CN208486130U - A kind of robot safeguarding railroad track - Google Patents
A kind of robot safeguarding railroad track Download PDFInfo
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- CN208486130U CN208486130U CN201820927834.0U CN201820927834U CN208486130U CN 208486130 U CN208486130 U CN 208486130U CN 201820927834 U CN201820927834 U CN 201820927834U CN 208486130 U CN208486130 U CN 208486130U
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- railroad track
- maintenance
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Abstract
The utility model discloses a kind of robots for safeguarding railroad track, installation is on the railroad track, maintenance for nut and fastener, it is characterized in that, including pedestal, traveling wheel, feeding device, positioning device, feed device, grabs mechanical arm, tightens mechanical arm and detection device, remaining each components is set on pedestal in addition to traveling wheel, positioning device is connect with feeding device, crawl mechanical arm is connected between positioning device and feed device, detection device and tightens the same side that mechanical arm is set to feed device.The robot is used for the maintenance of railroad track simultaneously, by being equipped with feeding device and positioning device, automatic charging function can be realized compared with prior art, realize the modern machine people of feeding, maintenance one, further through the reasonable function for grabbing mechanical arm, tightening mechanical arm and detection device, the different bring maintenance issues of artificial pre-embedded bolt gradient are solved, railroad track maintenance can be smoothly completed, it is time saving and energy saving, it is precisely quick.
Description
Technical field
The utility model relates to field in intelligent robotics more particularly to a kind of robots for safeguarding railroad track.
Background technique
With rapid economic development, traffic transport industry is also advanced by leaps and bounds, but the fast development of railway and light rail subway is given
Railway maintenance work brings immense pressure, switches tracks in railway, replace sleeper, in the major maintenances project such as fastener is safeguarded, all needing
It to dismantle installation again to railway rail clip, wherein installing nut on bolt, and major part be occupied to the work that nut is tightened
Workload, and at present this series of activities be to be accomplished manually, the time is short, task weight, needs to expend a large amount of manpower.Therefore
Urgent need it is a kind of it is high automation, high-intelligentization equipment come solve the problems, such as presently, there are.
Utility model content
The utility model in view of the deficiencies of the prior art, develops a kind of robot for safeguarding railroad track, which can
The quantity of a large amount of maintenance personnel is saved, mitigates maintenance personnel's labor intensity, while improving the safety of railway, advances significantly
Society and expanding economy.
The technical solution of the utility model solution technical problem are as follows: on the one hand, the utility model provides a kind of maintenance iron
The robot in rail road, installation on the railroad track, are filled for the maintenance of nut and fastener, including pedestal, traveling wheel, feeding
It sets, combine the unit, feed device, grabbing mechanical arm, manipulator and detection device, remaining each components is set in addition to traveling wheel
On pedestal, combination unit is connect with feeding device, and crawl mechanical arm is connected between combination unit and feed device, detection device
The same side of feed device is set to manipulator.
Further, feeding device includes upper barrel, push rod, the first delivery tube and the second delivery tube, the first delivery tube,
Second delivery tube passes through push rod and connect with upper barrel, and the second delivery tube is connected to feed device, and the first delivery tube passes through group
It attaches together to set and be connect with feed device.
Further, upper barrel, push rod, the quantity of the first delivery tube are multiple.
Further, the first delivery tube at a distance from upper barrel, the second delivery tube push is equal at a distance from upper barrel
The diameter of bar cross section.
Further, feed device uses V belt translation mode.
Further, which further includes storage box, and storage box is placed on manipulator side, and is equipped with and twists in storage box
Tight machine and claw.
Further, arm end is equipped with sucker, and the claw or tightening machine that sucker is used to be sucked in storage box are carried out to spiral shell
Mother's acquisition, tightening operation.
Further, detection device includes the first metal sensor, First look sensor, the second visual sensor, the
Three visual sensors, image capture module and the second metal sensor, the first metal sensor and image capture module are opposite to be set
It sets in the end of feed device, First look sensor, the second visual sensor, third visual sensor and the second metal sensor
Device is respectively positioned on close to the top of railroad track.
Further, it is respectively mounted above First look sensor, the second visual sensor, third visual sensor
There are semiclosed hood and floor light unit.
The robot concrete operation step are as follows:
A. fastener is placed in feeding device, combination unit is assembled into fastener set to each fastener that feeding device pushes；
B. the fastener set is placed on feed device by crawl mechanical arm, and the nut is directly pushed away by feeding device
It send to feed device；
C. detection device identifies the fastener set and the nut and transmits signals to central processing unit, by centre
It manages device and controls manipulator, feed device and traveling wheel stop motion, manipulator successively pick up the fastener set and the nut extremely
On railroad track, and complete tightening for the nut.
Wherein, it detects to obtain the coordinate points of the mass center of bolt upper surface in space by First look sensor, sits
It is designated as (X1, Y1, Z1), it is denoted as A；
The tiltangleθ of second visual sensor detection bolt and rail parallel direction6, in the plane parallel with rail direction
The length that upper bolt bassets is L1, whereinh2For L1The length being projected in Y-axis, h1For L1It is projected in Z
Length on axis；
The tiltangleθ of third visual sensor detection bolt and rail vertical direction5, in the plane vertical with rail direction
The length that upper bolt bassets is L2, h4For L2The length being projected in X-axis, h3For L2The length being projected on Z axis, wherein
First look sensor, the second visual sensor, third visual sensor can rotate 180 ° according to testing requirements
Come to the bolt detection on rail.
During manipulator tightens the nut, using more convolution fluctuating torque feedback controls.
The effect provided in utility model content is only the effect of embodiment, rather than whole effects that utility model is all
Fruit, above-mentioned technical proposal have the following advantages that or the utility model has the advantages that
1. the utility model can realize automatic charging function by being equipped with feeding device and combination unit compared with prior art
Can, the modern machine people of feeding, maintenance one is realized, further through crawl mechanical arm, the reasonable work of manipulator and detection device
With, railroad track maintenance can be smoothly completed, it is time saving and energy saving, it is precisely quick.
2. in the utility model the first delivery tube at a distance from upper barrel, the second delivery tube is equal at a distance from upper barrel
When push rod works, such push rod will seal upper barrel lower end the diameter of push rod cross section, when push rod is withdrawn
When, the fastener in upper barrel falls again and waits next push, avoids the fastener in push rod work and falls automatically and causes
Feeding is chaotic.
3. solving to avoid people when manipulator tightens nut installation by metal sensor and visual sensor
Not fully in the case where vertical operation face, the nut is not exclusively overlapped the pre-buried rear bolt of work with working bolt face, and spiral shell occurs
The case where line stripped thread, working time is saved, improved work efficiency.
4. being constructed by being equipped with semiclosed hood and floor light unit in visual sensor for visual sensor
Metastable working environment improves the accuracy of detection.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot described in the utility model.
Fig. 2 is the partial structure diagram of robot described in the utility model.
Fig. 3 is the structural schematic diagram of manipulator described in the utility model.
Fig. 4 is the action data analysis chart of manipulator described in the utility model.
Fig. 5 is the flow chart of robot railroad track described in the utility model maintenance.
Fig. 6 is the flow chart that nut is obtained, carried in the utility model.
Fig. 7 is the flow chart of the utility model placing nut work
Fig. 8 is the flow chart that the utility model tightens nut work.
Appended drawing reference:
1, pedestal, 2, traveling wheel, 3, feeding device, 31, upper barrel, 32, push rod, the 33, first delivery tube, 34 second fortune
Defeated pipe, 4, combination unit, 5, feed device, 6, crawl mechanical arm, 7, manipulator, 71, sucker, 72, rotating base, 73, lifting
Platform, 74, first mechanical arm, 75, second mechanical arm, 76, third mechanical arm, 77, mobile bar, the 78, first joint, 79, second
Joint, 70, third joint, 8, detection device, the 81, first metal sensor, 82, First look sensor, the 83, second vision biography
Sensor, 84, third visual sensor, 85, image capture module, the 86, second metal sensor, 9, storage box.
Specific embodiment
In order to clearly illustrate the technical characterstic of this programme, below by specific embodiment, and its attached drawing is combined, to this
Utility model is described in detail.Following disclosure provides many different embodiments or example is used to realize the utility model
Different structure.In order to simplify the disclosure of the utility model, hereinafter the component of specific examples and setting are described.This
Outside, the utility model can in different examples repeat reference numerals and/or letter.This repetition is in order to simplified and clear
Purpose itself does not indicate the relationship between discussed various embodiments and/or setting.It should be noted that illustrated in the accompanying drawings
Component be not drawn necessarily to scale.The utility model be omitted the description to known assemblies and treatment technology and process to avoid
It is unnecessarily limiting the utility model.
In conjunction with shown in Fig. 1 to Fig. 3, the utility model provides a kind of robot, and installation on the railroad track, is used for nut
With the maintenance of fastener, including pedestal 1, traveling wheel 2, feeding device 3, combination unit 4, feed device 5, crawl mechanical arm 6, machinery
Hand 7 and detection device 8, remaining each components is set on pedestal 1 in addition to traveling wheel 2, and combination unit 4 is connect with feeding device 3,
Crawl mechanical arm 6 is connected between combination unit 4 and feed device 5, and detection device 8 and manipulator 7 are set to feed device 5 one
Side.The utility model embodiment by be equipped with feeding device and combination unit, can realize automatic charging function compared with prior art,
Realize feeding, maintenance one modern machine people, further through crawl mechanical arm, manipulator and detection device reasonable function,
Railroad track maintenance can be smoothly completed, it is time saving and energy saving, it is precisely quick.
Wherein, feeding device 3 includes upper barrel 31, push rod 32, the first delivery tube 33 and the second delivery tube 34, the first fortune
Defeated pipe 33, the second delivery tube 34 are connect by push rod 32 with upper barrel 31, and the second delivery tube 34 is connected to feed device 5,
First delivery tube 33 is connect by combination unit 4 with feed device 5.Upper barrel 31, push rod 32, the quantity of the first delivery tube 33
Be it is multiple, the first delivery tube 33 is at a distance from upper barrel 31, the second delivery tube 34 is equal to push at a distance from upper barrel 31
The diameter of 32 cross section of bar.When push rod 32 works, push rod 32 can seal upper 31 lower end of barrel, when push rod 32 is withdrawn
When, the fastener in upper barrel 31 falls again and waits next push, avoids the fastener when push rod 32 works and falls automatically
Cause feeding chaotic.Feed device 5 uses V belt translation mode.The robot further includes storage box 9, and storage box 9 is placed on machinery
7 side of hand, and the tightening machine and claw are equipped in storage box 9.7 bottom end of manipulator is equipped with rotating base 72,7 end of manipulator
Equipped with sucker 71, the claw or the tightening machine that sucker 71 is used to be sucked in storage box 9 are carried out to nut acquisition, tightening operation.
Wherein, manipulator 7 is set as two groups, can safeguard, improve work efficiency to two rails simultaneously.The tightening machine packet
Include motor, speed reducer, torque sensor and magnetic sleeve.Manipulator 7 includes hoistable platform 73, first mechanical arm 74, the second machine
Tool arm 75, third mechanical arm 76, mobile bar 77, the first joint 78, second joint 79, third joint 70, pacify in mobile bar 77
Equipped with hoistable platform 73, each mechanical arm is sequentially arranged on hoistable platform, by the activity of each mechanical arm to real
The normal operation of existing manipulator 7.
Detection device 8 includes the first metal sensor 81, First look sensor 82, the second visual sensor 83, third
Visual sensor 84, image capture module 85 and the second metal sensor 86, the first metal sensor 81 and image capture module
85 are oppositely arranged on the end of feed device 5.When the second metal sensor 86 detects the bolt on railroad track, then walk
Wheel 2 advances to relative distance of second metal sensor 86 with First look sensor 82 in the plane parallel with rail direction
After stop, when image capture module 85 detects the fastener set on feed device 5, notice manipulator 7 is sucked and is set using sucker 71
Claw in object box 9, claw move to the fastener set on the bolt of railroad track, and then manipulator 7 is further according to Image Acquisition
Module 85 detects that nut, manipulator send claw to storage box 9, is then sucked in storage box 9 using sucker 71 again
The nut is moved to right above bolt, and tightened to nut by the tightening machine.In rundown process, passed by torque
Nut torque size described in sensor real-time detection, to complete tightening for the nut.After having twisted, and the tightening machine is put in
In storage box 9.When the first metal sensor 81 detects metalwork, illustrate to be booked fastener set and nut on feed device 5,
Then feed device 5, crawl mechanical arm 6, feeding device 3,4 stop motions of combination unit, wait manipulator 7 to complete task.It is twisting
During tight, the starting detection of First look sensor 82, positioning bolt position, then the second visual sensor 83 starts, and comes
Bolt is detected at the inclination angle with rail direction vertical plane, third visual sensor 84 starts, come detect bolt with rail
The plane-parallel inclination angle in direction when manipulator 7 tightens nut installation, avoid it is artificial it is pre-buried after bolt exist
Not fully in the case where vertical operation face, the nut is not exclusively overlapped with working bolt face, there is a situation where screw thread stripped thread,
Working time is saved, is improved work efficiency.Be mounted on above each visual sensor semiclosed hood and
Floor light unit, because visual sensor is more sensitive to the variation of extraneous light environment, to construct metastable work
Environment improves the accuracy of detection.
In conjunction with shown in Fig. 4 to Fig. 8, implement the utility model robot carry out railroad track maintaining method the step of,
Include:
A. fastener is placed in feeding device 3, each fastener for combining the unit the push of 4 pairs of feeding devices 3 is assembled into fastener
Group；
B. the fastener set is placed on feed device 5 by crawl mechanical arm 6, and the nut is directly by feeding device
3 push on feed device 5；
C. detection device 8 identifies the fastener set and the nut and transmits signals to manipulator 7,5 He of feed device
2 stop motion of traveling wheel, manipulator 7 successively pick up in the fastener set and the nut to railroad track, and complete the spiral shell
Female tightens.
Specifically, by all parts in existing railway rail clip, including nylon baffle, steel in the utility model embodiment
Plate, spring, washer etc. are placed in barrel 31, wherein the second delivery tube 34 is for conveying the nut, the nut passes through
Push rod 32 is pushed directly on feed device 5, and all parts outside the nut are pushed into combination unit 4 and realized by push rod 32
It is sequentially overlapped, automatic assembling, realizes automatic charging, then the fastener set that assembly finishes is transported to by crawl mechanical arm 6 and is sent
Expect on device 5.
The coordinate points of the mass center of bolt upper surface in space are obtained by the detection of First look sensor 82, coordinate is
(X1, Y1, Z1), it is denoted as A；The tiltangleθ of second visual sensor 83 detection bolt and rail parallel direction6, it is rail
The length that bolt bassets in the parallel plane in direction is L1, wherein θh2For L1The length being projected in Y-axis,
h1For L1The length being projected on Z axis；The tiltangleθ of third visual sensor 84 detection bolt and rail vertical direction5, it is
The length that bolt bassets in the vertical plane in rail direction is L2, h4For L2The length being projected in X-axis, h3For L2It is projected in
Length on Z axis, whereinFirst look sensor 82, the second visual sensor 83, third visual sensor
84 can rotate 180 ° according to testing requirements to detect to the bolt on rail.
Work step when bolt is installed the following are manipulator 7:
(1) using the initial position of rotating base 72 as origin (X0,Y0,Z0) three-dimensional system of coordinate is established, hoistable platform 73 is upward
The direction of motion is Z axis, and vertical rail direction is X-axis, is Y-axis along rail direction, and bolt location coordinate is A (X1,Y1,Z1)。
Rotating base 72 is rotated into θ5；Keep manipulator 7 consistent with the bolt plane inclination vertical with rail direction；
The moving distance X in X direction on the slide rail by mobile bar 771；
Control the first joint 78 rotation (θ4+θ6), make manipulator 7 with bolt in the plane inclination parallel with rail direction
It is consistent；
By the decentralization of hoistable platform 73 to C point, D point is parallel with B point at this time；
θ2After being rotated for second joint 79, the angle of first mechanical arm 74 and second mechanical arm 75；
θ3The angle rotated is needed for third joint 70, the tightening machine end reaches right above A point after rotation, with bolt
Surface in alignment；
At this time using BD as bottom edge, length of the BF for first mechanical arm 74, the length of DF second mechanical arm 75, and BF=DF,
Then constitute isosceles triangular structure.
2. because what three sides it is known that can be calculated by trigonometric function turned over required for each mechanical arm in composition triangle
Angle, details are provided below:
If a length of M of BF=DF is known and fixed, a length of N of CA=BD.If the angle of DF and BD is θ1, the angle of BF and DF is
θ2.It can be obtained by trigonometric function formula:
CO=EO-EC=| Z1 |-(| Y1 | tan θ6), N=| Y1 |/cos θ6,
θ3=θ2/ 2, θ4=(pi/2-θ1)。
C point coordinate is then (X1, Y0, CO).
Tilt bolt can be solved through the above steps to be influenced on bring is tightened.
Wherein, during the tightening machine tightens the nut, using more convolution fluctuating torque feedback controls.Specifically
, in each stage that the tightening machine is tightened, there is the abnormal certain step of then convolution of torque in torque sensor real-time monitoring torque
Length is tightened again, and rundown process torque changes from small to big and becomes smaller again, and whole process is undulating state, and screw-down torque is fed back at any time
Control system, according to the torque feedback of different phase, to select different control strategies.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to utility model, not to the utility model
The limitation of protection scope, based on the technical solution of the present invention, those skilled in the art do not need to pay creativeness
The various modifications or changes that can be made work still in the protection scope of the utility model.
Claims (8)
1. a kind of robot for safeguarding railroad track, on the railroad track, for the maintenance of nut and fastener, feature exists for installation
In, including pedestal (1), traveling wheel (2), feeding device (3), combination unit (4), feed device (5), crawl mechanical arm (6), machine
Tool hand (7) and detection device (8), remaining each components is set on pedestal (1) in addition to traveling wheel (2), combination unit (4) with it is upper
Expect that device (3) connection, crawl mechanical arm (6) are connected between combination unit (4) and feed device (5), detection device (8) and machine
Tool hand (7) is set to the same side of feed device (5).
2. the robot of maintenance railroad track as described in claim 1, which is characterized in that feeding device (3) includes upper barrel
(31), push rod (32), the first delivery tube (33) and the second delivery tube (34), the first delivery tube (33), the second delivery tube (34)
It is connect by push rod (32) with upper barrel (31), the second delivery tube (34) is connected to feed device (5), the first delivery tube
(33) it is connect by combining the unit (4) with feed device (5).
3. the robot of maintenance railroad track as claimed in claim 2, which is characterized in that upper barrel (31), push rod (32), the
The quantity of one delivery tube (33) is multiple.
4. the robot of maintenance railroad track as claimed in claim 2, which is characterized in that the first delivery tube (33) and upper barrel
(31) distance, the second delivery tube (34) is equal to the diameter of push rod (32) cross section at a distance from upper barrel (31).
5. the robot of maintenance railroad track as described in claim 1, which is characterized in that the robot further includes storage box (9),
Storage box (9) is placed on manipulator (7) side, and tightening machine and claw are equipped in storage box (9).
6. the robot of maintenance railroad track as described in claim 1, which is characterized in that manipulator (7) end is equipped with sucker
(71)。
7. the robot of maintenance railroad track as described in claim 1, which is characterized in that detection device (8) includes the first metal
Sensor (81), First look sensor (82), the second visual sensor (83), third visual sensor (84), Image Acquisition
Module (85) and the second metal sensor (86), the first metal sensor (81) and image capture module (85) are oppositely arranged on and send
Expect the end of device (5), First look sensor (82), the second visual sensor (83), third visual sensor (84) and the
Two metal sensors (86) are respectively positioned on close to the top of railroad track.
8. the robot of maintenance railroad track as claimed in claim 7, which is characterized in that in First look sensor (82), the
Two visual sensors (83), third visual sensor are mounted on semiclosed hood and floor light unit above (84).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820927834.0U CN208486130U (en) | 2018-06-15 | 2018-06-15 | A kind of robot safeguarding railroad track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820927834.0U CN208486130U (en) | 2018-06-15 | 2018-06-15 | A kind of robot safeguarding railroad track |
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| Publication Number | Publication Date |
|---|---|
| CN208486130U true CN208486130U (en) | 2019-02-12 |
Family
ID=65251732
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820927834.0U Active CN208486130U (en) | 2018-06-15 | 2018-06-15 | A kind of robot safeguarding railroad track |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108797239A (en) * | 2018-06-15 | 2018-11-13 | 山东交通学院 | A kind of maintaining method of robot and its railroad track |
| CN110396878A (en) * | 2019-08-13 | 2019-11-01 | 长沙瀚鹏电子技术有限公司 | A kind of sleeper fastening installation vehicle |
-
2018
- 2018-06-15 CN CN201820927834.0U patent/CN208486130U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108797239A (en) * | 2018-06-15 | 2018-11-13 | 山东交通学院 | A kind of maintaining method of robot and its railroad track |
| CN110396878A (en) * | 2019-08-13 | 2019-11-01 | 长沙瀚鹏电子技术有限公司 | A kind of sleeper fastening installation vehicle |
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