CN206123635U - Well low -speed maglev rescue robot - Google Patents
Well low -speed maglev rescue robot Download PDFInfo
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- CN206123635U CN206123635U CN201621020310.0U CN201621020310U CN206123635U CN 206123635 U CN206123635 U CN 206123635U CN 201621020310 U CN201621020310 U CN 201621020310U CN 206123635 U CN206123635 U CN 206123635U
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- rails
- rescue
- frame
- screens
- low speed
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Abstract
The utility model discloses a well low -speed maglev rescue robot, including frame, folding folding mechanism, detection rescue mechanism, the frame is spaned and is being waited between two the F rails of well low -speed maglev that detect, folding folding mechanism is equipped with two sets ofly altogether, and the both ends of frame are located to its branch to be located the top of F rail, all be provided with walking wheel pair and screens wheel pair on the folding folding mechanism of every group, detecting rescue mechanism and including distance measuring sensor, take the photograph camera and rescue contact arm, distance measuring sensor establishes in the frame to being located between two F rails, taking the photograph camera and install in the top of frame, rescue contact arm horizontal installation is in the side of frame. The utility model discloses can realize the unusual inspection robot's of F rail timely rescue, have advantages such as simple structure, convenient operation.
Description
Technical field
The utility model belongs to magnetic suspension permanent way maintenance field, more particularly, to a kind of middle low speed magnetic suspension rescuing machine
Device people.
Background technology
Magnetic suspension traffic is a kind of carbon-free traffic of low noise, is one of important directions of future city transport development.In it is low
Fast electromagnetic suspension technology is mutually to constitute magnetic field closed magnetic circuit by the electromagnet on car body and F types track, by air gap sense
Answer the exciting current of device device regulating magnet, adjust suction between electromagnet and track (make the floating gap of magnetic be maintained at 8～
10mm), to keep electromagnet stable with the distance between track, train stable suspersion is realized.To ensure that F rails are in good shape
State, needs to carry out periodic detection and flaw detection to F rails parameter.
To realize flaw detection and the detection of F rail parameters to F rails, using various flaw detections and detection means to magnetic in prior art
Suspension F rails are detected and detected a flaw, but in detection process, each detection means occurs unavoidably various failures, when above-mentioned
When device breaks down, need to be rescued in time.A kind of rescue robot for being applicable to middle low speed magnetic suspension is there is presently no,
To realize the timely rescue of various devices and equipment.
Utility model content
For the disadvantages described above or Improvement requirement of prior art, the utility model provides a kind of rescue robot, wherein
With reference in the characteristics of low speed magnetic suspension itself, respective design suitable for middle low speed magnetic suspension deliverance apparatus, it is and crucial to it
Component such as frame, folding bending mechanism, the structure of detection rescue facility and its concrete set-up mode are studied and designed, accordingly
The timely rescue that can effectively realize F rail detection means, there is simple structure, easy to operate.
For achieving the above object, the utility model proposes a kind of middle low speed magnetic suspension rescue robot, including frame, folding
Folded bending mechanism, detection rescue facility, wherein：
The frame is used to install the folding bending mechanism and detection rescue facility, and it is across in middle low speed magnetic suspension two
Between individual F rails；
The folding bending mechanism is provided with altogether two groups, and it is divided into the two ends of the frame, and positioned at the top of F rails, often
Road wheel pair and screens wheel pair are provided with the group folding bending mechanism, wherein the upper surface of road wheel pair and the F rails
Contact, and moving along the upper surface of F rails, two screens wheels of the screens wheel pair respectively with the lateral surface of the F rails and under
Surface contacts, and the lateral surface and lower surface along F rails is moved；
The detection rescue facility includes distance measuring sensor, video camera and rescue contact bar, and the distance measuring sensor is located at
In the frame, and between two F rails, the video camera is arranged on the top of the frame, and the rescue contacts bar water
Safety is mounted in the side of the frame.
As it is further preferred that the rescue contacts and the magnechuck being packaged in bar, the electromagnetism is provided with the top of bar
Sucker includes coil and magnetic conduction panel, the magnetic conduction panel towards by rescue object, the coil be placed in soft magnetic materials shell it
In and with epoxy resin encapsulation.
As it is further preferred that per group of described folding be provided with two groups of road wheels pair and two groups of screens on bending mechanism
Wheel it is right, two groups of road wheels to along the F rails bearing of trend arrange, and with the upper surface of F rails, two groups of screens wheels are to same
Sample is arranged along the bearing of trend of the F rails, and is contacted with the lateral surface and lower surface of F rails.
It is described as it is further preferred that the folding bending mechanism includes road wheel installing plate and screens wheel folded sheet
Road wheel installing plate is vertically arranged and in the frame, and the road wheel is under the road wheel installing plate
Side, the screens wheel folded sheet is arranged on the side of the road wheel installing plate, the screens wheel by screens wheel connecting bracket
To being arranged on the screens wheel folded sheet, and contact with the lateral surface and lower surface of the F rails.
Used as it is further preferred that the distance measuring sensor is specially ultrasonic wave or infrared distance sensor, it is arranged in
Side before and after the frame.
As it is further preferred that the video camera is arranged on the top of the frame by expansion link.
As it is further preferred that the rescue robot is additionally provided with F rail parameter detecting sensors, the F rails parameter
Detection sensor is located on the folding bending mechanism.
As it is further preferred that being additionally provided with carrying object platform in the frame.
In general, by the contemplated above technical scheme of the utility model possess compared with prior art, mainly with
Under technological merit：
1. the utility model may be implemented in and walked on F rails, to complete the rescue work to F rail abnormal detectors, have
Small volume, structure be light, it is easy to carry the characteristics of, while also having the advantages that rescue is timely, easy to operate, operation can be reached with car
Place falling to used by rail, and the work business that can be effectively used for medium-and low-speed maglev is safeguarded and safe operation.
2. folding bending mechanism of the present utility model is provided with altogether two groups, is divided into the two ends of frame, screens wheel folding when using
Lamination can be opened to clasp the side edge of F rails downwards when track falls rail, and is moved along F rails, and after terminating, it leaves track
When can be folded up, to reduce the overall volume of running gear, with the easy to carry, rail that falls by work the characteristics of.
3. the road wheel folded on bending mechanism of the present utility model can effectively prevent robot to being designed to Double-wheel structure
Produce during the bolt being connected with sleeper by F rails and jolt, make flaw detection more accurate, screens wheel by the way of holding card to being installed on
On F rails, can effectively prevent robot from derailing.
4. video camera is provided with above frame of the present utility model, the video camera is capable of achieving track and track figure along the line
As collection, and its is liftable in frame, is capable of achieving multi-faceted, multi-angle image taking.
5. the utility model rescue robot before and after be provided with distance measuring sensor, by range finding can make rescue robot
Automatic stopping when meeting obstacle, realizes the collision prevention function of robot；The utility model is additionally provided with carrying object platform, is site operation
Artificial cleaning equipment is carried Deng operation.
Description of the drawings
Fig. 1 is the structural representation of the middle low speed magnetic suspension rescue robot of the utility model embodiment；
Fig. 2 is the rearview of the middle low speed magnetic suspension rescue robot of the utility model embodiment；
Fig. 3 is the left view of the middle low speed magnetic suspension rescue robot of the utility model embodiment.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.Additionally, institute in the utility model disclosed below each embodiment
As long as the technical characteristic being related to does not constitute each other conflict and just can be mutually combined.
As shown in figure 1, a kind of middle low speed magnetic suspension rescue robot that the utility model embodiment is provided, it mainly includes
Frame 11, folding bending mechanism, detection rescue facility, wherein, frame 11 folds bending as supporting mechanism for fixed installation
Mechanism and detection rescue facility, the folding bending mechanism is used to install takes turns right, to realize shifting of the rescue robot on F rails 4
Dynamic, the detection rescue facility is used to be connected with F rail detection means to be rescued, and realizes the various F rails detection dress for breaking down
The timely rescue put.By cooperating for above-mentioned each mechanism, it is capable of achieving robot and F rail detection means is rescued, has
Have the advantages that rescue is timely, easy to operate.
Each mechanism and part will be described and described in detail below.
As shown in figure 1, support member of the frame 11 as miscellaneous part, it is horizontally disposed with, and across to be detected
Between two F rails of middle low speed magnetic suspension, its arranged direction is vertical with the bearing of trend of F rails.
As Figure 1-3, fold bending mechanism and be provided with two groups altogether, it is divided into the two ends of the frame, and and frame
It is folding to be connected.When unused, two groups of folding bending mechanisms are folded up, and to reduce the overall volume of rescue robot, make
Used time, two groups of folding bending mechanisms are opened, and are placed exactly in the top of two F rails.Specifically, on per group of folding bending mechanism
Road wheel is provided with to 5 and screens wheel pair.Wherein, road wheel includes a pair of road wheels, its upper surface with the F rails to 5
Contact, and move along the upper surface of F rails, it is driving wheel that one of them is follower one, and driving wheel is to being motor wheel.The row
Wheelset design is walked into Double-wheel structure, is produced during the bolt that can effectively prevent robot to be connected with sleeper by F rails and is jolted, make flaw detection
As a result it is more accurate.The screens wheel includes a pair of screens wheels to 2, two screens wheels respectively with the lateral surface of the F rails and under
Surface contacts, and the lateral surface and lower surface along F rails is moved, and the screens wheel pair can ensure robot along track travel, and
And can provide differential function in corner.Screens wheel is do not have dynamic follower to 2, plays screens, spacing and derailment-proof
Effect.
Further, two groups of road wheels are provided with to 5 on per group of folding bending mechanism in embodiment of the present utility model
With two groups of screens wheels to 2, thus two groups of road wheels are arranged to four road wheels in 5 along the bearing of trend of the F rails, and can
Move along F rails, the movement to rescue robot is reliably oriented to, and two groups of screens wheels in 2 with F rail contacts side surfaces
Screens wheel arrange that and the lateral surface along F rails moves along the bearing of trend of the F rails, two groups of screens wheels are in 2 and F
The screens wheel of rail lower surface contact is arranged along the bearing of trend of the F rails, and the lower surface along F rails is moved, and can be had with this
Effect ensures the reliability of rescue robot movement.
Specifically, folding bending mechanism includes road wheel installing plate 12 and screens wheel folded sheet 3, wherein road wheel installing plate
12 are vertically arranged and in the frame, and the road wheel is to installed in the lower section of road wheel installing plate 12, the screens
Wheel folded sheet 3 passes through screens wheel connecting bracket installed in the side of the road wheel installing plate, and is coated on the periphery of F rails, so
Afterwards by screens wheel to being arranged on screens wheel folded sheet 3, so that one of screens wheel is contacted with the lateral surface of F rails, another
Screens wheel is contacted with the lower surface of F rails, with this screens wheel to being installed on F rails using holding card mode, can effectively prevent rescue
Robot derails.When folding bending mechanism is not used, two groups of screens wheel folded sheets are folded up, to reduce the entirety of running gear
Volume, when using, two groups of screens wheel folded sheets are opened, and make screens wheel be installed on the lateral surface and lower surface of F rails, realize outside cover
Rail and interior rail is embraced on the side.
The detection rescue facility includes distance measuring sensor 6, video camera 10 and rescue contact bar 14, the distance measuring sensor
6 are located in the frame, and between two F rails, and it is specially ultrasonic wave or infrared distance sensor, and with the side of array
Formula is arranged, and before and after rescue robot the distance measuring sensor is arranged.Specifically, in the range of safe distance, traveling is detected
Circuit has obstacle, and robot controls automatically controlled driver element brake, and different according to the different set safe distance of speed, speed is got over
Hurry up, safe distance is more remote.Automatic safety parking when flaw detection robot can be made to meet obstacle, realizes the collision prevention function of robot.It is described
Video camera 10 is arranged on the top of the frame, and it is used to carry out IMAQ along the line to track and track, and foreign matter can be entered
Invade, invade situations such as limit is crossed the border and be observed, image carries out real-time Transmission or storage is local, camera type concretely 2D or 3D
Video camera, it is arranged on the top of frame especially by expansion link 9, is capable of achieving the lifting of video camera, realizes Multi-orientation multi-angle
Shooting.The rescue contact bar 14 is horizontally arranged at the side of the frame, and it is used for the abnormal F rail detection machines of rescue site
Device people, the top of the contact bar 14 is provided with the magnechuck being packaged in bar, and the magnechuck includes solenoid and leads
Magnetic panel, towards by rescue object, solenoid is located at magnetic conduction panel inner side, and (i.e. magnetic conduction panel is located at and is rescued right magnetic conduction panel
As and solenoid between), magnechuck utilizes electromagnetic principle, magnetic force is produced by making Inside coil be powered, through magnetic conduction face
Plate, workpiece of the contact in panel surface is tightly held, and by coil blackout, magnetic force disappears and realizes demagnetization, the rescue contact bar
Simple and compact for structure, coil is placed among soft magnetic materials shell and with epoxy encapsulation, and with small volume, suction is big, firmly, can
Lean on, hermetically sealed, the features such as environmental suitability is strong, the serial electromagnet is operated by rescue robot, action simple and sensitive, function
It is reliable and stable.
Specifically, in order to realize freely controlling for rescue robot, it is additionally provided with autonomous cruise module to the utility model
7, autonomous cruise module 7 is similar to car autopilot, the controllable driving wheel of the road wheel to 5 of drive control part of module 7
Motion can drive robot motion, be moved along F rails with driven machine people, realize the autonomous control of robot, described
Autonomous cruise module 7 is arranged on the lower section of the frame.Autonomous cruise module 7 can receive distance measuring sensor 6 and video camera 10
Detection data, and detection data is analyzed, the F rail data needed for obtaining.Navigation system is provided with autonomous cruise module 7,
Robot can be walked and be detected according to the planning of navigation, and it is mainly based on GPS and inertial navigation, with mileage demarcation
For the navigation system of auxiliary.It is additionally provided with the frame and provides the battery 8 of power supply for autonomous cruise module 7, but independently patrols
Model plane block 7 also can be connected by cable with external power source, and by external power source the power needed for cruise module cruise is provided.When
So, rescue robot of the present utility model can also be using other controls and type of drive, such as by manually operating, or by electricity
Cable is connected with remote control center, realizes remotely control etc..
In order to realize that the F rails data for measuring in robot are timely transmitted and preservation, also set up in the frame
There is external interface 13, to realize writing to each other for robot and remote console, realize the remote interaction of data.
Additionally, rescue robot is additionally provided with F rails parameter detecting sensor 1, the F rails parameter detecting sensor 1 is located at institute
State on folding bending mechanism, it is provided with altogether multiple, arranges in array fashion, and it is used to detect the orbit parameter of F rails, main bag
Include F rail rail gap width, tablet transversion malposition, tablet vertical dislocation, and ride comfort of F rails etc..Rail gap width adopts PSD
Displacement transducer, the time of change in displacement combines the speed of operation, you can calculate the width of rail gap；Tablet transversion malposition and
Vertical dislocation, ride comfort equally can be made analysis and be calculated with sensor array by the difference of displacement.For the ease of for now
Artificial cleaning equipment (such as cleaning appliance and water) is carried in the operations such as field construction, carries insulated food and drinking water etc., the frame
On be additionally provided with carrying object platform 15, the carrying object platform 15 can be used for the people that freights and transport.
As it will be easily appreciated by one skilled in the art that preferred embodiment of the present utility model is the foregoing is only, not
To limit the utility model, all any modifications made within spirit of the present utility model and principle, equivalent and change
Enter, should be included within protection domain of the present utility model.
Claims (8)
1. a kind of middle low speed magnetic suspension rescue robot, it is characterised in that including frame (11), fold bending mechanism, detection and rescue
Mechanism is helped, wherein：
The frame is used to install the folding bending mechanism and detection rescue facility, and it is across in two F of middle low speed magnetic suspension
Between rail；
The folding bending mechanism is provided with altogether two groups, and it is divided into the two ends of the frame, and positioned at the top of F rails, per group of institute
State and be provided with road wheel to (5) and screens wheel to (2) on folding bending mechanism, wherein road wheel is upper with the F rails to (5)
Surface contacts, and moves along the upper surface of F rails, the screens wheel to two screens wheels of (2) respectively with the outside of the F rails
Face and lower surface are contacted, and the lateral surface and lower surface along F rails is moved；
The detection rescue facility includes distance measuring sensor (6), video camera (10) and rescue contact bar (14), the range finding sensing
Device (6) is located in the frame, and between two F rails, and the video camera (10) is described installed in the top of the frame
Rescue contact bar (14) is horizontally arranged at the side of the frame.
2. low speed magnetic suspension rescue robot in as claimed in claim 1, it is characterised in that rescue contact bar (14) top
Portion is provided with the magnechuck being packaged in bar, and the magnechuck includes coil and magnetic conduction panel, and the magnetic conduction panel is towards quilt
Rescue object, the coil is placed among soft magnetic materials shell and with epoxy resin encapsulation.
3. low speed magnetic suspension rescue robot in as claimed in claim 2, it is characterised in that per group of folding bending mechanism
On be provided with two groups of road wheels to (5) and two groups of screens wheels to (2), two groups of road wheels to (5) along the F rails extension side
To arrangement, and with the upper surface of F rails, two groups of screens wheels bearing of trend along the F rails same to (2) is arranged, and and F
The lateral surface of rail and lower surface are contacted.
4. low speed magnetic suspension rescue robot in as claimed in claim 3, it is characterised in that the folding bending mechanism includes
Road wheel installing plate (12) and screens wheel folded sheet (3), the road wheel installing plate is vertically arranged and in the frame,
To (5) installed in the lower section of the road wheel installing plate, the screens wheel folded sheet (3) is connected the road wheel by screens wheel
Support be arranged on the road wheel installing plate side, the screens wheel to (2) on the screens wheel folded sheet (3),
And contact with the lateral surface and lower surface of the F rails.
5. low speed magnetic suspension rescue robot in as claimed in claim 4, it is characterised in that distance measuring sensor (6) tool
Body is ultrasonic wave or infrared distance sensor, and it is arranged in the side in front and back of the frame.
6. low speed magnetic suspension rescue robot in as claimed in claim 5, it is characterised in that the video camera (10) is by stretching
Contracting bar (9) is installed in the top of the frame.
7. low speed magnetic suspension rescue robot in as claimed in claim 6, it is characterised in that the rescue robot also sets up
There is F rail parameter detecting sensors (1), the F rails parameter detecting sensor (1) is located on the folding bending mechanism.
8. low speed magnetic suspension rescue robot in as claimed in claim 7, it is characterised in that be additionally provided with the frame and take
Article carrying platform (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621020310.0U CN206123635U (en) | 2016-08-31 | 2016-08-31 | Well low -speed maglev rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621020310.0U CN206123635U (en) | 2016-08-31 | 2016-08-31 | Well low -speed maglev rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206123635U true CN206123635U (en) | 2017-04-26 |
Family
ID=58568014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621020310.0U Active CN206123635U (en) | 2016-08-31 | 2016-08-31 | Well low -speed maglev rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206123635U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018040546A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Rescue robot for medium and low speed maglev |
| CN108551116A (en) * | 2018-04-19 | 2018-09-18 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people Traction control system and control method |
-
2016
- 2016-08-31 CN CN201621020310.0U patent/CN206123635U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018040546A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Rescue robot for medium and low speed maglev |
| CN108551116A (en) * | 2018-04-19 | 2018-09-18 | 湖北工业大学 | High-voltage dc transmission electric wire magnetic force machine device people Traction control system and control method |
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