CN209225170U - Train water pipe network and train water robot system - Google Patents
Train water pipe network and train water robot system Download PDFInfo
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- CN209225170U CN209225170U CN201821882368.5U CN201821882368U CN209225170U CN 209225170 U CN209225170 U CN 209225170U CN 201821882368 U CN201821882368 U CN 201821882368U CN 209225170 U CN209225170 U CN 209225170U
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Abstract
The utility model relates to train waters, a kind of train water pipe network is provided, including upper hose group, upper hose group includes the upper water branch pipe that upper water conduit tube and one end can extend to train tank water inlet, the upper water branch pipe other end is connected to upper water conduit tube, further includes return pipe group, and return pipe group includes the return branch that return water main pipe and one end are connected to water branch bottom of the tube, the other end of return branch is connected to return water main pipe, and the junction of return branch and upper water branch pipe is provided with control valve；A kind of train water robot system, including above-mentioned upper hose net are also provided.The water source of the utility model is station domestic water, the cost of layout of upper hose net can be effectively controlled, it can be shared with domestic water main pipe, additionally by return pipe group, on the one hand the problem of can freezing in the lower situation of ambient temperature to avoid upper water branch pipe, the recycle-water of recycling can also separately be done to it to use, for example station plant watering and station cleaning are used, and water resource waste is avoided.
Description
Technical field
The utility model relates to train water more particularly to a kind of train water pipe network and systems, train water robot
System.
Background technique
Water bolt includes water bolt in traditionally water bolt and automatic rewinding type on currently used passenger train, the former is in upper water knot
Need water conservancy project people that original position is extracted and withdrawn from train water mouth by upper hose after beam, water bolt then can be upper in automatic rewinding type
Automatic-falling and backrush after water.Above two upper water bolt is intended to that upper hose is inserted into the upper of each compartment by upper water conservancy project people
The mouth of a river, it is larger to artificial degree of dependence, on the one hand, the upper water conservancy project inherently safe to shuttle between station track is difficult to be protected, separately
On the one hand, upper water conservancy project people itself labor intensity is larger, and upper water inefficiency.Thus it can be greatly improved using Shang Shui robot
The upper water efficiency of passenger train and safety, but after using robot to carry out automatically upper water to passenger train, with machine
It is always full of extra water in the upper water hose of people's connection, when temperature is lower in winter, the water in hose easily freezes to influence
The flexibility of Shang Shui robot.
Utility model content
The purpose of this utility model is to provide a kind of train water pipe networks, it is intended to during solving existing upper water,
It is easy to lead to the problem of freezing full of remaining water in water supply pipeline.
The utility model is realized in this way:
The utility model embodiment provides a kind of train water pipe network, including upper hose group, and the upper hose group includes one
Hold the upper water conduit tube that can be connected to water source and one end that can extend to the upper water branch pipe of train tank water inlet, the upper water branch pipe is another
One end is connected to the upper water conduit tube, further includes return pipe group, and the return pipe group includes that one end can be connected to reuse water tank
Return water main pipe and one end are connected to the return branch of the upper water branch bottom of the tube, and the other end of the return branch is connected to institute
Return water main pipe is stated, and the junction of the return branch and the upper water branch pipe is provided with control valve.
Further, the return water main pipe tilts down setting along return water direction.
Further, connected between the bottom and the upper water conduit tube of the upper water branch pipe by the connecting tube being vertically arranged
It is logical, and in being provided with check-valves in the connecting tube.
Further, flow sensor is provided in the connecting tube.
Further, the connecting tube is connect by control valve with the upper water branch pipe.
Further, insulating layer is coated on the outside of the connecting tube.
Further, the upper water branch pipe and the return branch are more, and the two corresponds, each upper water
Branch pipe is connected to the upper water conduit tube, and each return branch is connected to the return water main pipe.
Further, the return water main pipe is provided with snorkel far from one end of reuse water tank, the snorkel have to
The bending part of upper extension, and the upper end of the bending part is provided with abat-vent.
It further, further include for extracting the water in water tank to the frequency-changing water supply device in the upper water conduit tube.
The utility model embodiment also provides a kind of train water system, including Shang Shui robot, the Shang Shui robot
Including pedestal, install in the mechanical arm on the pedestal and the machine for controlling the mechanical arm towards train tank water inlet
Device people's control cabinet further includes above-mentioned train water pipe network, and the upper water branch pipe is installed on the mechanical arm, and the machine
People's control cabinet is electrically connected the control valve.
The utility model has the following beneficial effects:
In the utility model, upper hose group is docked with the domestic water at station, can effectively control the arrangement of upper hose net
Cost, on the one hand can be to avoid upper water branch pipe in the lower feelings of ambient temperature additionally by return pipe group it is not necessary that water source is separately provided
The recycle-water of recycling can also separately be done it and used by the problem of freezing under condition, such as station plant watering, clean ground and
Lavatory etc., avoids water resource waste.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structural schematic diagram of train water robot system provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of the upper hose net of train water robot system provided by the embodiment of the utility model；
Fig. 3 is that the upper hose group of train water robot system provided by the embodiment of the utility model and return pipe group cooperate
Structural schematic diagram；
Fig. 4 is the control flow of train water robot system provided by the embodiment of the utility model；
Fig. 5 is the structural schematic diagram of the dedicated armed lever of train water robot system provided by the embodiment of the utility model；
Fig. 6 is the axonometric drawing of the dedicated armed lever of train water robot system provided by the embodiment of the utility model；
Fig. 7 is that the dedicated armed lever of train water robot system provided by the embodiment of the utility model and upper water branch pipe use
The structural schematic diagram of pipe collar cooperation；
Fig. 8 is that the dedicated armed lever of train water robot system provided by the embodiment of the utility model and upper water branch pipe use
The structural schematic diagram of support ring cooperation；
Fig. 9 is the Shang Shui robot of train water robot system provided by the embodiment of the utility model using double actuators
Structural schematic diagram；
Figure 10 is that the upper water dispenser device of train water robot system provided by the embodiment of the utility model is artificially fixed
Structural schematic diagram；
Figure 11 is the 1# holder of the stationary machine people of train water robot system provided by the embodiment of the utility model
Structural schematic diagram
Figure 12 is global camera and the train cooperation of train water robot system provided by the embodiment of the utility model
Structural schematic diagram；
Figure 13 is the 1# holder of the mobile robot of train water robot system provided by the embodiment of the utility model
Structural schematic diagram；
Figure 14 is mobile robot and the kinematic axis of train water robot system provided by the embodiment of the utility model
The structural schematic diagram of component cooperation；
Figure 15 is the overflow detection unit of train water robot system provided by the embodiment of the utility model on station track
Arragement construction schematic diagram；
Figure 16 is the structural schematic diagram of the optical fiber duct of train water robot system provided by the embodiment of the utility model；
Figure 17 is the upper water method flow diagram of train water robot system provided by the embodiment of the utility model.
Specific embodiment
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
All other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1 and Fig. 2, the utility model embodiment provides a kind of train water robot system, including remotely manages
Manage layer, on-site supervision layer and mechanical floor；Its medium-long range management level is mainly used for carrying out the interaction of information with incoming train, into
And the water shortage information of the model of available train and each section compartment, and the information is transmitted to on-site supervision layer, this is long-range
Management level can be the Central Control Room at station comprising remote control computer and server, after train enters the station, train is to remote
Thread management layer sends water shortage information, while long-range management level can also obtain the model of the train and stop the position of platform；
And on-site supervision layer is then the location information of the water shortage information and mechanical floor acquisition for receiving long-range management level, and being capable of root
According to water shortage information and the corresponding equipment work of location information control mechanical floor to achieve the purpose that train water, on-site supervision
Layer is the control centre of mechanical floor, and each equipment of mechanical floor is controlled work by on-site supervision layer, while it is also managed with long-range
The interaction that layer realizes information is managed, live prison can be transmitted information to by Ethernet to the network switch of this long-range management level
Control layer；Mechanical floor includes Shang Shui robot 1 and upper hose net 2, and the two is the main execution unit of system, both by existing
Supervisory layers control work, and wherein Shang Shui robot 1 is mainly used for being accurately positioned the water tank with water mouth in train water shortage compartment
And for upper water swivel 12 to be docked and connected with the water tank with water mouth in corresponding water shortage compartment, the thus master of Shang Shui robot 1
Syllabus be with the water tank with water mouth in water shortage compartment carry out Dock With Precision Position, can be equivalent in current water feeding mode it is artificial this
Block, generally in the present system, Shang Shui robot 1 have multiple groups, can guarantee a pair of with each section water shortage compartment one of incoming train
It answers, and the final execution part that the upper water conservancy project that upper hose net 2 is then system is made, at least partly structure are mounted on corresponding
In water robot 1, upper hose net 2 can be connected to by Shang Shui robot 1 with the water tank with water mouth in water shortage compartment, and then realized
The upper hydrodynamic(al) in water shortage compartment is made, and the upper hydrodynamic(al) of the docking water shortage compartment water filling port of Shang Shui robot 1 movement and upper hose net 2
Work is controlled by on-site supervision layer.In the present invention, Unmanned operation can be achieved in upper water overall process, by upper water dispenser device
The current upper water conservancy project people of substitution completely of people 1, and then it is possible to prevente effectively from there is upper water conservancy project people to walk between station track, greatly improve water
The safety and train of worker AT STATION in driving safety, be not only able to effectively control upper water cost, and upper water efficiency
It greatly improves.
Referring to fig. 2 and Fig. 3, the utility model embodiment also provide a kind of upper hose net 2, can be applied to above-mentioned be
In system, specifically, upper hose net 2 includes upper hose group 21, and upper hose group 21 includes upper water conduit tube 211 and upper water branch pipe 212,
It is wherein many-one relationship between upper water conduit tube 211 and Shang Shui robot 1, upper 211 one end of water conduit tube is connected to water source, the other end
Then gutter side wall is laid between station track, and upper water branch pipe 212 is then one-to-one relationship, upper water branch pipe with Shang Shui robot 1
212 install in corresponding Shang Shui robot 1, and one end is connected to upper water conduit tube 211, and the other end can then be made by Shang Shui robot 1
With the water filling port for being connected to water shortage compartment, thus the water at water source flows to upper water branch pipe 212 through upper water conduit tube 211, then via upper
Water branch pipe 212 injects in the water tank in water shortage compartment.Specifically, Shang Shui robot 1 include can be by on-site supervision layer control action
It mechanical arm 11 and installs on mechanical arm 11 and the upper water swivel 12 that can be docked with the water tank with water mouth in train water shortage compartment, on
Water branch pipe 212 is connected to upper water swivel 12.In the present embodiment, upper water branch pipe 212 is upper water hose, along prolonging for mechanical arm 11
Stretch direction laying and be laid in the outside of mechanical arm 11, and with 11 synchronization action of mechanical arm, when upper water swivel 12 and water tank with water
After mouth docking, the end of upper water branch pipe 212 is connected to water tank with water mouth.Upper water branch pipe 212 includes telescoping tube and straight tube, according to upper
The specific joint number of water robot 1 and armed lever number, the telescoping tube quantity and straight tube quantity of water branch pipe 212 in determination and are stretched straight tube
Draw internal diameter can be selected in following range: 25~40mm.It is provided with armed lever casing and joint casing on mechanical arm 11, passes through
Armed lever casing and joint casing clamp straight tube and telescoping tube, and then can limit straight tube and telescoping tube and occur along axial with mechanical arm 11
Opposite sliding, and straight tube and telescoping tube in maintenance can under conditions of not dismantling mechanical arm 11 by adjusting armed lever casing plus
Tight degree extraction and insertion below 1 pedestal of Shang Shui robot by upper water branch pipe 212.
In general, above-mentioned water source is the domestic water at station, particular by frequency-changing water supply device 22 by station
Water supply tank or drinking water tank in water extract supreme water conduit tube 211, then upper water branch pipe 212 is imported by upper water conduit tube 211
It is interior.Frequency-changing water supply device 22 is located in station water supply pressurizing point, and when water supply tank is embedded in outdoor, armored concrete knot can be used
When being located at interior, assembled steel water tank or assembling steel plate water tank can be used, frequency-changing water supply device 22 is always to station in structure
Water main pressurizes, therefore the water in upper water conduit tube 211 has certain pressure, and then passes through the hydraulic pressure for upper water branch pipe
In water injection train tank in 212.Upper water conduit tube 211 is drawn from the water supply network of station, and the gutter side wall between station track
Laying, is fixed near Shang Shui robot 1 by pipe collar and bracket.Between upper water conduit tube 211 and upper water branch pipe 212 there are two types of tools
Connection type, one of which are exactly that upper water branch pipe 212 is directly connected to by a triple valve, it is another then be upper water branch pipe 212 and
It is connected between upper water conduit tube 211 by a connecting tube 213.Either use which kind of mode, upper water branch pipe 212 and upper water conduit tube
211 are provided with control valve 214, and control valve 214 generally uses solenoid valve, is electrically connected to on-site supervision layer, passes through scene
Supervisor control is opened, wherein the control valve of upper water conduit tube 211 should be located at water inlet one end of upper water conduit tube 211, for controlling
The on-off of upper water conduit tube 211, correspondingly the control valve 214 of upper water branch pipe 212 should also be located at the water inlet one of upper water branch pipe 212
The control valve of upper water branch pipe 212 is then opened when the Shang Shui robot 1 needs upper water in end, and when it does not need upper water, then
Close the control valve.It is provided with check-valves 215 in connecting tube 213, can occur by check-valves 215 to avoid during upper water
Phenomenon is flow backwards, flow sensor 216 is in addition should still be provided in connecting tube 213, can then be monitored by flow sensor 216
Each upper water water of corresponding Shang Shui robot 1, and hand-operated valve 217 can also be provided at connecting tube 213, under normal conditions
The hand-operated valve 217 be it is in the open state, only need overhaul or the corresponding control valve 214 of upper water branch pipe 212 occur therefore
When barrier, hand-operated valve can be turned off manually, as a result, along the water (flow) direction of upper water branch pipe 212, hand-operated valve 217, flow sensor 216
And check-valves 215 is set gradually.
Referring again to Fig. 2 and Fig. 3, optimize above-described embodiment, upper hose net 2 further includes having return pipe group 23, return pipe
Group 23 can be connected to the return water main pipe 231 of reuse water tank 234 including one end and one end is connected to returning for 212 bottom of water branch pipe
Water branch pipe 232, the other end of return branch 232 are connected to return water main pipe 231, and return branch 232 and upper water branch pipe 212 1 are a pair of
It answers, is connected between return branch 232 and corresponding upper water branch pipe 212 by control valve 233, certain control valve 233 also should be
Solenoid valve, the control valve 214 with upper water branch pipe 212 can be individual two, i.e., wherein control valve 214 controls upper water branch pipe
212 on-off, another control valve 233 controls the on-off of return branch 232 or upper water branch pipe 212 is shared with return branch 232
One control valve, then the control valve is triple valve, and when upper water, return branch 232 is closed, and upper water branch pipe 212 is opened, and when upper
After the completion of water, upper water branch pipe 212 is closed, and return branch 232 is opened, and this control mode is controlled by on-site supervision layer.Return water
The water to flow back in branch pipe 232 converges to return water main pipe 231, then drains into reuse water tank 234 by return water main pipe 231, wherein return water
Main pipe 231 can be not provided with dynamical element, and return water direction of the entirety in it tilts down setting, in return water main pipe 231
Recirculation water is converged under the effect of gravity in reuse water tank 234, and the tilt angle of general return water main pipe 231 is 2 ‰~5 ‰, mistake
The small traffic organising for being unfavorable for recirculation water, and it is excessive, it will increase the depth of reuse water tank 234.Pass through setting return pipe as a result,
On the one hand group 23 can play the role of collecting recirculation water in upper water branch pipe 212, on the other hand it is possible to prevente effectively from upper water branch pipe
The water accumulated in 212 is the case where the lower situation of ambient temperature freezes.In response to this, when upper water branch pipe 212 with
When being connected between upper water conduit tube 211 using connecting tube 213, insulating layer, necessary situation are also enclosed in the outside of connecting tube 213
Under heat generating member, such as heating wire can also be also had additional between insulating layer and connecting tube 213, heating wire is also by on-site supervision layer
It controls, even if heat generating member heating can also be passed through and melted when to freezing in this connecting tube 213.Generally, in return water main pipe
231 one end far from reuse water tank 234 are provided with snorkel 235, and snorkel 235 has the bending part upwardly extended, and in curved
The upper end of folding part is provided with abat-vent 236, this is mainly used for being vented return water main pipe 231, avoids during return water, return water
Pressure in main pipe 231 is excessive, so that return water is relatively difficult.Fly net can also be had additional at abat-vent, avoid flying
Worm etc. enters return water main pipe 231, in turn results in blocking.In addition, upper water is dry when arranging upper water conduit tube 211 with return water main pipe 231
Pipe 211, return water main pipe 231 should all be arranged for every two AT STATION between hair line, i.e., every upper water conduit tube 211 and return water main pipe
231 are responsible for the upper water and return water of its two sides train.It then may be used as it for the water in reuse water tank 234 to use, such as can be green
Change and clean etc.
The work of specific upper hose net 2 is as follows: after train enters the station, the corresponding Tai Shang water robot 1 of each compartment, and upper water
Robot 1 docks upper water swivel 12 with train water filling port, and the corresponding control valve 214 of upper water branch pipe 212 is opened, so that upper water branch
Pipe 212 is connected to upper water conduit tube 211, and certainly in this state, the corresponding control valve of return branch 232 is closed, in upper water conduit tube 211
Water train tank, after the completion of upper water, the corresponding control of upper water branch pipe 212 are entered by upper water branch pipe 212 under pressure
Valve 214 is closed, and the control valve 233 for controlling return branch 232 is opened, and the water in train water injection pipe and upper water branch pipe 212 passes through
Return branch 232 and return water main pipe 231 are back to station reuse water tank 234.Return time can pass through the timing of on-site supervision layer
Device is preset, and Shang Shui robot 1 is pulled out upper water swivel 12 by train water filling port after reflux, and withdraws original position.
Referring to Fig. 1, Fig. 3 and Fig. 4, the utility model embodiment also provides a kind of Shang Shui robot 1, can also apply
In above-mentioned system, on-site supervision layer includes PLC controller and robot control cabinet, wherein PLC controller be used for it is remote
Thread management layer interacts, i.e., the train water shortage information that long-range management level obtain is transmitted through the network to PLC controller, PLC control
Device processed then controls above-mentioned 2 automatic work of upper hose net of robot control cabinet, i.e. PLC controller is the automatic of Shang Shui robot 1
Control centre, above-mentioned each control valve control work by PLC controller, and the PLC controller can also be used dsp processor and replace
In generation, realizes data processing by dsp processor, and in addition on-site supervision layer further includes having teaching machine and wireless communication terminal, is led to
The control program that teaching machine changes Shang Shui robot 1 for later stage work personnel is crossed, wireless communication terminal is then used for on-site supervision
The wireless communication of layer, and robot control cabinet is acted for controlling mechanical arm 11 so that upper water swivel 12 and corresponding water shortage compartment
The docking of water tank with water mouth, robot control cabinet be it is specific execute control section, after PLC controller assigns instruction, by logical
Letter interchanger is transmitted to robot control cabinet, then is worked by robot control cabinet control Shang Shui robot 1.In general, machine
People's control cabinet and Shang Shui robot 1 correspond, an one Ge Shang water robot 1 of robot control cabinet control, and PLC controller
It then can control multiple robot control cabinets.
Referring to Fig. 5, Fig. 6, Fig. 7 and Figure 10, specifically, Shang Shui robot 1 includes robot body and pedestal 13, machine
Device human body installs on pedestal 13, and wherein robot body includes mechanical arm 11, and mechanical arm 11 includes dedicated armed lever, Special arm
Bar includes the first principal arm bar 111 and the first liner armed lever 112, and the first principal arm bar 111 and the first liner armed lever 112 are hollow straight
Tubular, axis direction of the first liner armed lever 112 by telescoping drive mechanism 113 along the first principal arm bar 111 flexible are set in the
In one principal arm bar 111, the end of the first liner armed lever 112 along its circumferential direction be provided with several for fixation go up the branch of water swivel 12
Staybolt 114.At work, the first liner armed lever 112 passes through telescoping drive mechanism to the dedicated armed lever of the Shang Shui robot 1
113 drivings are stretched out from the first principal arm bar 111, and upper water branch pipe 212 is fixed on the outer wall of 12 one end of water swivel by pipe collar 115
Afterwards, upper water branch pipe 212 is laid along the first liner armed lever 112, and the internal diameter of the first liner armed lever 112 is slightly larger than upper water branch pipe 212
Outer diameter, upper water branch pipe 212 can be inserted or pulled out from the first liner armed lever 112, while the end for upper water swivel 12 of ining succession is stretched
Enter in the first liner armed lever 112, the carrying bolt 114 that subsequent first liner armed lever 112 stretches out on 111 one end of the first principal arm bar is adjusted
Upper water swivel 12 is fixed in section elasticity, so that upper water branch pipe 212 is from the hollow structure of the first liner armed lever 112
It passes through, can preventing water branch pipe 212, aging is avoided that water branch pipe 212 in 1 armed lever of Shang Shui robot again in the sun and rain
It is wound mutually in motion process with armed lever, power supply line or signal wire；Upper water branch is realized by the first liner armed lever 112 of setting simultaneously
It is mutually isolated between the first principal arm bar 111 in 212 installation process of pipe, so that water can be along first after upper 212 leak of water branch pipe
It serves as a contrast armed lever 112 to flow out from the pedestal 13 of Shang Shui robot 1,1 internal component of Shang Shui robot will not be damaged.
Referring to Fig. 6 and Fig. 7, wherein specifically, titanium conjunction can be selected in the first principal arm bar 111 and the first liner armed lever 112
Gold, stainless steel, cast iron or carbon fibre material.Rack pinion component can be used in telescoping drive mechanism 113 or ball screw passes
Dynamic component, rack-and-pinion or ball leading screw driving mode are existing mature technology, and details are not described herein again for specific structure, and the tooth
When taking turns rack gear transmission component or ball leading screw driving component and dedicated armed lever installation, rack pinion component or ball screw
Transmission component is mounted between the first principal arm bar 111 and the first liner armed lever 112, specifically, rack gear is along the first liner armed lever 112
Axis direction be fixed on 112 outer wall of the first liner armed lever, gear pass through the first principal arm bar 111 connect with rack gear, thus lead to
Gear driving rack is crossed to move along the axis direction of the first liner armed lever 112 and the first liner armed lever 112 is driven to move；For rolling
Ballscrew Component driver is the activity its screw rod being arranged between the first principal arm bar 111 and the first liner armed lever 112, on screw rod
Platform is fixedly connected with the first liner armed lever 112, drives the first liner armed lever 112 by movement of the movable platform on screw rod
Movement；Since 112 stroke of the first liner armed lever is smaller, thus rack pinion component and ball leading screw driving component
Using small-scale structure, the normal work of robot waterborne will not influence.
Referring to Fig. 8, installation site of the first liner armed lever 112 in the first principal arm bar 111 can be according to reality in the present embodiment
Border needs to be designed, and the first liner armed lever 112 is located at the side of 111 axis of the first principal arm bar, and the first liner armed lever 112
Lateral wall is connect with the inner sidewall of the first principal arm bar 111；In another arrangement, the first liner armed lever 112 and the first principal arm
Bar 111 is coaxially arranged, coaxially spaced is provided with several along its between the first liner armed lever 112 and the first principal arm bar 111
Support ring 116, the lateral wall of support ring 116 are fixed on the inner sidewall of the first principal arm bar 111, the first liner armed lever 112 and branch
Pushing out ring clearance fit, telescoping drive mechanism 113 are arranged between the first liner armed lever 112 and support ring, the first liner armed lever 112
It can make stretching motion along its axial direction, support ring 116 is for preventing the first liner armed lever 112 non axial in extraneous Moment lower edge
Movement.
Referring to Fig. 9, for above structure, dedicated armed lever is mainly used for realizing that the water tank by upper water swivel 12 and train is infused
Mouth of a river docking, so that upper water branch pipe 212 is connected to water tank with water mouth, and actually Shang Shui robot 1 should be able to also automatically open
Or the cover board of water tank with water mouth is closed, it can have numerous embodiments, for example be adjacently positioned and use with upper water swivel 12
In the cover plate opening and closing mechanism 14 of opening and closing water filling port cover board, cover plate opening and closing mechanism 14 includes vacuum chuck 141 and vacuum chuck 141
The Vacuuming structure of connection and for driving vacuum chuck 141 close to or far from the sucker driving structure of water filling port cover board.
Shang Shui robot 1 provided in this embodiment has water filling port cover plate opening and closing function by the way that cover plate opening and closing mechanism 14 is arranged
Energy and automatic sheung shui function are applicable to the automatic loading water operation of various trains, effectively improve train water efficiency.Using true
Suction disk 141 is opened and closed train water filling port cover board, and vacuum chuck 141 flexible will not generate train outer surface and water filling port cover board
Damage, it is highly-safe.
Above-mentioned vacuum chuck 141 is preferably flat pattern vacuum chuck.
In above-mentioned Shang Shui robot 1, upper water swivel 12, connector driving structure, vacuum chuck 141 and sucker driving structure are equal
It is set on the mechanical arm 11 of Shang Shui robot 1.Water filling port cover plate opening and closing is carried out using Shang Shui robot 1 and realizes upper water swivel
12 with the docking of train water mouth and separate, strong operability, high degree of automation, upper water is high-efficient.The machine of the Shang Shui robot 1
Tool arm 11 has multiple degrees of freedom, and freedom degree quantity can be designed according to the actual situation, in the present embodiment, using 4~6DOF
Mechanical arm 11 realize above-mentioned upper water function.The freedom degree structure of mechanical arm 11 is the prior art, is not described further herein.It is assumed that machine
When tool arm 11 has 6 freedom degrees, then there are 6 joints, each joint of Shang Shui robot 1 sets an AC servo driver
With a harmonic speed reducer, wherein the AC servo driver in each joint is by the respective drivers in six joint servo driver groups
Control, harmonic speed reducer are used to slow down to AC servo motor, and 1# motion controller is provided in robot control cabinet,
The control of the AC servo driver to each joint may be implemented by 1# motion controller, certain 1# motion controller can also
It installs on the pedestal 13 of Yu Shangshui robot 1.
Referring again to Fig. 9, in another embodiment, using the form of double actuators, in this structure type, machine
Tool arm 11 includes first mechanical arm 11a, second mechanical arm 11b and cross bar 17, the lower end and robot bottom of first mechanical arm 11a
Seat 13 is rotatablely connected, and the upper end of first mechanical arm 11a is connect with cross bar 17；One end of two second mechanical arm 11b is and cross bar
17 connections, two second mechanical arm 11b other ends are connected separately with first end actuator 15 and second end actuator 16；The
One end effector 15 is equipped with upper water swivel 12, and upper water swivel 12 is connected to upper water branch pipe 212；On second end actuator 16
Equipped with the vacuum tube joint 161 for being evacuated to train tank, vacuum tube connects 161 and is connected to vacuum hose 162.The present embodiment
The Shang Shui robot 1 and compartment of offer correspond, i.e. the corresponding Tai Shang water robot 1 of each compartment, Shang Shui robot 1
Adjacent two are fixed on between hair line station track, arriving and keeping safe distance with station track, every Tai Shang water robot 1 can be responsible for it and face
The upper water conservancy project of close two to train on hair line is made；Shang Shui robot 1 is cooperated by upper water swivel 12 and vacuum tube joint 161,
While water on upper water swivel 12, vacuum tube joint 161 is evacuated train tank, reduces air pressure in train tank,
Effectively promote upper water speed rate；Upper water overall process can realize Unmanned operation, and water conservancy project people is avoided to shuttle between station track, eliminate driving
And personnel safety hidden danger.Vacuum tube joint 161 can be substituted for vacuum chuck 141, can be by water filling port by vacuum chuck 141
Cover board turn on or off, specifically before upper water, first use vacuum chuck 141 absorption on the cover board to open cover board,
Upper water swivel 12 is docked into water filling port again, and after the completion of upper water, then 141 disks is inhaled using vacuum, cover board is blocked into water filling port.
Referring to Figure 10, in general, it is provided at upper water swivel 12 in mechanical arm 11 for being accurately positioned corresponding lack
The vision positioning component 3 of the water tank with water mouth in waterwheel compartment, and Shang Shui robot 1 can use two kinds of forms, one is fixed,
Another then be movable type, for the Shang Shui robot 1 of different travelings, vision positioning component 3 has different forms.
It referring to Figure 10 with Figure 11, when to be fixed, is then arranged according to the distribution situation of train tank, each upper water dispenser device
People 1 is successively spaced setting according to the length direction of station track, after train is stopped, each water tank one of each Shang Shui robot 1 and train
One is corresponding.Vision positioning component 3 includes 1#CCD camera 31,1# holder 32,1# hand-operated rotating shaft, 1#LED light source 33,2#CCD camera
34,2#LED light source 35,2# holder 36,2# hand-operated rotating shaft, electric rotation shaft, upright bar 37.1# holder 32 is fixed on 11 end of mechanical arm
On armed lever, two 1#CCD cameras 31 and a 1#LED light source 33 are housed, wherein 1#LED light source 33 is mounted on two 1# on holder
Between CCD camera 31,1# holder 32 is equipped with 1# hand-operated rotating shaft, can be used for manually adjusting 1#CCD camera 31 and 1# holder 32 is bowed
The elevation angle.Upright bar 37 is fixed on robot base 13, and the top of upright bar 37 is successively that electric rotation shaft, 2# holder 36 (contain from bottom to up
2# hand-operated rotating shaft), 2#CCD camera 34 and 2#LED light source 35.Electric rotation shaft can rotate in the horizontal direction, and hard-over α is not small
In 166 °, by adjusting the 2# hand-operated rotating shaft in 2# holder 36, the pitch angle of 2#CCD camera 34 is adjusted.Robot control cabinet
In in addition to the control device for being equipped with mechanical arm 11, be additionally provided with image pick-up card, image pick-up card and each camera pass through signal wire company
It connects.
Train enters the station after stop, and the 2#CCD camera 34 in upright bar 37 is rotated in the horizontal direction by electric rotation shaft, with
The water filling port in corresponding compartment is found, after water filling port appears in 34 visual field of 2#CCD camera, 2#CCD camera 34 stops operating, machine
The coordinate parameters that tool arm 11 is positioned according to 2#CCD camera 34 are mobile to train water filling port direction by water swivel 12 on end, moving
During dynamic, after searching corresponding water filling port in 31 visual field of 1#CCD camera, mechanical arm 11 is positioned with 1#CCD camera 31
Subject to coordinate parameters, upper water swivel 12 is docked with train water filling port, starts to fill the water, mechanical arm 11 withdraws original after the completion of water filling
Position.Particularly, when extraneous illumination condition is poor, openable 1#LED light source 33 and 2#LED light source 35.
Referring to Figure 10, Figure 12 and Figure 13, when for movable type Shang Shui robot 1, vision positioning component 3 is fixed including level-one
Hyte part, two-stage positioning component and three-level positioning component, without the upright bar 37 in stationary structure；Level-one positioning group
Part, the parking position information for the current incoming train of Primary Location；Control centre is transmitted for receiving level-one positioning component
Parking position information, and combine the train information of train to extrapolate the projected coordinate for needing to add the compartment of water, and control on train
Water robot 1 is towards mobile at projected coordinate；Two-stage positioning component, for navigating to the compartment for needing to add water in the process of moving
Afterwards, control train water robot 1 stops movement；Three-level positioning component, for determining the water filling port on corresponding compartment
Position, and location information is sent to the robot control cabinet of train water robot 1；Robot control cabinet receives the positioning
After information, drive thereon water swivel 12 dock the water filling port on corresponding compartment and complete water filling task.The present embodiment is suitable for
The case where when 1 quantity of train water robot is few, by this method, a small amount of Shang Shui robot 1, which is arranged, can be completed whole
The upper water conservancy project of train is made, and the number of certain Shang Shui robot 1 and the number of train tank correspond, specifically, needing to pass through
Three-level positions to realize.Wherein, level-one positioning component is just positioned to its parking position when train enters the station, two-stage positioning
The projected coordinate that component is calculated by long-range management level, which navigates to train water robot 1, to be needed to add the compartment of water attached
Closely, the position that three-level positioning component finally navigates to water filling port makes train water robot 1 complete water filling task.By this three
Grade positioning, so that entire the injecting process fully automatic operation, not only saves human cost, and also solve security risk.One
Grade positioning component includes laying global camera 38 in the top of the station track of Train Stopping, and the overall situation camera 38 is used for train figure
As carrying out contour feature extraction；Two-stage positioning component includes infrared distance sensor 39, and infrared distance sensor 39 is used for shifting
Dynamic distance is judged；Three-level positioning component includes binocular camera, and specific is using similar to two above-mentioned 1#CCD cameras
31, it is docked for upper water swivel 12 with water filling port, infrared distance sensor 39 is located between two 1#CCD cameras 31.
It should still be provided with movement shaft assembly otherwise for mobile Shang Shui robot 1 referring to Figure 14, move shaft assembly packet
Kinematic axis pedestal 13, movement axis rail 18, supporting element and moving member 19, kinematic axis pedestal 13 is included to drain between station track AT STATION is arranged
On the cover board of ditch, movement axis rail 18 is mounted on kinematic axis pedestal 13, and supporting element bottom is connected to kinematic axis by moving member
On guide rail 18, the pedestal 13 of Shang Shui robot 1 is arranged in supporting element upper surface, and the length of the movement shaft assembly is according to station or visitor
Vehicle is reorganized and outfit institute's different automobile types compartment stop range and is determined, so that each compartment corresponds to one section of movement shaft assembly, the kinematic axis
Component can be divided to customization movement shaft assembly and modular to move two kinds of shaft assembly, and wherein modular movement shaft assembly has standard long
Degree, can be spliced according to the specific requirements at different stations, and for the station of part field complicated condition, it can be specific according to it
Situation is customized movement shaft assembly (length, width appropriately adjust), and Shang Shui robot 1 can be along kinematic axis by moving member
Guide rail moves on kinematic axis pedestal 13, can be achieved in the moving range on kinematic axis pedestal 13 to different stop positions
Compartment carries out water；Robot control cabinet is arranged on the cover board in movement shaft assembly one end gutter, and robot control cabinet is logical
Cable is crossed to be electrically connected with Shang Shui robot 1, by the movement of the signal of robot control cabinet output control Shang Shui robot 1 and on
Water operation.This 1 structure of Shang Shui robot provided in this embodiment is simple, and upper water is high-efficient, and upper water working range is big, upper water dispenser
Device people 1 can move up to move in movement shaft assembly carries out upper water, and more existing fixed upper wetting system has bigger working range, and energy
Allowing different train number train stop positions, there is some difference, adapts to the upper water demand of different model train.Wherein moving member
The fit form of gear rack rails, the two intermeshing, wherein the tooth of movement axis rail 18 are used between 19 and movement axis rail 18
Length direction of the rail along station track extends, and moving member 19 is worked using 2# motion controller control moving member, specifically moving member 19
Movement the control of idler wheel servo-driver is realized by 2# motion controller, idler wheel servo-driver control AC servo
Motor, retarder is for slowing down to alternating current generator, and wherein 2# motion controller also is located in robot control cabinet.
Referring to Figure 14-Figure 16, the utility model embodiment should still be provided with overflow detection unit 4, for monitoring upper water mistake
Whether the water tank that water shortage compartment is corresponded in journey there is overflow, and Overflow Information is transmitted to on-site supervision layer in overflow.For
For overflow detection unit tool there are two types of form, one of which is to issue Overflow Information to site supervision layer by train, is specifically arranged
Overflow detection sensor is provided on vehicle, the Overflow Information is wirelessly transmitted to existing by the overflow detection sensor when there is overflow
The PLC controller control upper hose net 2 of field supervision layer, site supervision layer stops upper water.It and is to be based in another embodiment
Distribution type fiber-optic, including flexible shroud optical fiber 42, rigid sheath optical fiber 43, optical fiber duct 44, structure of fiber_optic 45, elastic film 46,
Optical fibre interrogation instrument 47.Optical fibre interrogation instrument 47 is arranged in the control room at each station, and rigid sheath optical fiber 43 is respectively from optical fibre interrogation instrument
47 1~3 channel is drawn, and the buried-pipe laying in the form of optical cable, leads to station to hair line side.Arrive hair line Train Stopping model
In enclosing, three optical fiber are drawn from optical cable, cancels outermost layer rigid sheath, make flexible shroud optical fiber 42, and along light
It is laid in fine slot 44.Optical fiber duct 44 is parallel to station track and is located at 41 lower section of train overflow pipe.Optical fiber duct 44 is only in Train Stopping model
Station track two sides in enclosing are laid, and restore outermost rigid sheath in Train Stopping range infrared optical fiber, and continue in the form of optical cable
Nearby along culvert or conduit crossing station track, in the station track other side along station track parallel lay-up, within the scope of Train Stopping, cancel outermost
Layer rigid sheath 41, makes flexible shroud optical fiber 42, and lay along optical fiber duct 44.After leaving Train Stopping range, three
Optical fiber is returned in the form of optical cable on the optical fibre interrogation instrument 47 in control room, forms monitoring circuit.It is extra after the completion of train water
Water overflowed by the upper hose net 2 of overflow pipe 41 and the compartment other side, and fall and be located at overflow pipe and compartment is another
On 2 underface optical fiber duct of upper hose net, 44 elastic film 46 of side, elastic film 46 generates microvibration, and promotes be located at it just
The flexible shroud optical fiber 42 of lower section generates strain, and optical fibre interrogation instrument 47 is according to the backward Rayleigh scattering light in optical fiber to strain location
It is positioned, and location information is transmitted on the monitoring computer (long-range management level) of Central Control Room by Ethernet, monitoring meter
The compartment that overflow occurs for the location information judgement of information of vehicles and generation overflow that calculation machine is stopped according to the moment platform is numbered, and
It sends the corresponding valve that closes to instruct, closes the control valve of corresponding upper water branch pipe 212.Above each signal is transmitted by optical fiber, propagates speed
Degree is fast, whole-process automatic control.
Referring to fig. 4 and Figure 14, system provided by the embodiment of the utility model further include having emergency processing module, for anti-
Kui Shang water robot 1 occur fault message and handle the fault message, include safety governor, above-mentioned 1# motion control
Device and 2# motion controller are controlled by safety governor.1 most common failure of Shang Shui robot includes motion profile entanglement, joint
Temperature is excessively high to cause circuit or device to burn out, 1 load excessive of Shang Shui robot leads to motor damage.Wherein motion profile can pass through
The Hall sensor monitoring being set in each joint of Shang Shui robot 1, Hall sensor and magnetic coder cooperation can monitor
The location information of 1 corresponding joint of water robot, and then the whole movement rail of mechanical arm 11 is determined by the location information in each joint
Mark, joint temperature can be monitored by the temperature sensor in each joint, and Shang Shui robot 1 bears in each joint load can be by each
Torque sensor monitoring in joint is additionally provided with data collecting card, Hall sensor, magnetic coding in robot control cabinet
The number that the data information transfer of device, temperature sensor and torque sensor acquisition is acquired to data collecting card, data collecting card
It is believed that breath is transmitted to on-site supervision layer.When the above failure occurs for Shang Shui robot 1, respective sensor monitors abnormal signal,
And signal is sent to data collecting card by signal bus and carries out simple process, signal processing latter aspect is sent the signal to
On the monitoring computer of long-range management level, on the other hand controls Shang Shui robot 1 and power off, in power-off braker after each joint power down
Limitation under will keep existing pose.Monitoring computer judges fault category after receiving fault-signal, if fault type
For motion profile entanglement, then track is adjusted and is optimized, if track is normal after adjustment, Ze Shang water robot 1 is continued to execute
Upper water operation, if track is still abnormal, issues unknown failure alarm, operator on duty is notified to overhaul, and pass through loudspeaker
Notify operator on duty；If fault type is joint temperature anomaly, also need further to judge whether intra-articular device is burned out, if device
Part has been burned out, then issues device and burn alarm, notify operator on duty, if device is not burnt, it is all to suspend Shang Shui robot 1
Operation further judges intra-articular temperature after cooling, if temperature is normal, continues to execute water operation, otherwise issues unknown event
Hinder alarm, notifies operator on duty；If fault type is load abnormal, the control of water branch pipe 212 in corresponding Shang Shui robot 1 is adjusted
Valve opening processed, and it is normal further to judge whether load returns, if load is normal, Shang Shui robot 1 continues upper water, if load is still
It is so abnormal, unknown failure alarm is issued, operator on duty is notified to overhaul；If other failures occur for Shang Shui robot 1, computer is monitored
Unknown failure alarm is issued, operator on duty is notified to overhaul.
Referring to Fig. 1, Fig. 2, Figure 12, Figure 13 and Figure 17, the utility model embodiment also provide a kind of train it is full-automatic on
Water controling method is applied to above-mentioned system, primarily directed to mobile Shang Shui robot 1, specifically includes the following steps:
Train enters the station stop, the dead reckoning that long-range management level can be stopped according to the model and train of the train to enter the station
Train needs the projected coordinate of the water filling port in water filling car compartment out, while can also obtain the compartment water shortage information of train, as scarce
Which section compartment water shortage is water information include, can also include water deficit be it is how many, projected coordinate that long-range management level will acquire and
Compartment water shortage information is sent to on-site supervision layer, is specifically sent to the PLC controller of on-site supervision layer, medium-long range management level
It is mainly to be obtained by being set to the global camera 38 on station top in the location information for obtaining train model and train stop, when
After train enters the station, the computer of long-range management level recall corresponding train information (including stop position, marshalling number, each compartment
Length, the relative positional relationship of water filling port and compartment, water tank capacity etc.), and global camera 38 is guided accordingly to stop camera lens direction
Vehicle station track, global camera 38 is by adjusting angle searching train, when there is satisfactory image information in global camera 38
It stops search, contour feature extraction is carried out to image, and contour feature is converted into two-dimensional coordinate information, two-dimensional coordinate information is
Projected coordinate information, then the computer of long-range management level is transmitted it to, it can also only scan the train after train stops
The position at two can calculate need according to the model of this train since water filling port is in the fixation position of train end to end
Add the projected coordinate of the water filling port in the compartment of water；
The PLC controller of on-site supervision layer works according to the 2# motion controller that projected coordinate controls robot control cabinet,
And then corresponding Shang Shui robot 1 is controlled by 2# motion controller and is moved to above-mentioned projected coordinate position, in the moving process
Auxiliary positioning is carried out by infrared distance sensor 39, infrared distance sensor 39 is set to the upper water swivel of Shang Shui robot 1
Near 12, the distance between Shang Shui robot 1 and corresponding compartment are monitored to identify corresponding vehicle by infrared distance sensor 39
Compartment, so that the end effector of Shang Shui robot 1 reaches near the water filling port in corresponding compartment, infrared distance sensor 39 is just
Step positions the water filling port in corresponding compartment；
The water filling port that corresponding compartment is identified by the CCD camera near the upper water swivel 12 of Shang Shui robot 1, is accurately positioned
The water filling port in compartment, 1#CCD camera 31 be two, infrared distance sensor 39 above-mentioned be located at the two 1#CCD cameras 31 it
Between, Shang Shui robot 1 is adjusted to corresponding pose, so that upper water swivel 12 can be docked with the water filling port in corresponding compartment, and root
Water swivel 12 is not same as above according to the type of train and the docking mode of water filling port is also different, it is assumed that cover board is provided at water filling port, than
Such as motor-car, then cover board can be first opened using Shang Shui robot 1, then upper water branch pipe 212 is inserted into water filling port, so that upper hose
Net 2 is connected to water filling port, it is assumed that is that ordinary train then can be directly by upper water branch pipe 212 when being not provided with cover board at water filling port
It is inserted into water filling port；
PLC controller starts to control water conduit tube 211 and the control valve of upper water branch pipe 212 is opened, and is set using variable frequency water supply
Standby 22 pairs of upper water conduit tubes 211 supply water, and water successively enters in compartment water tank through upper water conduit tube 211 and upper water branch pipe 212, and works as vehicle
When compartment water tank generates overflow, show that water is completed on the water tank, after specifically PLC controller receives Overflow Information, water in closing
The corresponding control valve of branch pipe 212, and open the corresponding control valve of return branch 232, the water retained in upper water branch pipe 212 start by
Return branch 232 is back to return water main pipe 231, and the return water time can be default in PLC controller, and the table after the completion of preset time
Bright return water is completed, and PLC controller controls the corresponding control valve of return branch 232 and closes；
PLC controller control Shang Shui robot 1 work so that the end of upper water branch pipe 212 by water filling port extract and it is extensive
Again to original state, is distinguished according to the difference of type of train, also snap into cover board at this time when for motor-car Shi Shangshui robot 1
On water filling port, and controlling Shang Shui robot 1 and restore to former posture, 2# motion controller control robot is back to original position, and
After the completion of the upper water of all water tanks of the train, control frequency-changing water supply device 22 no longer supplies water to upper water conduit tube 211, upper water conduit tube
211 corresponding control valves are closed.
In above process, it can effectively realize the unmanned of entire upper water process, can not only guarantee the safety in station
Property, cost of labor was reduced, and can be improved water efficiency, the upper water time greatly shortens.Certainly, in another embodiment
In, for example when Shang Shui robot 1 is fixed, Ze Shang water robot 1 is moved without length direction along station track, specifically upper
It will not move before water with Shang Shuihoushang water robot 1, so that positioning method also has biggish difference, specifically refer to
The position fixing process of fixed Shang Shui robot 1 in above system, details are not described herein.In addition, generating emergency event in upper water
When barrier, upper water method provided by the embodiment of the utility model can carry out feedback processing by emergency processing module.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of train water pipe network, including upper hose group, the upper hose group include one end can be connected to water source upper water it is dry
Pipe and one end can extend to the upper water branch pipe of train tank water inlet, and the upper water branch pipe other end and the upper water conduit tube connect
It is logical, it is characterised in that: further include return pipe group, the return pipe group include one end can be connected to the return water main pipe of reuse water tank with
And one end is connected to the return branch of the upper water branch bottom of the tube, it is dry that the other end of the return branch is connected to the return water
Pipe, and the junction of the return branch and the upper water branch pipe is provided with control valve.
2. train water pipe network as described in claim 1, it is characterised in that: the return water main pipe is tilted down along return water direction
Setting.
3. train water pipe network as described in claim 1, it is characterised in that: the bottom of the upper water branch pipe and the upper water are dry
By the connection of the connecting tube that is vertically arranged between pipe, and in being provided with check-valves in the connecting tube.
4. train water pipe network as claimed in claim 3, it is characterised in that: be provided with flow sensor in the connecting tube.
5. train water pipe network as claimed in claim 3, it is characterised in that: the connecting tube passes through control valve and the upper water
Branch pipe connection.
6. train water pipe network as claimed in claim 3, it is characterised in that: be coated with insulating layer on the outside of the connecting tube.
7. train water pipe network as described in claim 1, it is characterised in that: the upper water branch pipe is with the return branch
More, and the two corresponds, each upper water branch pipe is connected to the upper water conduit tube, and each return branch is connected to
The return water main pipe.
8. train water pipe network as described in claim 1, it is characterised in that: the described one end of return water main pipe far from reuse water tank
It is provided with snorkel, the snorkel has the bending part upwardly extended, and the upper end of the bending part is provided with abat-vent.
9. train water pipe network as described in claim 1, it is characterised in that: further include for by the water in water tank extract to
Frequency-changing water supply device in the upper water conduit tube.
10. a kind of train water robot system, including Shang Shui robot, the Shang Shui robot includes pedestal, installs in institute
State the mechanical arm on pedestal and the robot control cabinet for controlling the mechanical arm towards train tank water inlet, feature
It is: further includes such as the described in any item train water pipe networks of claim 1-9, the upper water branch pipe is installed in the mechanical arm
On, and the robot control cabinet is electrically connected the control valve.
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| CN201821882368.5U CN209225170U (en) | 2018-11-15 | 2018-11-15 | Train water pipe network and train water robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606421A (en) * | 2018-11-15 | 2019-04-12 | 中铁第四勘察设计院集团有限公司 | Train water pipe network and train water robot system |
| CN113148172A (en) * | 2021-04-07 | 2021-07-23 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Unmanned aerial vehicle sprinkling system of nanometer pesticide |
-
2018
- 2018-11-15 CN CN201821882368.5U patent/CN209225170U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606421A (en) * | 2018-11-15 | 2019-04-12 | 中铁第四勘察设计院集团有限公司 | Train water pipe network and train water robot system |
| CN113148172A (en) * | 2021-04-07 | 2021-07-23 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Unmanned aerial vehicle sprinkling system of nanometer pesticide |
| CN113148172B (en) * | 2021-04-07 | 2022-07-08 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Unmanned aerial vehicle sprinkling system of nanometer pesticide |
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