CN116986232A - Transfer device and transfer method of train inspection robot - Google Patents
Transfer device and transfer method of train inspection robot Download PDFInfo
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- CN116986232A CN116986232A CN202311211809.4A CN202311211809A CN116986232A CN 116986232 A CN116986232 A CN 116986232A CN 202311211809 A CN202311211809 A CN 202311211809A CN 116986232 A CN116986232 A CN 116986232A
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- 238000007689 inspection Methods 0.000 title claims abstract description 125
- 238000012546 transfer Methods 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 7
- 230000009466 transformation Effects 0.000 abstract description 7
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The invention discloses a transfer device and a transfer method of a train inspection robot, which enable the inspection robot to be transferred rapidly and be separated from the limit of construction transformation and fixed transfer positions. By the scheme of the invention, dependence on capital construction transformation can be eliminated, so that the system has high flexibility and environmental adaptability is improved. And the equipment input amount is reduced, and the comprehensive cost is effectively reduced. In addition, in the task execution process of the scheme, the cooperative operation capability of the multi-equipment in running can be realized, and the intelligent degree of the operation and maintenance of the system is improved.
Description
Technical Field
The invention relates to the technical field of automatic train inspection, in particular to a transfer device and a transfer method of a train inspection robot.
Background
As the traffic artery of the city, the subway brings convenience and order travel environment to citizens, and solves the problem of partial urban traffic jam. The maintenance of the metro vehicle is the guarantee of safe and efficient operation. The maintenance work of the metro vehicle is mainly carried out in a maintenance vehicle section (short for vehicle section) or a vehicle maintenance warehouse using the vehicle section (short for parking lot).
The stock tracks in the train garage are distributed in parallel, so as to avoid collision between equipment and trains in the cross tracks, the inspection robots are selected to enter the inspection pit from the side entrances and exits of the inspection pit, and then move along the inspection pit and detect key parts of subway vehicles parked on corresponding inspection tracks. Before the inspection process starts, the inspection robot needs to be transported to the inspection pit, and after the inspection is finished, the inspection robot needs to be transported out of the inspection pit. All robots that inspect pit jobs have equipment transfer requirements.
The first type of transfer method at present is that a slope is formed in a local area of an inspection pit by backfilling to connect the ground with the inspection pit, and a train inspection robot is navigated to the slope to enter and exit the inspection pit; the advantages are that: the scheme is simple; disadvantages: the ground structure is destroyed highly, the amount of reconstruction of the capital construction is large, and the cost investment is high.
The second type of transferring method is that before the subway vehicle enters the maintenance track, the train inspection robot is directly hung into the inspection pit through the lifting device; the advantages are that: the construction transformation is not needed; disadvantages: the lifting safety is poor, and the problem that the collision and falling of the train inspection robot are damaged easily occurs.
The third type of transfer method is that a transfer platform is paved at a fixed point of an inspection pit, when a detection task is started, a train inspection robot navigates to a fixed entrance position, a communication command lifting platform is lifted to the ground height from the surface of the inspection pit, the train inspection robot drives on the lifting platform, and the train inspection robot is lowered by the platform to be brought into the inspection pit; the advantages are that: compared with the first type of method, the method has the advantages of small reconstruction amount of the foundation construction, convenient implementation, good structural stability and capability of being self-adaptive to the height of the inspection pit; disadvantages: but still need to construct the transformation to mounted position inspection pit to the fixed position, every track needs to dispose a set of transport mechanism alone, and transport efficiency is lower.
Disclosure of Invention
In view of the above, the present invention provides a transfer device and a transfer method for a train inspection robot to solve the above-mentioned problems, so that the inspection robot can be quickly transferred, and the transfer device is free from the limitation of the transformation of the infrastructure and the fixed transfer position.
To solve the above technical problem, in a first aspect, the present invention provides a transfer device, including: the equipment main body is used for bridging the inspection pit to form a supporting platform for supporting the inspection robot to transport; the lifting mechanism is fixedly connected with the equipment main body; one end of the device is provided with a transfer part; the transferring part comprises a telescopic part and a bearing part which are connected in a sliding way; the supporting part is used for transferring the inspection robot to the operation platform under the cooperation of the lifting mechanism after receiving the inspection robot; wherein, still be provided with the counter weight device in the equipment main part, when the equipment main part is in the cross-over connection inspection hole in-process, the counter weight device can change its relative position with the equipment main part and change transfer device's whole focus.
As an alternative, the apparatus body further comprises a moving assembly, a central control module and a position locating unit, the central control module being configured to receive the terminal signal and to drive the moving assembly and/or the counterweight device.
As an alternative, the lifting mechanism comprises a linear guide rail vertically fixed on the equipment main body and a transfer connecting plate capable of moving along the extending direction of the linear guide rail; be provided with ball and high moment of torsion synchronous pulley assembly on the linear guide, high moment of torsion synchronous pulley assembly is connected to ball's one end, and the connecting plate is transported in the other end connection.
As an alternative, the telescopic part is fixed on the transfer connection plate; the bearing part is in sliding connection with the telescopic part, so that the bearing part can extend out of the telescopic part; wherein, one end of the bearing part is provided with a slope.
As an alternative way, the counterweight is arranged on the counterweight device, and can move back and forth along the lapping direction of the main body of the equipment, and when the main body of the equipment is lapped in any direction, the counterweight moves to the other side of the main body of the equipment in a reverse direction; the counterweight device also comprises a sliding rail, a screw rod and a sliding platform, wherein the screw rod and the sliding platform are arranged on the inner rail of the sliding rail, the sliding rail is centrally fixed on the equipment main body, and the extending direction of the rail is parallel to at least one side of the equipment main body; the sliding platform is movably embedded on the screw rod, can slide along the screw rod and forms a bearing platform for bearing the weight piece.
On the other hand, the invention also provides a transfer method of the train inspection robot, which adopts the transfer device to transfer the inspection robot to an inspection pit and comprises the following steps: after the transfer device is automatically navigated and positioned to a preset preparation area, confirming the distance between the transfer device and the edge of the ground at the first side of the inspection pit and the distance between the transfer device and the nearest upright post at the first side; when the end part of the transfer device moves to the edge of the ground at the first side of the inspection pit, correcting the relative distance between the equipment main body and the first side upright post at the left end and the first side upright post at the right end; moving to the ground on the second side, and driving the counterweight device to be matched with the position positioning unit in a combined way according to the moving condition; when one end of the equipment main body reaches the second side ground, correcting the lap joint accuracy through the position positioning unit, so that the part of the equipment main body falling on the second side ground is equal to the part of the edge of the first side ground of the inspection pit; after the lap accuracy correction is completed, driving the telescopic part to extend out, and waiting for the inspection robot to enter; after the inspection robot stays on the telescopic part, the lifting device is started, the inspection robot is sent into the operation plane, and after reaching the preset height, the support part extends out, so that one end of the support part is lapped on the operation plane, and a passage for the inspection robot to reach the ground is formed.
As an alternative, after the transfer device starts up in the preset preparation area, planning the moving path includes:
after the central dispatching is accepted, the route reaching the working plane is confirmed through autonomous navigation and positioning by the position positioning unit, and the route is moved to a preset transfer position on the ground at the first side of the inspection pit; if a position inconsistent with or changed from the preset map information occurs in the moving process, the local path is re-planned.
As an alternative way, the transfer device is further provided with a safety scanning distance, wherein the safety scanning distance refers to a radial dynamic moving radiation distance arranged by the position positioning unit and is used for detecting an obstacle to avoid the obstacle in the moving process of the transfer device; wherein, when the inspection robot is sent into the working plane, the distance is reduced.
As an alternative, the transporter correction distance includes:
when the relative distance is corrected, light signals are transmitted to two upright posts which are closest to the equipment main body on the ground surface of the first side of the inspection pit, and reflected light signals reflected by the two upright posts are received; respectively calculating the transmission time of the optical signals twice, judging whether the distance value between the equipment main body and any first side upright post is within a preset range, and if so, sending an instruction to the mobile assembly for lap joint;
when the lap joint accuracy is corrected, light signals are emitted to two guide rails of which the first side ground edge of the inspection pit and the second side ground edge of the inspection pit are positioned above the projection surface of the equipment main body, and reflected light signals reflected by the two guide rails are received; and respectively calculating the transmission time of the two optical signals, judging whether the relative distance between the equipment main body and the guide rails on two sides is within a preset range, and if so, sending an instruction to the lifting platform to prepare for transfer.
The beneficial effects of the invention are as follows:
by the scheme of the invention, dependence on capital construction transformation can be eliminated, so that the system has high flexibility and environmental adaptability is improved. And the equipment input amount is reduced, and the comprehensive cost is effectively reduced. In addition, in the task execution process of the scheme, the cooperative operation capability of the multi-equipment in running can be realized, and the intelligent degree of the operation and maintenance of the system is improved.
Drawings
Fig. 1 is a schematic working diagram of a transfer device according to embodiment 1 of the present invention;
fig. 2 is a structural diagram of a transfer device according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a lifting mechanism according to embodiment 1 of the present invention;
fig. 4 is a cross-sectional view of the apparatus main body according to embodiment 1 of the present invention from a top view;
fig. 5 is a schematic structural diagram of a counterweight device according to embodiment 1 of the invention;
fig. 6 is a schematic view showing a state of the shipping device according to embodiment 1 of the present invention when receiving a patrol robot;
fig. 7 is a schematic diagram of a state of the transfer device according to embodiment 1 of the present invention when transferring the inspection robot;
FIG. 8 is a side view of the shipping apparatus of embodiment 1 of the present invention as it receives a patrol robot;
fig. 9 is a side view of the transfer device according to embodiment 1 of the present invention when transferring the inspection robot;
fig. 10 is a schematic flow chart of a transferring method of the inspection robot according to embodiment 2 of the present invention.
Reference numerals and their correspondence:
the device comprises a 1-transferring device, a 11-equipment main body, a 12-moving assembly, a 2-lifting mechanism, a 21-fixing sheet, a 23-linear guide rail, a 24-ball screw, a 25-transferring connecting plate, a 26-high torque synchronous pulley assembly, a 3-transferring part, a 31-telescopic part, a 32-bearing part, a 4-laser radar, a 5-inspection robot, a 6-counterweight device, a 61-sliding rail, a 62-sliding platform, a 63-counterweight piece, a 64-screw rod, a 7-train platform, an 8-inspection pit and a 9-guide rail.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments.
Example 1
Referring to fig. 1-9, the present embodiment provides a transfer device 1, including: the equipment body 11, equipment body 11 is used for mutually overlap joint with outside track, forms the loading platform that is used for bearing inspection robot 5. The apparatus body 11 is used for bridging the bridge structure above the inspection pit 8 when the inspection robot 5 is transported, and is used for receiving the inspection robot 5 at a height equivalent/similar to a platform.
The lifting mechanism 2 is fixedly connected with the equipment main body 11; one end of the device is provided with a transfer part 3; the transferring part 3 comprises a telescopic part 31 and a bearing part 32 which are arranged in a sliding connection with each other; the supporting portion 32 is configured to receive the inspection robot 5, and then transfer the inspection robot 5 to the working platform under the cooperation of the lifting mechanism 2. It should be noted that the lifting mechanism 2 of the present embodiment has a form that is merely an alternative form of the telescopic structure of the present embodiment, and is aimed at changing the relative horizontal height of the load. The form of a cylinder, an oil cylinder or a telescopic electric assembly can also be adopted, and the embodiment is not limited. Wherein, the equipment main body 11 is also provided with a weight device 6, and when the equipment main body 11 is lapped with an external track, the weight device 6 is used for jointly changing the whole gravity center position according to the movement condition of the equipment main body 11.
Wherein, the counterweight device 6 means that, when the transferring device 1 of the embodiment spans the inspection pit 8, the transferring device 1 is displaced from one side platform to the other side platform to form a double-sided bearing type lap joint structure, so that the counterweight device 6 can keep the gravity center of the whole device at the current side platform in the erecting process, and the situation that the transferring device 1 is laterally turned over when the gravity center falls on the plane where the inspection pit 8 is located after a part of the gravity center extends is avoided.
In this embodiment, the apparatus main body 11 further includes a moving component 12, a central control module and a position locating unit, where the central control module is used to receive the terminal signal and drive the moving component 12 and/or the counterweight device 6. The moving assembly 12 may be a steering wheel, a pulley, a roller, etc. and may drive the device main body 11 to move. In this embodiment, a motor driving wheel is preferable, and is connected with the central control module in a communication manner, and can receive signal regulation and control to drive the device main body 11 to move. The central control module may enable any unit/module/chip capable of wireless signal data transmission (wifi, bluetooth, infrared, etc.). The embodiment can select a wireless AP to realize communication with an external terminal. Since the scene to which the present embodiment is applied is generally a flat ground, the position locating unit is preferably a laser radar 4 capable of emitting light, and the model and style of the present embodiment are not limited. For example, single line lidar, etc.
The transferring process of the embodiment is as follows: after the equipment body 11 is overlapped, the transfer part 3 is extended, the inspection robot 5 is waited to enter the transfer part 3 at a height parallel to a platform at one side, and then the lifting mechanism 2 is started to convey the inspection robot 5 to the position of the inspection pit 8 at the lower side. In order to achieve the above-described effects, the lifting mechanism 2 in this embodiment includes a linear guide rail 23 vertically fixed to the apparatus main body 11 and a transfer link plate 25 movable in the extending direction of the linear guide rail 23. The linear guide rail 23 is provided with a ball screw 24 and a high-torque synchronous pulley assembly 26, one end of the ball screw 24 is connected with the high-torque synchronous pulley assembly 26, and the other end is connected with a transfer connecting plate 25. Referring to fig. 3, 6 and 7 again, the linear guide 23 is fixedly connected with the fixing piece 21 of the connecting portion of the device main body 11, one end of the ball screw 24 is connected with the high-torque synchronous pulley assembly 26, the other end is connected with the transfer connecting plate 25, and the high-torque synchronous pulley assembly 26 is used for driving the fixing piece 21 to drive the transfer connecting plate 25 to vertically move relative to the device main body 11 along the extending direction of the linear guide 23.
The above procedure, i.e. the fixing piece 21 is fixed on the main body 11 of the equipment from the perspective of space, and when moving upwards along the guide rail 9 by the high torque synchronous pulley assembly 26, the movable part of the lifting mechanism 2 moves downwards relative to the main body 11 of the equipment, i.e. "the transfer connection plate 25 approaches to the height of the inspection pit 8". At this time, the lifting mechanism is arranged on the transfer connection plate 25 and is close to one side where the inspection pit 8 is located, and the inspection robot 5 stays on the plane of the transfer connection plate, so that the inspection robot 5 is brought to the surface close to the inspection pit 8 from the height where the train platform is located in the descending mode, and the inspection robot 5 can be stably conveyed to the inspection pit 8 from a place with high drop through the cooperation of the follow-up telescopic part 31 and the bearing part 32, so that the inspection task is started.
In order to provide a more stable and safe transportation path in this embodiment, referring again to fig. 2, the telescopic portion 31 forms a sliding connection on a side of the transportation connection plate 25 away from the ball screw 24, and the supporting portion 32 forms a sliding connection on a side of the telescopic portion 31 away from the transportation connection plate 25. That is, the telescopic portion 31 and the supporting portion 32 can extend or retract with respect to the transfer connection plate 25. The support portion 32 extends to receive the inspection robot 5, and the telescopic portion 31 extends to drive the support portion 32 to span the gap between the stand column on one side of the device main body 11, so that the support portion 32 can stay in the side gap between the stand columns of the device main body 11, and the inspection robot 5 can enter directly conveniently (please refer to fig. 1 again, the side gap here refers to that the transfer device moves at the gap between the two stand columns to perform the lap joint action, then, when the moving direction is considered to be the forward direction, one stand column exists in the left and/or right direction as a component of the gap, and then, when the stand column forms another gap with the stand column on the further far end, the side gap is the side gap described herein. When the telescopic part 31 and the supporting part 32 are retracted, the transfer device 1 is convenient to move, and the collision area in the task process is reduced. Wherein, in order to better construct the moving path of the transfer inspection robot 5, one end of the supporting portion 32 is in a slope setting, has a certain inclination, and is more convenient and smooth when the inspection robot 5 leaves or enters the transfer portion 3.
In addition, in order to ensure stability during the lapping process, the equipment body 11 is not turned over or dropped, and the counterweight device 6 is fixed inside the shell of the equipment body 11 and comprises a sliding rail 61 and a counterweight 63; the geometric center of the slide rail 61 coincides with the geometric center of the surface of the main body 11 on which the main body 11 is placed, and the rail extending direction of the slide rail 61 is parallel to at least one side of the main body 11, so that the weight 63 is ensured to move in parallel without a staggered angle when the center of gravity of the main body 11 is changed. The slide rail 61 is provided with a screw and a slide platform 62, and the slide platform 62 is embedded on the screw 64 so that it can slide along the screw 64 and forms a bearing platform for bearing the weight 63. The sliding platform 62 is controlled by a motor or a communication signal, and can change the relative position of the sliding platform on the sliding rail 61 according to the movement condition of the device main body 11. For example, when the transfer device 1 is overlapped from the left station to the right station, the slide table 62 is positioned on the left; when the lap joint is completed, the sliding platform 62 moves to the central position of the equipment main body 11, and provides equal pressure for the platforms at two sides, so that the inspection robot 5 is prevented from turning on one's side after entering; when the task execution is completed, the left side is returned again, and the apparatus main body 11 is waited for recovery.
Through the scheme, the embodiment can get rid of dependence on capital construction transformation, so that the system has high flexibility and improves environmental adaptability. And the equipment input amount is reduced, and the comprehensive cost is effectively reduced. In addition, in the task execution process, a plurality of transfer devices and the inspection robot can be transferred simultaneously, so that the inspection work has collaborative operation capability in the running process, and the intelligent degree of system operation and maintenance is improved.
Example 2
The embodiment provides a transfer method of a train inspection robot, which uses the transfer device in the embodiment 1 to transfer, including:
after the transfer device is automatically navigated and positioned to a preset preparation area, confirming the distance between the transfer device and the ground at the first side of the inspection pit and the distance between the transfer device and the nearest upright post at the first side; and when the laser radar is started for detection, confirming the distance condition and the obstacle condition.
When the end part of the transfer device moves to the edge of the ground at the first side of the inspection pit, correcting the relative distance between the equipment main body and the first side upright post at the left end and the first side upright post at the right end;
moving to the ground on the second side, and driving the counterweight device to be matched with the position positioning unit in a combined way according to the moving condition;
when one end of the equipment main body reaches the second side ground of the inspection pit, correcting the lap joint accuracy through the position positioning unit, so that the parts of the equipment main body falling on the first side ground and the second side ground of the inspection pit are equal (approximately;
after the lap accuracy correction is completed, driving the telescopic part to extend out, and waiting for the inspection robot to enter;
after the inspection robot stays on the telescopic part, the lifting device is started, one end of the lifting device is lapped on the operation plane after reaching the preset height, a passage for the inspection robot to reach the ground is formed, and the inspection robot is sent to the operation plane.
After the transfer device is started in a preset preparation area, the transfer device performs planning on a moving path and then moves autonomously. Specifically, after the central dispatching is accepted, the route reaching the working plane is confirmed through autonomous navigation and positioning by the position positioning unit, and the route is moved to a preset transfer position at the edge of the first side ground of the inspection pit, so that the stop operation at any position of the stock way is realized.
The first side refers to the ground on which the transfer device is initially located, and the second side refers to the ground on which the transfer device is ready to overlap. An inspection pit exists between the first side ground and the second side ground for isolation. That is, the first side is referred to as the present side and the second side is referred to as the opposite side as viewed from the ground on which the transfer device is currently located.
Specifically, since the device body does not enter the inspection pit for movement, a single-line laser radar can be adopted as a navigation sensor, map information in an inspection warehouse is constructed through the movement environment of the inspection robot around the scanning device, a driving route of the device is planned according to the position information of the designated inspection pit, if temporary obstacles exist on the route, the driving route is adjusted in real time through a self-adaptive algorithm when the position inconsistent with or changed with the scanning information appears in the moving process, and the local path is re-planned. And the safe driving area is defined on the driving route, and the machine is stopped for warning when emergency situations occur or a new route cannot be formulated.
In addition, the transfer device is further provided with a safety scanning distance, wherein the safety scanning distance is radial and is a radiation distance which is arranged through the position positioning unit and can dynamically move by taking the equipment main body as the center, and the safety scanning distance is used for detecting an obstacle to avoid the obstacle in the moving process of the transfer device; wherein, when the inspection robot is sent into the working plane, the distance is reduced.
As an alternative, the present embodiment also provides a transfer system, which is provided in the transfer device in embodiment 1, for executing the transfer method in this embodiment, including a control and data module for executing a central processing, communicating with an external terminal, and executing data transmission; the distance detection module is used for carrying out distance induction by matching with the position positioning unit; and the power supply and the positioning navigation module. In this embodiment, the power supply is connected with the control and data module, and the device is enabled to automatically move to the charging position for automatic charging after reaching the endurance limit time through signal communication, and the device electric quantity information is monitored in real time, and whether the device leaves or not is judged when reaching the set threshold value, so as to provide the automation efficiency. For example, lithium iron phosphate batteries are used to achieve the above-described functions.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (9)
1. A transfer device, comprising:
the equipment main body is used for bridging the inspection pit to form a supporting platform for supporting the inspection robot to transport;
the lifting mechanism is fixedly connected with the equipment main body; one end of the device is provided with a transfer part; the transferring part comprises a telescopic part and a bearing part which are connected in a sliding way; the supporting part is used for transferring the inspection robot to the operation platform under the cooperation of the lifting mechanism after receiving the inspection robot;
and when the equipment body is in a bridging inspection pit process, the counterweight device can change the relative position of the counterweight device and the equipment body to change the integral gravity center of the transfer device.
2. A transfer device according to claim 1, wherein the apparatus body further comprises a movement assembly, a central control module and a position location unit, the central control module being arranged to receive a terminal signal and to drive the movement assembly and/or the counterweight device.
3. A transfer device according to claim 1, wherein the lifting mechanism comprises a linear guide rail vertically fixed to the apparatus main body and a transfer connection plate movable in the direction in which the linear guide rail extends;
the linear guide rail is provided with a ball screw and a high-torque synchronous pulley assembly, one end of the ball screw is connected with the high-torque synchronous pulley assembly, and the other end of the ball screw is connected with the transfer connecting plate.
4. A transfer device according to claim 3, wherein the telescoping portion is secured to the transfer web; the bearing part is in sliding connection with the telescopic part, so that the bearing part can extend out of the telescopic part;
wherein, the one end of supporting portion sets up as domatic.
5. A transfer device according to claim 1, wherein the weight device is provided with a weight member which is movable back and forth in the overlapping direction of the apparatus main body, and when the apparatus main body is overlapped in either direction, the weight member is reversely moved to the other side of the apparatus main body; wherein,,
the counterweight device also comprises a sliding rail, a screw rod and a sliding platform, wherein the screw rod and the sliding platform are arranged on an inner rail of the sliding rail, the sliding rail is centrally fixed on the equipment main body, and the extending direction of the rail is parallel to at least one side of the equipment main body;
the sliding platform is movably embedded on the screw rod, can slide along the screw rod, and forms a bearing platform for bearing the weight piece.
6. A transfer method of a train inspection robot, characterized in that the transfer device according to any one of claims 1 to 5 is used to transfer the inspection robot to an inspection pit, comprising:
after the transfer device is automatically navigated and positioned to a preset preparation area, confirming the distance between the transfer device and the edge of the ground of the inspection pit and the distance between the transfer device and the nearest first side upright post;
when the end part of the transfer device moves to the edge of the ground at the first side of the inspection pit, correcting the relative distance between the equipment main body and the upright posts at the two ends of the equipment main body;
moving to the ground on the second side of the inspection pit, and driving the counterweight device to be matched with the position positioning unit in a combined way according to the moving condition;
when one end of the equipment main body reaches the second side ground, correcting the lap joint accuracy through the position positioning unit, so that the part of the equipment main body falling on the second side ground is equal to the part of the edge of the first side ground of the inspection pit;
after the lap accuracy correction is completed, driving the telescopic part to extend out, and waiting for the inspection robot to enter;
after the inspection robot stays on the telescopic part, the lifting device is started, one end of the lifting device is lapped on the operation plane after reaching the preset height, a passage for the inspection robot to reach the ground is formed, and the inspection robot is sent to the operation plane.
7. The method for transferring a train inspection robot according to claim 6, wherein the transferring device performs autonomous movement after planning a movement path after starting a preset preparation area, and the method comprises the steps of:
after the central dispatching is accepted, the route reaching the working plane is confirmed through autonomous navigation and positioning by the position positioning unit, and the route is moved to a preset transfer position at the edge of the ground at the first side of the inspection pit; if a position inconsistent with or changed from the preset map information occurs in the moving process, the local path is re-planned.
8. The transfer method of a train inspection robot according to claim 7, wherein the transfer device is further provided with a safety scanning distance, the safety scanning distance refers to a radial scanning network diverged by the position locating unit, and the content scanned by the scanning network and the range can move together with the transfer device, so as to detect an obstacle for obstacle avoidance during the movement of the transfer device; wherein, when the inspection robot is sent into the working plane, the distance is reduced.
9. The method for transferring a train inspection robot according to claim 6, wherein the transferring means corrects the distance comprising:
when the relative distance is corrected, light signals are transmitted to two upright posts which are closest to the main body of the equipment at the edge of the first side of the inspection pit and reflected light signals reflected by the two upright posts are received; respectively calculating the transmission time of the optical signals twice, judging whether the distance value between the equipment main body and any first side upright post is within a preset range, and if so, sending an instruction to the mobile assembly for lap joint;
when the lap joint accuracy is corrected, light signals are emitted to two guide rails of which the first side ground edge of the inspection pit and the second side ground edge of the inspection pit are positioned above the projection surface of the equipment main body, and reflected light signals reflected by the two guide rails are received; and respectively calculating the transmission time of the two optical signals, judging whether the relative distance between the equipment main body and the guide rails on two sides is within a preset range, and if so, sending an instruction to the lifting platform to prepare for transfer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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