CN209274610U - A kind of train water multi-dimensional robot degree positioning water-feeding system - Google Patents
A kind of train water multi-dimensional robot degree positioning water-feeding system Download PDFInfo
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- CN209274610U CN209274610U CN201821882371.7U CN201821882371U CN209274610U CN 209274610 U CN209274610 U CN 209274610U CN 201821882371 U CN201821882371 U CN 201821882371U CN 209274610 U CN209274610 U CN 209274610U
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- water
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- feeding system
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- camera
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Abstract
The utility model relates to train water technical fields, provide a kind of train water multi-dimensional robot degree positioning water-feeding system, including train water robot, the train water robot has the search section for searching the position of the water filling port of train, described search portion include for search train need plus water water filling port accurate location positioning device, the positioning device includes camera, for the holder of camera installation, the first driving assembly for driving the holder to rotate with any angle, for driving the camera in the second driving assembly moved left and right horizontal on the holder and third driving assembly for driving the PTZ level to swing.A kind of train water multi-dimensional robot degree of the utility model positions water-feeding system, has liberated labour using train water robot, and can quickly and accurately find the position for needing the water filling port of water by the positioning of the various dimensions of its search section.
Description
Technical field
The utility model relates to train water technical field, specially a kind of train water multi-dimensional robot degree positions upper water
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Need water conservancy project people that original position is extracted and withdrawn from train water mouth by upper hose after beam, water bolt then can be upper in automatic rewinding type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.In addition, water in automatic rewinding type currently on the market
Bolt quality is very different, and " card pipe " phenomenon happens occasionally in reeling up process, brings security risk for driving.
Utility model content
The purpose of this utility model is to provide a kind of train water multi-dimensional robot degree to position water-feeding system, using train
Shang Shui robot has liberated labour, and can find quickly and accurately by the positioning of the various dimensions of its search section and need water
Water filling port position.
To achieve the above object, the utility model embodiment provides the following technical solutions: a kind of train water robot is more
Dimension positions water-feeding system, including train water robot, and the train water robot has the water filling for searching train
The search section of the position of mouth, described search portion include that train needs plus the positioning of the accurate location of the water filling port of water fills for searching
Set, the positioning device include camera, for the camera installation holder, for driving the holder to rotate with any angle
First driving assembly, for driving the camera in the second driving assembly moved left and right horizontal on the holder and for driving
The third driving assembly for making the PTZ level swing.
Further, first driving assembly includes cradle head, and the holder is installed on the cradle head, described
Cradle head flexural pivot is connected on the pillar for being used to support described search portion.
Further, second driving assembly includes that the guide rail being set on the holder and the guide rail are slidably connected
Pedestal and actuator for driving the pedestal to slide on the guide rail, the camera are mounted on the base；Institute
It is horizontally disposed to state guide rail, and the length direction of the guide rail is consistent with the length direction of the train.
Further, the actuator is driving motor, and the driving motor is set in the pedestal.
Further, the third driving assembly includes electric rotation shaft, and wherein one end of the electric rotation shaft is mounted on described
On holder, the camera is mounted in the other end of the electric rotation shaft；The rotation axis of the electric rotation shaft is vertically arranged.
Further, there are two the quantity of the camera, and two cameras are arranged at intervals on the holder.
Further, the camera is infrared camera.
Further, the train water robot also has water filling portion for completing water filling task and for receiving
It states the information of search section and controls the control cabinet of the water filling portion work, the water filling portion, which has, to be received the control cabinet and transmit
Control signal receiving end.
Further, the water filling portion includes the upper head portion that can be inserted into water filling port and the upper water hose for sending water, institute
It states head portion to install in the end of mechanical arm, the upper water hose is laid in the machine along the extending direction of the mechanical arm
On tool arm.
Further, the water filling portion further includes solenoid valve, and the solenoid valve is mounted on the upper water hose and searches far from described
The one end in rope portion.
Compared with prior art, the utility model has the beneficial effects that in a kind of train water multi-dimensional robot degree positioning
Water system has liberated labour using train water robot, and can be quickly and smart by the positioning of the various dimensions of its search section
The position for needing the water filling port of water is found quasi-ly.
Detailed description of the invention
Fig. 1 is the entirety that a kind of train water multi-dimensional robot degree provided by the embodiment of the utility model positions water-feeding system
Structural schematic diagram；
Fig. 2 is the positioning that a kind of train water multi-dimensional robot degree provided by the embodiment of the utility model positions water-feeding system
The main view of device；
Fig. 3 is the positioning that a kind of train water multi-dimensional robot degree provided by the embodiment of the utility model positions water-feeding system
The top view of device；
Fig. 4 is a kind of structural schematic diagram of water connector on train provided by the embodiment of the utility model；
Fig. 5 is the structural schematic diagram of the upper water fixture in Fig. 4 water connector on train；
Fig. 6 is the stress diagram of water fixture on Fig. 5；
Fig. 7 is the structural schematic diagram of another water connector on train provided by the embodiment of the utility model；
Fig. 8 and Fig. 9 is the structural schematic diagram of the upper water fixture in Fig. 7 water connector on train；
Figure 10 is the structural schematic diagram that flexible inner walls clad provided by the embodiment of the utility model is externally provided with water fixture.
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, the utility model embodiment provides a kind of train water multi-dimensional robot degree positioning water-feeding system, packet
Train water robot is included, the train water robot has the search section for searching the position of the water filling port of train, institute
Stating search section includes that train needs plus the positioning device 1 of the accurate location of the water filling port of water, the positioning device 1 are wrapped for searching
Include camera 10, the holder 11 for the camera 10 installation, the first driving for driving the holder 11 to rotate with any angle
Component, for driving the camera 10 in the second driving assembly moved left and right horizontal on the holder 11 and for driving
State the third driving assembly that 11 level of holder swings.In the present embodiment, the work for searching water filling port is used as using camera 10
Tool is represented and is searched successfully when there is water filling port in its image.Specifically, use the first driving assembly drive holder 11 with
Any angle rotation, since camera 10 is mounted on holder 11, camera 10 can also be searched with any angle rotation
Water filling port is sought, by this search pattern, the range of search can be greatly increased, phase can be driven using the second driving assembly
The level on holder 11 of machine 10 moves left and right, and after it cooperates the first driving assembly, can further increase the range of search, uses
Third driving assembly can drive 11 level of holder to swing, and equally can further promote the range of search.
The following are specific embodiments:
As the prioritization scheme of the utility model embodiment, Fig. 1 and 2 is please referred to, first driving assembly includes rotation
Joint 12, the holder 11 are installed on the cradle head 12,12 flexural pivot of cradle head be connected to be used to support it is described
On the pillar 13 of search section.In this embodiment, the first driving assembly is realized at any angle by the flexural pivot of cradle head 12
Rotation.Preferably, which can be controlled by actuator, realize full automatic search.
As the prioritization scheme of the utility model embodiment, Fig. 1-3 is please referred to, second driving assembly includes being set to institute
State the guide rail 14 on holder 11, the pedestal 15 being slidably connected with the guide rail 14 and for driving the pedestal 15 to be led described
The actuator slided on rail 14, the camera 10 are mounted on the pedestal 15；The guide rail 14 is horizontally disposed, and the guide rail
14 length direction is consistent with the length direction of the train.In the present embodiment, the length of the length direction of guide rail 14 and train
It is consistent to spend direction, it usually needs the water filling port of water filling is all in sustained height, generally in straight line after being joined to one another
On, therefore, when by the first driving assembly water filling port can not be searched in the slewing area of its current location, pass through driving
Part drives the pedestal 15 of carrying camera 10 to horizontally slip, and can rapidly search water filling port.
Above scheme is advanced optimized, referring to Fig. 3, the actuator is driving motor, the driving motor is set to institute
It states in pedestal 15.In the present embodiment, actuator is driving motor, it can be stored in pedestal 15.Certainly in addition to this,
It can be using electric pushrod etc. as actuator.
For the prioritization scheme of the utility model embodiment, Fig. 1-3 is please referred to, the third driving assembly includes electric rotation shaft
16, wherein one end of the electric rotation shaft 16 is mounted on the holder 11, and the camera 10 is mounted on the electric rotation shaft 16
Other end on；The rotation axis of the electric rotation shaft 16 is vertically arranged.In the present embodiment, it is realized by electric rotation shaft 16
Camera 10 swings, it is preferred that minimum 166 ° of angle of its swing, search can be promoted with a step on a large scale by swinging
Range accelerates the speed of search.
For the prioritization scheme of the utility model embodiment, Fig. 1-3 is please referred to, there are two the quantity of the camera 10, and two
A camera 10 is arranged at intervals on the holder 11.In the present embodiment, binocular camera 10 is constituted by two cameras 10,
Two-dimensional image can be changed into 3-D image, in the image pick-up card being transmitted in control cabinet 17 after to be capable of handling be three
Dimension word signal is changed into three-dimensional coordinate information after receiving and processing in order to image processing system, then again by control cabinet 17
Water filling portion is driven to carry out upper water by this coordinate.When the quantity of camera 10 there are two when, electric rotation shaft 16 matched with its, pedestal 15
And driving motor also there are two.
For the prioritization scheme of the utility model embodiment, referring to Fig. 2, the camera 10 is infrared camera.In this implementation
In example, camera 10 uses infrared camera, small in size, high resolution, strong antijamming capability, and when night is bad
Can normal use, be suitable for that station is outdoor or the working environment of semi-outdoor.Certainly in addition to this, camera 10 can also use
CCD camera cooperates range sensor, light source etc. to substitute infrared camera.
For the prioritization scheme of the utility model embodiment, referring to Fig. 1, the train water robot also has for complete
At the water filling portion of water filling task and information for receiving described search portion and control the control cabinet 17 of the water filling portion work,
The water filling portion has the receiving end for receiving the control signal that the transmitting of control cabinet 17 comes.In the present embodiment, control cabinet 17
It can play the role of reference order, send control instruction and simple process image information, specifically, it can receive search
Then the image information is changed into data information transfer in control centre (i.e. PC machine) by the three-dimensional image information that portion searches
Image processing system processing be three-dimensional coordinate, then controlled further according to the three-dimensional coordinate water filling portion find water filling port complete on
Water.It is the prior art on its reality of work, introduction is just no longer developed in details herein.
Above scheme is advanced optimized, Fig. 1-3 is please referred to, the water filling portion includes the upper head portion 23 that can be inserted into water filling port
And the upper water hose 200 for upper water, the upper head portion 23 are installed in the end of the mechanical arm 20, the upper water is soft
Pipe 200 is laid on the mechanical arm 20 along the extending direction of the mechanical arm 20.In this city embodiment, upper water hose
200 soft materials, it can lay along the shape of mechanical arm 20, when mechanical arm 20 is close to water filling port, drive water on this soft
Pipe 200 and upper head portion 23 are docked in water filling port close to water filling port convenient for upper head portion 23.On being also laid in station track
Water conduit tube 23, it is connected to upper water hose 200, and water source flows to upper water hose 200 from upper water conduit tube 23.Above-mentioned pillar 13
It is mounted on the mechanical arm 20.
Above scheme is advanced optimized, referring to Fig. 1, the water filling portion further includes solenoid valve 21, the solenoid valve 21 is pacified
Mounted in the described upper one end of water hose 200 far from described search portion.In the present embodiment, which is mounted on water conduit tube
Between 23 and upper water hose 200, play the role of switch, open then water flowing, closing is then cut off the water.
Optimize above-mentioned upper head portion 23 comprising the outlet end of joint housing 301, the joint housing 301 outwardly protrudes
It is provided with water end (W.E.) set 302, the upper water end (W.E.) set 302 is that can cover the flexible annular part being filled on train water filling port.
It is easy-to-understand to, the inner diameter of above-mentioned upper water end (W.E.) set 302 is greater than the outer diameter of train water filling port, to guarantee to be somebody's turn to do
Upper water end (W.E.) set 302 can be inserted on train water filling port.Generally, train water filling port is cylinder straight tube, and above-mentioned upper water end (W.E.) set 302 can
It is corresponding to use cylindrical-shaped structure；It in a further embodiment, can also be the round table-like knot being gradually increased along upper water orient diameter
Structure, and its minimum diameter is advisable with being greater than train water filling port outer diameter.On this water end (W.E.) set 302 from the outlet end of joint housing 301 to
The setting of outer protrusion, namely the outlet sides of joint housing 301 are connected to along the axial water end (W.E.) set 302 on this of joint housing 301, upper
When head portion 23 is docked with train water filling port, on this water end (W.E.) set 302 be first inserted in train water filling port to train water filling port outer wall or
Tank shell contacts around train water filling port.
Upper water end (W.E.) set flexible is arranged in 301 outlet end of joint housing in train water head 23 provided in this embodiment
302, after upper head portion 23 is docked with train water filling port, by the pressure certain along the axial application of joint housing 301, it can make
Compressive deformation occurs for water end (W.E.) set 302, to realize the sealing during upper water.
The structure for advanced optimizing above-mentioned train water head 23, such as Fig. 4-Fig. 9, the upper water end (W.E.) set 302 is externally provided with
On the one hand upper water fixture 303 for being clamped on the train water filling port guarantees upper water end (W.E.) set 302 and train water filling port
Be reliably connected, on the other hand, it is above-mentioned keep upper water end (W.E.) set 302 axially compressed on the basis of, can also further make
Compressive deformation radially occurs for water end (W.E.) set 302, to effectively guarantee the leakproofness during upper water, prevents from leaking during water
The generation of water phenomenon.
Above-mentioned upper water fixture 303 can be manual, and pipe collar is such as arranged, and elastic by manual control pipe collar is
It can.In the present embodiment, preferably using Automatic-clamping and the upper water fixture 303 loosened；Specifically, several upper water exemplified below
The embodiment of fixture 303:
(1) such as Fig. 4-Fig. 7, the upper water fixture 303 includes having the flexible hoop 3032 of annular cavity and being embedded at
Multiple electromagnet 3031 in 3032 inner cavity of hoop, each electromagnet 3031 is between the circumferential direction of 3032 inner cavity of hoop
Every arrangement, and the magnetic pole different name close to each other per adjacent two electromagnet 3031.Preferably, above-mentioned flexible hoop 3032 is
Flexible composite film structure, is enclosed to set by flexible composite film and forms its 3032 inner cavity of hoop, and each electromagnet 3031 is multiple by flexibility
Close film coated；The flexible composite film preferably has certain thickness, and can contraction distortion, while when external force disappears
When can be reduced to original geomery, such as rubber hose or silica gel hose etc. can be used in it.
Specifically, the stress condition when energization of each electromagnet 3031 is shown such as Fig. 6, when each electromagnet 3031 is powered,
It due to being arranged in a manner of synonyms pole between adjacent electromagnet 3031, can attract each other, can finally make each electromagnet 3031
The magnet circle contraction being arranged in becomes smaller, and the flexible contraction distortion therewith of hoop 3032 makes water end (W.E.) set 302 clamp train water filling port.
When each 3031 power loss of electromagnet, under the reactivation of flexible hoop 3032, realize that each electromagnet 3031 resets.
It is arc-shaped electromagnet 3031 that each electromagnet 3031, which is both preferably, and each electromagnet 3031 is in uniform
Arranged for interval guarantees that the resultant force for the magnetic force that each electromagnet 3031 is subject to is directed toward 3032 center of hoop, so that each electromagnet
3031 are arranged in the form of circular magnet circle always, the clamping effect in guarantee between water end (W.E.) set 302 and train water filling port.
(2) such as Fig. 7-Fig. 9, the upper water fixture 303 includes banding part 3034 and the movable part with the banding part 3034
Connection is with the electromagnet assembly for driving the banding part 3034 to hold tightly or unclamp.
Above-mentioned banding part 3034 can be anchor ear, including two half hoop plates, and for half hoop plate tool there are two wing plate, every side is opposite
Two wing plates be respectively equipped between electromagnet and two wing plates by reset spring connect, when two electromagnet obtain electric, should
Two electromagnet are attracting and the elastic force of reset spring is overcome to act on and make two wing plates close to each other, thus hold anchor ear tightly,
When each electromagnet power loss, loosen anchor ear under the action of reset spring.
In the present embodiment, such as Fig. 8 and Fig. 9, the banding part 3034 is hose clamp 3034, is worn in offering on band
Hole, wherein one end of the band, which passes through the perforating and encloses the band, is set as ring, and the electromagnet assembly includes point
It is not fixed on two movable electro-magnets 3036 of two ends of the band and is separately fixed on the outer zone face of the band
Two fixed electromagnets 3035, two movable electro-magnets 3036 are between two fixed electromagnets 3035 and lean on respectively
Nearly two fixed electromagnet 3035, each fixed electromagnet 3035 are mutual with the adjacent movable electro-magnet 3036
It close magnetic pole different name and is connected by connecting rope 3038.Specifically, the width of wherein one end of the band is less than other parts
The width of band, so that the narrow end can pass through above-mentioned perforating with body；Narrow end has certain length with body, guarantees that it can phase
The adjusting for enclosing the aditus laryngis size being set as is realized for perforating activity.Under obstructed electricity condition, fixed electromagnet 3035 with
Adjacent movable electro-magnet 3036 is located remotely from each other, and connecting rope 3038 between the two is in tight state, when each electromagnet obtains electric,
It attracts each other between fixed electromagnet 3035 and adjacent movable electro-magnet 3036 and close, shrinks hose clamp 3034 and clamp upper water
End cap 302.
It is further preferred that such as Fig. 8, the hose clamp 3034 is equipped with sliding closure 3037, the sliding closure 3037 with it is described
The outer zone face of hose clamp 3034 encloses the sliding cavity for setting and being formed and circumferentially being slid for limiting the movable electro-magnet 3036 along the band,
Each electromagnet is contained in the sliding cavity.It is to be appreciated that the characteristics of being scaled for cooperation hose clamp 3034, above-mentioned sliding closure
3037 (i.e. along the middle position of the circumferential sliding closure 3037 of hose clamp 3034, namely can be located at two in middle position
Between movable electro-magnet 3036) be broken as the structure that can be slided relatively, or be set as foldable corrugated plating, etc., herein not
It is described further.By the way that sliding closure 3037 is arranged, to limit between movable electro-magnet 3036 and fixed electromagnet 3035 along specific
Direction relative motion, it is ensured that the clamping effect of hose clamp 3034.
It is to be appreciated that the conducting wire of above-mentioned electromagnet can be in 301 outer wall upward wiring of joint housing, and further from Shang Shui
20 interior cabling of mechanical arm of robot 100.
The structure for connecting above-mentioned train water head 23, such as Fig. 4, Fig. 7 and Figure 10, above-mentioned 301 inner wall of joint housing is equipped with
Flexible inner walls clad 304 can be further improved the leakproofness after head portion 23 is docked with train water filling port, and subtract
Collision friction between small joint housing 301 and train water filling port.Preferably above-mentioned upper water end (W.E.) set 302 is coated with the flexible inner walls
Layer 304 is structure as a whole, i.e., upper water end (W.E.) set 302 extends outward to form for the flexible inner walls clad 304, in other words upper water end (W.E.)
Set 302 is extended in divergent segment 3011 and is connected with 3011 inner wall of divergent segment, guarantees sealing reliability.Above-mentioned flexible inner walls packet
Bonding mode can be used between coating 304 and joint housing 301 to fix.It is further preferred that above-mentioned flexible inner walls clad
304 can not be bonded at housing outlet end radially relative to divergent segment 3011 inner wall activity with 3011 inner wall of divergent segment
Together, preferably there is therebetween certain gap, can radially clamp train water filling port convenient for upper water end (W.E.) set 302.
It is further preferred that the joint housing 301 includes extending to along upper water direction flaring such as Fig. 4, Fig. 7 and Figure 10
The divergent segment 3011 of housing outlet end.Using the upper head portion 23 of gradual-enlargement type, it is adapted to different train water filling port models, it is real
Water process is now safely and conveniently gone up, water resource waste caused by mismatching because of upper head portion 23 with train water filling port model is eliminated
Phenomenon.Further, such as Fig. 4, Fig. 7 and Figure 10, which further includes connecting with above-mentioned 3011 smaller diameter end of divergent segment
Isometrical section 3012, this isometrical section 3012 can be fixed in train water robot by fixed structure (such as pipe collar, lantern ring),
And it is docked with upper water hose 200.Since this isometrical section 3012 does not dock with train water filling port, can not set in above-mentioned flexibility
Wall clad 304.
It is at least one set of above-mentioned upper in being set with outside flexible inner walls clad 304 as preferred embodiment, such as Figure 10
Water fixture 303, one end of the separate housing outlet end of flexible inner walls clad 304 and 301 inner wall of joint housing are connected.Water on this
The structure of fixture 303 does not repeat herein.Based on the structure, in addition to upper water end (W.E.) set 302 can clamp train water filling port, internal is soft
Property inner wall clad 304 can also clamp train water filling port, realize Multilayer clamping sealing, improve sealing effect significantly, reduce water
The wasting of resources.In particular, for the structure of above-mentioned joint housing 301 including divergent segment 3011, can be to avoid train water filling port outside
Between 301 inner wall of wall and joint housing wash by water bulging and influence flood effectiveness and upper water tightness.
In addition, it is also wrapped on outer wall rubber adhesive 305 on above-mentioned 301 outer wall of joint housing such as Fig. 4, it can be preferably
Head portion 23 in protection.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (10)
1. a kind of train water multi-dimensional robot degree positions water-feeding system, including train water robot, the train water machine
Device people has the search section for searching the position of the water filling port of train, it is characterised in that: described search portion includes for searching
Train needs plus the positioning device of the accurate location of the water filling port of water, and the positioning device includes camera, for camera installation
Holder, the first driving assembly for driving the holder to rotate with any angle, for driving the camera in the cloud
Horizontal the second driving assembly moved left and right and the third driving assembly for driving the PTZ level to swing on platform.
2. a kind of train water multi-dimensional robot degree as described in claim 1 positions water-feeding system, it is characterised in that: described the
One driving assembly includes cradle head, and the holder is installed on the cradle head, and the cradle head flexural pivot is connected to use
In on the pillar in support described search portion.
3. a kind of train water multi-dimensional robot degree as described in claim 1 positions water-feeding system, it is characterised in that: described the
Two driving assemblies include guide rail on the holder, the pedestal being slidably connected with the guide rail and for driving the bottom
The actuator that seat slides on the guide rail, the camera are mounted on the base；The guide rail is horizontally disposed, and described leads
The length direction of rail is consistent with the length direction of the train.
4. a kind of train water multi-dimensional robot degree as claimed in claim 3 positions water-feeding system, it is characterised in that: the drive
Moving part is driving motor, and the driving motor is set in the pedestal.
5. a kind of train water multi-dimensional robot degree as described in claim 1 positions water-feeding system, it is characterised in that: described the
Three driving assemblies include electric rotation shaft, and wherein one end of the electric rotation shaft is mounted on the holder, and the camera is mounted on
In the other end of the electric rotation shaft；The rotation axis of the electric rotation shaft is vertically arranged.
6. a kind of train water multi-dimensional robot degree as described in claim 1 positions water-feeding system, it is characterised in that: the phase
There are two the quantity of machine, and two cameras are arranged at intervals on the holder.
7. a kind of train water multi-dimensional robot degree as described in claim 1 positions water-feeding system, it is characterised in that: the phase
Machine is infrared camera.
8. a kind of train water multi-dimensional robot degree as described in claim 1 positions water-feeding system, it is characterised in that: the column
Che Shangshui robot also has the water filling portion for completing water filling task and information and control for receiving described search portion
The control cabinet of the water filling portion work, the water filling portion have the receiving end for receiving the control signal that the control cabinet transmitting comes.
9. a kind of train water multi-dimensional robot degree as claimed in claim 8 positions water-feeding system, it is characterised in that: the note
Water portion includes the upper head portion that can be inserted into water filling port and the upper water hose for sending water, and the upper head portion is installed in mechanical arm
End, the upper water hose is laid on the mechanical arm along the extending direction of the mechanical arm.
10. a kind of train water multi-dimensional robot degree as claimed in claim 9 positions water-feeding system, it is characterised in that: described
Water filling portion further includes solenoid valve, and the solenoid valve is mounted on the described upper one end of water hose far from described search portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821882371.7U CN209274610U (en) | 2018-11-15 | 2018-11-15 | A kind of train water multi-dimensional robot degree positioning water-feeding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821882371.7U CN209274610U (en) | 2018-11-15 | 2018-11-15 | A kind of train water multi-dimensional robot degree positioning water-feeding system |
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| CN209274610U true CN209274610U (en) | 2019-08-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367576A (en) * | 2018-11-15 | 2019-02-22 | 中铁第四勘察设计院集团有限公司 | A kind of train water multi-dimensional robot degree positioning water-feeding system |
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2018
- 2018-11-15 CN CN201821882371.7U patent/CN209274610U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367576A (en) * | 2018-11-15 | 2019-02-22 | 中铁第四勘察设计院集团有限公司 | A kind of train water multi-dimensional robot degree positioning water-feeding system |
| CN109367576B (en) * | 2018-11-15 | 2024-03-26 | 中铁第四勘察设计院集团有限公司 | Multi-dimensional positioning water supply system of train water supply robot |
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