CN207696567U - A kind of robot essence sweeps module - Google Patents
A kind of robot essence sweeps module Download PDFInfo
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- CN207696567U CN207696567U CN201721607863.0U CN201721607863U CN207696567U CN 207696567 U CN207696567 U CN 207696567U CN 201721607863 U CN201721607863 U CN 201721607863U CN 207696567 U CN207696567 U CN 207696567U
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- drag chain
- acquisition module
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Abstract
A kind of robot essence sweeps module, belongs to rail vehicle maintenance system technical field, is related to the maintenance of the rail vehicles such as EMU, subway, locomotive.Robot connecting flange is the transition link block that essence sweeps module and robot body, and side is fastenedly connected with robot body, and side is fastenedly connected with beam；Module, which is swept, for protection essence is mounted with that beam, beam both ends are respectively connected to robot flange and counter flange；In addition to side is connected with beam, the other side is connect counter flange with linear movement module, while fixing end drag chain holder is installed on counter flange；The module that moves linearly is that motor drives leading screw rotary drive mode, sliding block mount message acquisition module and sliding end drag chain holder；Drag chain one end is fixed on fixing end drag chain holder, and the other end is fixed on sliding end drag chain holder, is moved simultaneously with information acquisition module.Essence sweeps module in detection process, the information collection to target site.
Description
Technical field
The utility model belongs to rail vehicle maintenance system technical field, is related to the rail vehicles such as EMU, subway, locomotive
Maintenance.
Background technology
It is one of rail vehicle inspection trolley critical piece that robot essence, which sweeps module,.The use that essence sweeps module includes：Machine
People, vision system, measuring system etc. check survey tool.Rail vehicle inspection trolley is that vision robot is mounted on dedicated test
On trolley, upkeep operation in library can be automatically performed by the instruction that wireless network is sent according to application platform, and beam back in real time
Repair schedule and equipment state；And the tool that Image Acquisition is carried out on rail vehicle inspection trolley is to carry vision using robot
It measures.But the such environmental effects such as the angle due to Image Acquisition, light, distance, cause the letter of detected material multi collect
Breath compares difficulty and increases, so needs are a can to realize rectilinear translation harvester.
Invention content
The purpose of this utility model is to provide a kind of robot essences to sweep module, mentioned above in the background art to solve
Problem.
To achieve the above object, the utility model provides the following technical solutions：
A kind of robot essence sweeps module, including robot connecting flange, beam, counter flange, drag chain holder, drag chain,
Move linearly module, information acquisition module.The robot connecting flange sweeps the transition link block of module and robot for essence,
Side is fastenedly connected with robot, and side is fastenedly connected with beam；The beam both ends are respectively connected to robot flange
With counter flange；Outside the counter flange side is connected with beam, the other side is connect with linear movement module, in transition method
Fixing end drag chain holder is installed on orchid；The linear movement module is that motor drives leading screw rotary drive mode, sliding side peace
Fill information acquisition module and sliding end drag chain holder；Described drag chain one end is fixed on fixing end drag chain holder, and the other end is fixed on
Sliding end drag chain holder moves simultaneously with information acquisition module.
Described information acquisition module includes：Image information collecting module, information of acoustic wave acquisition module, temperature information acquire mould
One or more combinations in the block；Image information collecting module is in three-dimensional information acquisition module and two-dimensional signal acquisition module
One or two kinds of combined, three-dimensional information acquisition module uses laser triangulation principle.
Image information collecting module includes：Planar array type camera and Linear Array Realtime camera, planar array type camera are waited for for generating projection
Structure light image in service area, Linear Array Realtime camera is for acquiring Awaiting Overhaul region two-dimensional image information.
Planar array type camera is irradiated in the imaging region at Awaiting Overhaul position on rail vehicle, and the imaging side of planar array type camera
To between the projecting direction of structured light light source be equipped with angle, by reflected light in information acquisition module in detection device at
Image position changes, to pass through the depth dimensions that each point off density in figure is calculated by the principle of laser triangulation；To
Obtain the 3-D view at position to be checked；Linear Array Realtime camera is irradiated in the imaging region at Awaiting Overhaul position on rail vehicle, at mutually going out
Two dimensional image.By human body's totally six axis spinning movement of overhauling machine, robot lifting gear and carriage walking driving device
Lifting and translation motion are, it can be achieved that whole/part of rail vehicle area to be tested covers.
The beam includes mainly：It is adapted to flange, microswitch, compressed spring etc..Beam is inclined for sensed position
Difference stops immediately when hitting generation；Accurately buffering block design reduces downtime and higher reseting precision and zero
The service life of part.
The essence sweeps module in detection process, is to drive leading screw rotation to transmit by motor, move linearly module straight line
Translational motion makes information acquisition module pass through sliding block translation, to realize the image to the Awaiting Overhaul position of rail vehicle
Information, temperature information, noise information acquisition.
As the utility model further scheme：Module, which is swept, for protection essence is mounted with the beam, beam two
End is respectively connected to robot flange and counter flange, is changed to overall structure mode.The constitutional detail of correlation change is revocation two
Beam is made overall structure form by end flanges, and both ends are respectively flanged joint form；
As the utility model further scheme：The straight line module motor to lead screw be toothed belt transmission structure shape
Gear drive or turbine and worm rotational structure form also can be used in formula.The constitutional detail of correlation change changes for active synchronization wheel
For drive end gear, driven synchronizing wheel is changed to driven gear, or synchronizing wheel with being changed to turbine, to which wherein synchronous belt is removed
Pin；
As the utility model further scheme：Servo electricity also can be used in the straight line module motor output form
Machine or stepper motor replace；
As the utility model further scheme：The linear movement module is that single motor drives leading screw rotation transmission
Mode is changed to Dual-motors Driving mode.The constitutional detail of correlation change is to increase other end motor, and bi-motor drives simultaneously
Same lead screw, makes more efficient, and rectilinear translation is more stable.
Compared with prior art, the utility model has the beneficial effects that：Show that essence is swept module and detected from operation principle
Cheng Zhong is to drive leading screw rotation to transmit by motor, and move linearly module linear translational motion, and information acquisition module is made to pass through cunning
Block translation, to realize that the image information to the Awaiting Overhaul position of rail vehicle, temperature information, noise information are precisely adopted
Collection.And the utility model by improved structure, efficiently against the deficiency of prior art.
The utility model is simple in structure, using screw rod transmission method, drives leading screw rotation to transmit by motor, linear movement
Module linear translational motion makes information acquisition module pass through sliding block translation.To solve in practice data acquisition and
（Or）Comparative analysis provides more acurrate foundation.
Description of the drawings
Fig. 1 is the dimensional structure diagram in one direction of the utility model；
Diagram：Robot body 10, robot essence sweep module 20；
Fig. 2 is the structural representation detail view that robot essence sweeps module；
Diagram：1 robot connecting flange, 2 beams, 3 counter flanges, 4 drag chain holders, 5 drag chains, 6 linear movement modules,
7 information acquisition modules.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
A kind of robot essence sweeps module, including robot connecting flange 1, beam 2, counter flange 3, drag chain holder 4, drags
Chain 5, linear movement module 6, information acquisition module 7.The robot connecting flange 1 sweeps the transition of module and robot for essence
Link block, side are fastenedly connected with robot, and side is fastenedly connected with beam 2；2 both ends of beam are respectively connected to machine
Device people flange and counter flange 3；Outside 3 side of the counter flange is connected with beam 2, the other side and linear movement module 6
Fixing end drag chain holder 4 is installed in connection on counter flange 3；The linear movement module 6 is that motor drives leading screw rotary drive
Mode slides side mount message acquisition module 7 and sliding end drag chain holder；Described drag chain one end is fixed on fixing end drag chain branch
Frame, the other end are fixed on sliding end drag chain holder, are moved simultaneously with information acquisition module.
The operation principle of the utility model is：Essence sweeps module in detection process, is to drive leading screw rotation to pass by motor
It passs, move linearly module linear translational motion, and information acquisition module is made to pass through sliding block translation, to realize to rail vehicle
The image information at Awaiting Overhaul position, temperature information, noise information acquisition.
Showing that robot essence sweeps module from above-mentioned operation principle is transmitted by motor rotation driving and leading screw rotation
To linear movement module, so that information acquisition module is realized by slider displacement and translate.Move linearly module and information acquisition module
Between drag chain is installed, the pipeline on information acquisition module can be transmitted to flange and robot body and control unit by drag chain
Split-phase connects, and when information acquisition module motion pick information, the pipeline on information acquisition module is accompanied fortune under the protection of drag chain
It is dynamic.Therefore the utility model by improved structure, can also be complete by the protection of drag chain even if flat equipments on stage has pipeline
Be transferred to robot body, expanding machinery people's essence sweeps the application range of module, and the inspection with electrical structure can be installed on platform
Tool or real-time monitoring equipment.
Claims (9)
1. a kind of robot essence sweeps module, including it is robot connecting flange, beam, counter flange, drag chain holder, drag chain, straight
Line moves module, information acquisition module, it is characterized in that the robot connecting flange, the transition that module and robot are swept for essence connects
Block is connect, side is fastenedly connected with robot, and side is fastenedly connected with beam；The beam both ends are respectively connected to robot
Flange and counter flange；Outside the counter flange side is connected with beam, the other side is connect with linear movement module, in mistake
Cross installation fixing end drag chain holder on flange；The linear movement module is that motor drives leading screw rotary drive mode, sliding
Side mount message acquisition module and sliding end drag chain holder；Described drag chain one end is fixed on fixing end drag chain holder, and the other end is solid
It is scheduled on sliding end drag chain holder, is moved simultaneously with information acquisition module.
2. robot essence according to claim 1 sweeps module, it is characterized in that described information acquisition module includes：Image information
One or more combinations in acquisition module, information of acoustic wave acquisition module, temperature information acquisition module；Image information collecting module
Combined for one or both of three-dimensional information acquisition module and two-dimensional signal acquisition module, three-dimensional information acquisition module uses
Laser triangulation principle.
3. robot essence according to claim 1 sweeps module, it is characterized in that image information collecting module, including planar array type phase
Machine and Linear Array Realtime camera, planar array type camera is for generating structure light image in projection Awaiting Overhaul region, and Linear Array Realtime camera is for adopting
Collect Awaiting Overhaul region two-dimensional image information.
4. robot essence according to claim 1 sweeps module, it is characterized in that beam, includes mainly：It is adapted to flange, fine motion
Switch, compressed spring, beam are used for sensed position deviation, stop immediately when hitting generation.
5. robot essence according to claim 1 sweeps module, it is characterized in that the essence sweeps module in detection process, it is logical
It crosses motor driving leading screw rotation to transmit, move linearly module linear translational motion, and information acquisition module is made to pass through the parallel position of sliding block
It moves, to realize that the image information to the Awaiting Overhaul position of rail vehicle, temperature information, noise information acquire.
6. robot essence according to claim 1 sweeps module, it is characterized in that as further scheme：It is swept for protection essence
Module is mounted with that the beam, beam both ends are respectively connected to robot flange and counter flange.
7. robot essence according to claim 1 sweeps module, it is characterized in that further embodiment：The straight line module motor
It is toothed belt transmission structure type to lead screw, gear drive or turbine and worm rotational structure form also can be used；Correlation change
Constitutional detail is that active synchronization wheel is changed to drive end gear, and driven synchronizing wheel is changed to driven gear, or synchronizing wheel with changing
For turbine, to the revocation of wherein synchronous belt.
8. robot essence according to claim 1 sweeps module, it is characterized in that further embodiment：The straight line module motor
Output form, also can be used servo motor or stepper motor replaces.
9. robot essence according to claim 1 sweeps module, it is characterized in that further scheme：The linear movement mould
Group is that single motor drives leading screw to rotate the kind of drive, is changed to Dual-motors Driving mode；Increase other end motor, bi-motor is simultaneously
Drive same lead screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721607863.0U CN207696567U (en) | 2017-11-27 | 2017-11-27 | A kind of robot essence sweeps module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721607863.0U CN207696567U (en) | 2017-11-27 | 2017-11-27 | A kind of robot essence sweeps module |
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| CN207696567U true CN207696567U (en) | 2018-08-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032335A (en) * | 2017-11-27 | 2018-05-15 | 广州松兴电气股份有限公司 | A kind of robot essence sweeps module |
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2017
- 2017-11-27 CN CN201721607863.0U patent/CN207696567U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032335A (en) * | 2017-11-27 | 2018-05-15 | 广州松兴电气股份有限公司 | A kind of robot essence sweeps module |
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