading device 5 can clamp a contact net wire or a carrier rope through a clamping mechanism and support the contact net wire or the carrier rope through movement in the vertical and horizontal directions, so that the arm structure supports the load, the maintenance staff and the cooperative robot 4 can be sent to the vicinity of the arm structure by using the operation platform 3, the maintenance staff can disassemble a fastener through the cooperative robot 4, an adjustment amount is determined according to a difference value between the measurement data and standard data and is adjusted according to the adjustment amount, meanwhile, the force unloading device 5 can move to assist in adjustment, and the cooperative robot 4 can fasten bolts according to set torque through a cooperative tool; the intelligent maintenance operation vehicle for the overhead line system realizes intelligent positioning, detection and auxiliary operation, greatly improves maintenance efficiency and maintenance quality, greatly improves the degree of mechanization, reduces manpower consumption and also improves maintenance safety.
Optionally, the vehicle body 1 is provided with a front cab 7 and a rear cab 8, the positioning device 2 is arranged at the top of the front cab 7, the force unloading device 5 and the detection system 6 are arranged at the top of the rear cab 8, and the front cab 7 and the rear cab 8 are provided with an access door 9 close to each other.
Specifically, the setting of access door 9 makes things convenient for the maintainer to come out from front cab 7 and back cab 8, walks on work platform 3, carries out maintenance work.
Optionally, the positioning device 2 comprises a camera vision recognition module and a laser radar module.
Specifically, the positioning device 2 adopts a vision+laser radar mode to collect the relative position information of the target position and the position of the vehicle body 1, and guides the vehicle body 1 to reach the target position.
Optionally, the working platform 3 is a straight arm double-rotation platform.
Specifically, in other embodiments, other forms of work platform 3 may be used as desired.
Alternatively, the cooperative robot 4 is a 6-degree-of-freedom UR cooperative robot 4, and the cooperative tool includes a plurality of electric wrenches capable of tightening bolts of a plurality of specifications with set torque, respectively.
Specifically, the collaborative robot adopts the collaborative robot 4 widely applied to the flexible production line of electronic products, adopts the 6-degree-of-freedom UR collaborative robot 4, has the advantages of light dead weight, strong load force, simple programming, flexible installation, high safety coefficient, flexible combination and matching and the like, has good man-machine cooperativity, can realize man-machine collaborative operation, is provided with collaborative tools at the tail end of the collaborative robot, namely an integrated tool bag, comprises tools such as electric wrenches, clamping adjustment and the like, the collaborative tools can preset bolts with different specifications and corresponding torque parameters thereof, and the collaborative robot 4 can automatically replace corresponding tools for operation according to different operation contents.
Alternatively, the clamping mechanism is a pneumatic clamping mechanism or an electric clamping mechanism.
Specifically, the force unloading device 5 adopts an industrial robot which can be applied to an automobile production line in the past and has stronger bearing capacity, and a pneumatic clamping mechanism or an electric clamping mechanism is arranged at the tail end of the force unloading device and is used for clamping a contact net wire or a carrier rope, and finally, the support of the contact net wire or the carrier rope is realized through the actions in the vertical and horizontal directions, so that the unloading and the counteracting of the support force of the wrist arm structure are realized.
Furthermore, the detection system 6 adopts the principle of laser mapping to detect parameters such as the altitude, the pull-out value and the like of the overhead line system, obtain measurement data, realize the comparison analysis with the standard data of the overhead line system and generate an operation maintenance task.
Optionally, the top of the front cab 7 is provided with a resistive brake.
Specifically, an electric transmission resistor braking device is adopted, so that driving safety can be ensured on a long ramp.
Optionally, a power battery 10 is provided below the work platform 3.
Specifically, the method has the advantages of zero emission, no pollution and the like in the mode of the power battery 10, has no carbon emission in the use process, solves the problems of tail gas emission of the traditional internal combustion engine and the influence of operation noise of skylight points on life of residents along the line in the environments with poor tunnel and diffusion conditions, and eliminates the influence on personnel health caused by operation.
Furthermore, compared with the existing working mode and maintenance process flow, the intelligent maintenance working vehicle for the overhead line system provides a new working mode and process flow based on man-machine cooperation, forms a corresponding maintenance working standard rule, and achieves the effects of reducing operators and improving working efficiency; the structural design, the strength design and the control design of the mature robot are adopted to realize the cooperative completion of the multi-type maintenance tasks such as bolt fastening, value pulling out of the contact net, height guiding adjustment and the like by people and multiple arms.
Optionally, the power bogie 11, the traction converter cabinet 12, the hydraulic system 13, the fuel tank 14, the generator 15, the engine 16, the radiator 17, the main air cylinder 18, the air purifying unit 19, the air compressor 20 and the traction air cooling device 21 are suspended below the vehicle body 1, the generator 15 is connected to the output end of the engine 16, the engine 16 is used for driving the generator 15 to generate electricity, and after being processed by the traction converter cabinet 12, the traction motor of the power bogie 11 is powered, and the radiator 17, the air compressor 20, the traction air cooling device 21 and the hydraulic system 13 are powered, the radiator 17 is used for radiating heat for the engine 16 and the generator 15, and the traction air cooling device 21 is used for radiating heat for the traction motor of the power bogie 11.
Specifically, the traction converter cabinet 12, the hydraulic system 13, the fuel tank 14, the main air cylinder 18, the air purification unit 19 and the air compressor 20 are in a welding structure and are suspended below the frame of the vehicle body 1; the generator 15 is arranged at the output end of the engine 16, the front cab 7 and the rear cab 8 are arranged at the front end and the rear end above the vehicle body 1, the front end and the rear end are communicated with the external space through respective access doors 9, the engine 16 is a diesel engine, the diesel engine drives the generator 15 to generate power, the power is supplied to a traction motor of the front bogie after being processed by the traction converter 12, the power battery can be charged, the generator 15 generates power and supplies power to the radiator 17, the air compressor 20, the traction air cooling device 21 and the hydraulic system 13 after being processed by an auxiliary reverse module in the traction converter 12, the radiator 17 is a composite radiator 17, and the radiator 17 is a diesel engine and the generator 15 for radiating; when the whole vehicle runs, the traction air cooling device 21 dissipates heat for the traction motor of the front bogie, and the maximum speed of the vehicle can reach 120km/h when the vehicle runs at a high speed to an operation site.
In the embodiment, a front driver desk 22, a driver seat 23, a sleeper 24, a monitoring equipment cabinet 25, an intelligent control cabinet 26, a detection cabinet 27 and a workbench 28 are arranged in the front driver cab; a brake cabinet 29 and a rear driver's cab 30 are arranged in the rear driver's cab.
As shown in fig. 4, the present invention further provides an intelligent maintenance method for a contact network, using the intelligent maintenance operation vehicle for a contact network, including:
driving the vehicle body 1 to a target position by using the positioning device 2;
detecting measurement data of the overhead line system by using a detection system 6 and sending the measurement data to an maintainer;
the force unloading device 5 is used for clamping the contact net wire or the carrier rope, and supporting the contact net wire or the carrier rope through movement in the vertical and horizontal directions, so that the supporting force of the cantilever structure is unloaded;
the working platform 3 is utilized to send an maintainer and the cooperative robot 4 to the vicinity of the cantilever structure, and the maintainer disassembles the fasteners through the cooperative robot 4;
determining an adjustment amount according to the difference value between the measurement data and the standard data, adjusting according to the adjustment amount, and simultaneously moving the force unloading device 5 to assist in adjustment;
the cooperative robot 4 performs bolt fastening according to the set torque by a cooperative tool.
Specifically, the intelligent maintenance method for the overhead line system utilizes the intelligent maintenance operation vehicle for the overhead line system, and in the one-time maintenance process, the maintenance process is as follows:
the car body 1 is guided by the positioning device 2 to run below a designated pillar at a speed of 5km/h-15km/h, firstly, the detection system 6 is utilized to detect the state parameters of the contact network so as to obtain measurement data, the imaging module carries out imaging detection on the parts of the contact network to form a contact network image, the measurement module adopts the principle of laser ranging to measure the static geometric parameters of the contact network, including the height guiding and pulling-out values of the contact network wire, the gradient of a positioner and the like, and the terminal equipment can also be utilized to send the measurement data (which can be in the form of report results) to an maintainer according to the requirements specified in general speed railway contact network operation maintenance rule (iron general operation [2017] 9), "high speed railway contact network operation maintenance rule (iron general operation [2015] 362) and the like, the contact network wire and carrier cable technical standards are as follows:
standard value of contact net wire
Parameter table for overhauling and maintaining carrier cable
Then, the force unloading device 5 starts to act, the clamping mechanism at the tail end of the force unloading device aims at the contact net wire or the carrier cable to clamp, and vertical or horizontal supporting or pulling actions are carried out according to different conditions of the circuit, and lifting and stirring actions are carried out on the carrier cable and the contact wire, so that the force is unloaded by the wrist arm structure (or the positioner). Lifting the straight arm double-rotation platform (configured 1-2 overhauling staff) to send the overhauling staff and the cooperative robot 4 to an operation position near the wrist arm structure, selecting corresponding cooperative tools by the cooperative robot 4 according to different bolt specifications, and simultaneously, carrying out disassembly work of fasteners by the cooperative overhauling staff; because the carrier cable and the contact net wire are supported by the cantilever structure, and the cantilever structure is of a triangle-like structure, if the carrier cable and the contact net wire are to be regulated, all sleeves on the cantilever structure are required to be disassembled, and the regulating quantity is determined according to the difference value between the measurement data and the standard data of the detection system 6; then, the adjustment action of the guide height or the pull-out value is carried out, and at the moment, the force unloading device 5 carries out fine adjustment action cooperation in real time according to the requirement to finish the adjustment work; the collaboration robot 4 with 6 degrees of freedom after adjustment automatically invokes corresponding preset parameters according to a specified torque value (see table below) through a collaboration tool at the tail end of the collaboration robot to complete bolt fastening work; according to TB/T2075.1-2010 section 1 of the contact network part of the electrified railway: cantilever support device and TB/T2075.7-2010 part 7 of contact network parts of electrified railway: integral dropper and dropper clamp.
Parameter table for fastening moment of contact net part parts
Then, the cooperative robot 4 and the force unloading device 5 shrink and reset, and the overhaul and adjustment work is completed; and finally, the detection system 6 carries out repairing and re-testing on the overhauled contact net, the qualified straight arm double-rotation platform is detected to reset, the next operation site is ready to be entered, and the overhauling is carried out again if the detection is unqualified.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (9)
1. An intelligent maintenance operation vehicle for a contact network, which is characterized by comprising:
the vehicle body can run along a railway track, and is provided with a positioning device, a working platform, a cooperative robot, a force unloading device and a detection system;
the positioning device is used for enabling the vehicle body to travel to the target position according to the vehicle body position and the target position;
the cooperation robot is arranged on the moving end of the working platform, and a cooperation tool is arranged on the cooperation robot;
the force unloading device comprises an industrial robot, wherein a clamping mechanism is arranged on the industrial robot, can clamp a contact net wire or a carrier rope, and can support the contact net wire or the carrier rope through movement in the vertical and horizontal directions, so that the supporting force of the cantilever structure is unloaded;
the detection system comprises an imaging module and a measurement module, wherein the imaging module is used for imaging the contact net to form a contact net image, and the measurement module is used for measuring static geometric parameters on the contact net image to obtain measurement data;
the maintenance method of the intelligent maintenance operation vehicle for the overhead contact system comprises the following steps:
driving the vehicle body to a target position by using a positioning device;
detecting measurement data of the overhead line system by using a detection system and sending the measurement data to an maintainer;
the force unloading device is used for clamping the contact net wire or the carrier rope, and supporting the contact net wire or the carrier rope through movement in the vertical and horizontal directions, so that the supporting force of the cantilever structure is unloaded;
the working platform is utilized to send an maintainer and the cooperative robot to the vicinity of the cantilever structure, and the maintainer disassembles the fasteners through the cooperative robot;
determining an adjustment amount according to the difference value between the measurement data and the standard data, adjusting according to the adjustment amount, and simultaneously moving the force unloading device to assist in adjustment;
the cooperative robot is used for fastening bolts according to set torque through a cooperative tool.
2. The overhead line system intelligent overhaul operating vehicle according to claim 1, wherein a front cab and a rear cab are arranged on the vehicle body, the positioning device is arranged at the top of the front cab, the force unloading device and the detection system are arranged at the top of the rear cab, and an access door is arranged on the front cab and the rear cab close to each other.
3. The overhead contact system intelligent maintenance work vehicle of claim 1, wherein the positioning device comprises a camera vision recognition module and a laser radar module.
4. The overhead contact system intelligent maintenance work vehicle of claim 1, wherein the work platform is a straight-arm double-rotary platform.
5. The overhead line system intelligent maintenance work vehicle according to claim 1, wherein the cooperative robot is a 6-degree-of-freedom UR cooperative robot, the cooperative tool includes a plurality of electric wrenches, and the plurality of electric wrenches can respectively tighten bolts of a plurality of specifications with set torque.
6. The overhead line system intelligent maintenance work vehicle according to claim 1, wherein the clamping mechanism is a pneumatic clamping mechanism or an electric clamping mechanism.
7. The overhead line system intelligent maintenance operation vehicle according to claim 2, wherein a resistance braking device is arranged at the top of the front cab.
8. The overhead contact system intelligent maintenance work vehicle according to claim 1, wherein a power battery is arranged below the work platform.
9. The overhead contact system intelligent overhaul operating vehicle according to claim 1, wherein a power bogie, a traction converter cabinet, a hydraulic system, a fuel tank, a generator, an engine, a radiator, a total air cylinder, an air purification unit, an air compressor and a traction air cooling device are suspended below the vehicle body, the generator is connected to the output end of the engine, the engine is used for driving the generator to generate electricity, and is used for supplying power to a traction motor of the power bogie after being processed by the traction converter cabinet, and supplying power to the radiator, the air compressor, the traction air cooling device and the hydraulic system, and the radiator is used for radiating heat for the engine and the generator and the traction air cooling device is used for radiating heat for a traction motor of the power bogie.
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| CN202310722359.9A CN116476705B (en) | 2023-06-19 | 2023-06-19 | Intelligent maintenance operation vehicle and maintenance method for contact network |
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| CN202310722359.9A CN116476705B (en) | 2023-06-19 | 2023-06-19 | Intelligent maintenance operation vehicle and maintenance method for contact network |
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| CN116476705B true CN116476705B (en) | 2023-08-18 |
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Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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