CN209850906U - Moving device for railway vehicle bottom maintenance and maintenance robot - Google Patents
Moving device for railway vehicle bottom maintenance and maintenance robot Download PDFInfo
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- CN209850906U CN209850906U CN201920718242.2U CN201920718242U CN209850906U CN 209850906 U CN209850906 U CN 209850906U CN 201920718242 U CN201920718242 U CN 201920718242U CN 209850906 U CN209850906 U CN 209850906U
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- 238000012423 maintenance Methods 0.000 title claims abstract description 63
- 230000008093 supporting effect Effects 0.000 claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 238000007689 inspection Methods 0.000 claims description 22
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 239000000725 suspension Substances 0.000 description 22
- 230000033001 locomotion Effects 0.000 description 18
- 238000001514 detection method Methods 0.000 description 10
- 230000001681 protective effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The embodiment of the application provides a moving device for overhauling the bottom of a railway vehicle and an overhauling robot, wherein the moving device comprises a supporting unit, a driving unit, a first moving unit, a first rail wheel unit and a second rail wheel unit, the first moving unit is connected with the driving unit, the first moving unit comprises a first rotating wheel, a second rotating wheel and a first transmission belt, the second rotating wheel and the first rotating wheel are arranged at intervals in the direction along an overhauling track, the first transmission belt is sleeved outside the first rotating wheel and the second rotating wheel, the first rail unit comprises a first rail wheel and a second rail wheel, the second rail wheel unit and the first rail unit are arranged at intervals, the second rail wheel unit comprises a third rail wheel and a fourth rail wheel, the third rail wheel is coaxial with the first rail wheel, and the fourth rail wheel is coaxial with the second rail wheel; the maintenance robot comprises the mobile device. The utility model discloses be favorable to realizing the operation of striding the rail of overhauing the robot, reduce the input cost.
Description
Technical Field
The utility model belongs to the technical field of rail vehicle overhauls, especially, relate to a rail vehicle bottom is overhauld and is used mobile device and maintenance robot.
Background
At present, the railway vehicle underbody inspection is an important item in daily inspection projects of railway vehicles, wherein the inspection of a bogie is a key and difficult point of inspection projects due to the fact that bogie components at the underbody are various and large in quantity.
Based on the current situations of large overhauling workload, high overhauling difficulty and the like, the existing overhauling of the bottom of the rail vehicle is mostly completed by adopting an overhauling robot, the existing overhauling robot comprises a chassis, a multi-degree-of-freedom mechanical arm and a series of information acquisition units (including images, video acquisition and the like), the chassis is used as a moving device of the overhauling robot, the moving device comprises a supporting body and a rail wheel, the top of the supporting body is connected with the multi-degree-of-freedom mechanical arm to drive the multi-degree-of-freedom mechanical arm to move synchronously, and the rail wheel is rotatably connected with the supporting body. In order to ensure the basic requirements of the multi-degree-of-freedom mechanical arm and the information acquisition unit on the operation precision, the common consensus of technicians in the field on the moving mode of the maintenance robot is as follows: the rail wheels must move on corresponding maintenance rails of the maintenance warehouse to ensure basic operation stability and reduce the influence of vibration on maintenance precision.
Nevertheless this application utility model people in the in-process of realizing utility model technical scheme in this application embodiment, discover that above-mentioned technique has following technical problem at least:
the existing maintenance robot can only operate in one maintenance track, cannot cross the stairs or slopes of the maintenance tracks, and further cannot realize cross-track operation, therefore, each track needs to be provided with one maintenance robot, and further the input cost is high.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a mobile device for overhauling the bottom of a railway vehicle, so that the overhauling robot comprising the mobile device solves the technical problem that the overhauling robot can cross the stair or slope of the overhauling track when the overhauling robot detects the bottom of the vehicle, thereby being favorable for realizing the cross-rail operation of the overhauling robot and reducing the input cost.
The embodiment of the application provides a rail vehicle bottom overhauls uses mobile device for remove on overhauing the track, mobile device includes:
a support unit;
a driving unit disposed on the supporting unit;
a first moving unit disposed on the supporting unit, the first moving unit being connected with the driving unit, the first moving unit including:
a first rotating wheel;
the second rotating wheel is arranged at an interval with the first rotating wheel along the direction of the maintenance track;
the first transmission belt is sleeved outside the first rotating wheel and the second rotating wheel;
a first rail wheel unit disposed on the supporting unit, the first rail wheel unit being connected with the driving unit, the first rail wheel unit including:
a first rail wheel; and
the second track wheel is arranged at intervals with the first track wheel along the direction of the maintenance track;
a second rail wheel unit disposed on the supporting unit, the second rail wheel unit being disposed at an interval with the first rail wheel unit, the second rail wheel unit being connected with the driving unit, the second rail wheel unit including:
a third rail wheel coaxial with the first rail wheel;
a fourth rail wheel coaxial with the second rail wheel.
The embodiment of the present application further provides an overhaul robot, the overhaul robot includes:
the moving device is the moving device for overhauling the bottom of the railway vehicle;
the multi-freedom-degree mechanical arm is positioned above the supporting unit and connected with the supporting unit; and
and the first information acquisition device is fixedly connected with the multi-degree-of-freedom mechanical arm.
The utility model discloses in the one or more technical scheme that provides, following technological effect or advantage have at least:
the utility model realizes the switching between the belt transmission type walking mode (such as a crawler type walking mode) and the rail type walking mode by arranging the first moving unit, the first track unit and the second track unit, namely, when the maintenance robot detects the vehicle bottom, the rail type walking mode is adopted, the stability of the movement and the precision of the position of the maintenance robot are ensured, when the maintenance robot needs to cross the stair or the slope of the maintenance track, the contact area with the stair or the slope is improved by depending on the belt transmission type walking mode, so that the maintenance robot can climb the stair or the slope of the maintenance track, thereby realizing the obstacle crossing performance of the maintenance robot, solving the technical problem that how to ensure the stability of the movement and the precision of the position when the maintenance robot detects the vehicle bottom, the maintenance robot can cross the stair or the slope of the maintenance track, and further being beneficial to realizing the cross-track operation of the maintenance robot, the input cost is reduced.
Drawings
Fig. 1 is a schematic structural view of an inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the moving device for overhauling the bottom of the railway vehicle in FIG. 1;
FIG. 3 is a schematic structural view of the vertical adjustment assembly of FIG. 1;
FIG. 4 is a schematic view of the operation of the embodiment of FIG. 1 in a service track, according to the present invention;
FIG. 5 is a side view of FIG. 4;
FIG. 6 is a schematic view of the working state of the inspection robot in FIG. 5 when inspecting the vehicle side
FIG. 7 is a schematic view of a situation where the embodiment of FIG. 1 of the present invention is used to climb over a track slope or stairs;
FIG. 8 is a schematic view of the inspection robot in FIG. 7 after climbing over an incline or stairs of an inspection track;
in the above figures: 100. a mobile device; 110. a support unit; 111. a box body; 112. a first suspension; 120. a drive unit; 121. a motor; 122. a transmission unit; 123. a controller; 130. a first mobile unit; 131. a first rotating wheel; 132. a second rotating wheel; 133. a first drive belt; 134. a first load-bearing wheel; 135. a first carrier roller; 140. a first rail-wheel unit; 141. a first rail wheel; 142. a second rail wheel; 150. a second mobile unit; 151. a second belt; 200. a multi-degree-of-freedom mechanical arm; 300. a first information acquisition device; 400. a second information acquisition device; 500. a position adjustment device; 510. a level adjustment assembly; 511. a linear module; 520. a vertical adjustment assembly; 521. an electric push rod; 522. a flange plate; 523. a slider; 524. a guide rail; 525. a first protective case; 526. a second protective shell.
Detailed Description
The present invention is specifically described below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be noted that: (1) the terms "inner", "outer", "upper", "lower", "front", "rear", and the like, indicate orientations or positional relationships based on the positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention; (2) when an element is referred to as being "fixed to" or "supported from" another element, it can be directly on the other element or intervening elements may also be present; (3) when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; (4) the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 and 2, in order to solve the technical problem that the prior art can only operate in one maintenance track and cannot cross the stairs or slopes of the maintenance track, the utility model provides an overhaul robot for the vehicle bottom is overhauld, overhaul robot includes mobile device 100, this mobile device 100 is the mobile device for rail vehicle bottom is overhauld, be used for moving on the maintenance track, this mobile device 100 includes supporting unit 110, drive unit 120, first mobile unit 130, first rail wheel unit 140 and second rail wheel unit, wherein:
the supporting unit 110 mainly plays a supporting role; specifically, as shown in fig. 1 and 2, the supporting unit 110 includes a box 111, a first suspension 112 and a second suspension, the box 111 is in a hollow quadrangular prism shape, the inside of the box 111 is an accommodating chamber for accommodating the driving unit 120, the first suspension 112 and the second suspension are symmetrically fixed to two sides of the box 111 by welding, bolting, and the like, the first suspension 112 may be in a plate shape, and may also be in a frame shape;
the driving unit 120 is disposed on the supporting unit 110 to output power under the support of the supporting unit 110; specifically, as shown in fig. 1 and fig. 2, the driving unit 120 is fixedly (including detachably and non-detachably) disposed inside the accommodating chamber of the box 111, the driving unit 120 includes a motor 121, a transmission unit 122, and a controller 123, the motor 121 is a servo motor or a stepping motor, a body portion of the motor 121 is fixed to the box 111 by bolts, etc., a power output end portion (i.e., a shaft extension) of the motor 121 is connected to the transmission unit 122 to output power to the outside of the box 111 through the transmission unit 122, the transmission unit 122 may be a shaft coupler, or may also be a gear box, etc., other transmission technologies known to those skilled in the art, and the controller 123 is connected to the motor 121 to control power output of the motor 121;
the first moving unit 130 is disposed on the supporting unit 110 to move the moving device 100 under the supporting action of the supporting unit 110, and further, the first moving unit 130 is connected to the driving unit 120 to move under the driving of the driving unit 120, the first moving unit 130 includes a first rotating wheel 131, a second rotating wheel 132 and a first driving belt 133, the second rotating wheel 132 and the first rotating wheel 131 are disposed at an interval in the direction along the service track, the first driving belt 133 is sleeved outside the first rotating wheel 131 and the second rotating wheel 132 to rotate synchronously with the first rotating wheel 131 and the second rotating wheel 132, wherein the direction along the service track includes an extending direction along the service track and a direction parallel to the extending direction of the service track;
specifically, as shown in fig. 1 and 2, the first moving unit 130 is disposed on the first suspension 112, that is, the first moving unit 130 is directly connected to the first suspension 112 to be directly supported by the first suspension 112, the first rotating wheel 131 is disposed at a side portion of the first suspension 112, the first rotating wheel 131 is rotatably connected to the first suspension 112 through a shaft hole fitting or the like, the first rotating wheel 131 is connected to a power output end portion of the motor 121, that is, the first rotating wheel 131 is used as a driving wheel which is rotated by the driving of the motor 121, the second rotating wheel 132 and the first rotating wheel 131 are disposed at both ends of the first suspension 112 in a direction along the detection track, the second rotating wheel 132 is coplanar with the first rotating wheel 131, that is, the second rotating wheel 132 and the first rotating wheel 131 are identical in structure, parallel to each other, equal in height and are disposed side by side, the second rotating wheel 132 is rotatably connected to the first suspension 112 through a shaft hole fitting or the like, the first driving belt 133 is preferably a crawler belt to have a good ground gripping ability when the mobile device is separated from the track laid in the detection track and is in contact with a slope or a staircase, thereby improving the driving stability of the mobile device on the ground, and the crawler belt is sleeved outside the first rotating wheel 131 and the second rotating wheel 132;
of course, as would be apparent to one skilled in the art based on the above description, in other embodiments, the first moving unit 130 may also be disposed in the middle of the box 111; further, the first driving belt 133 may be a belt, a chain, or the like;
the first rail wheel unit 140 is disposed on the supporting unit 110 to realize the movement of the moving device 100 on a rail laid in the detection rail under the supporting action of the supporting unit 110, the first rail wheel unit 140 is connected with the driving unit 120 to rotate under the driving of the driving unit 120, the first rail wheel unit 140 includes a first rail wheel 141 and a second rail wheel 142, and the second rail wheel 142 and the first rail wheel 141 are disposed at an interval in the direction along the inspection rail to ensure a better supporting effect when being in contact with the detection rail together;
specifically, as shown in fig. 1 and 2, the first track wheel 141 is coaxial with the first rotation wheel 131, the first track wheel 141 is located outside the first rotation wheel 131, that is, the first track wheel 141 is located in a direction in which the first rotation wheel 131 is far from the first suspension 112, the first track wheel 141 is fixedly connected to the first rotation wheel 131 so as to rotate synchronously with the first rotation wheel 131, that is, the first track wheel 141 is indirectly connected to the motor 121 and the transmission unit 122 through the first rotation wheel 131, so that the first track wheel 141 and the first rotation wheel 131 can be driven simultaneously without providing a plurality of motors 121 and transmission units 122, thereby simplifying the structure and reducing the cost, and further, the coaxial and fixed connection of the first track wheel 141 and the first rotation wheel 131 enables the moving device 100 to move from the stairs or the slopes to the tracks (linear tracks) laid in the detection tracks more efficiently, realize the mobile device 100 and go in overhauing the track, in a similar way, set up second rail wheel 142 and second and rotate the wheel 132 coaxial, second rail wheel 142 and second and rotate wheel 132 fixed connection, concrete implementation, please refer to the above-mentioned explanation to first rail wheel 141 with ease, the utility model discloses do not do the repeated description here;
the second rail wheel unit is arranged on the supporting unit 110, so that under the supporting action of the supporting unit 110, the second rail wheel unit and the first rail wheel unit 140 jointly realize the movement of the mobile device 100 on the detection track, the second rail wheel unit and the first rail wheel unit 140 are arranged at intervals to respectively correspond to two different laying tracks of the detection track, the second rail wheel unit 140 is connected with the driving unit 120 to move under the driving of the driving unit 120, the second rail wheel unit comprises a third rail wheel and a fourth rail wheel, the third rail wheel is coaxial with the first rail wheel 141, so that the mobile device 100 is prevented from falling down in the process of climbing a slope or a stair, the mobile device 100 is ensured to smoothly climb the slope or the stair, and similarly, the fourth rail wheel is coaxial with the second rail wheel 142;
with continued reference to fig. 1 and 2, in order to improve the obstacle crossing stability of the moving device 100 and better achieve the rail crossing operation, the moving device 100 further includes a second moving unit 150, the second moving unit 150 is disposed on the supporting unit 110 to achieve the movement of the moving device 100 together with the first moving unit 130 under the supporting action of the supporting unit 110, and further to cross the stairs or slopes of the service track, the second moving unit 150 is disposed at a distance from the first moving unit 130 in the direction along the axis of the first rotating wheel 131, wherein the direction along the axis of the first rotating wheel 131 refers to the direction including the direction along the axis of the first rotating wheel 131 and the direction parallel to the axis of the first rotating wheel 131, the position of the first moving unit 130 corresponds to the position of the first rail wheel unit 150, that is, the first moving unit 130 and the first rail wheel unit 150 are located at the same position of the supporting unit 110, the position of the second moving unit 150 corresponds to the position of the second track unit 150, that is, the second moving unit 150 and the second track unit 150 are located at the same position of the supporting unit 110, the second moving unit 150 includes a third rotating wheel, a fourth rotating wheel and a second transmission belt 151, the fourth rotating wheel and the third rotating wheel are arranged at intervals in the direction along the maintenance track, and the second transmission belt 151 is sleeved outside the third rotating wheel and the fourth rotating wheel to rotate synchronously with the third rotating wheel and the fourth rotating wheel;
specifically, as shown in fig. 1 and 2, the second moving unit 150 and the first moving unit 130 are preferably symmetrically disposed on both sides of the supporting unit 110, the second moving unit 150 is disposed on the second suspension, that is, the second moving unit 150 is directly connected to the second suspension to be directly supported by the second suspension, the third rotating wheel is disposed on a side portion of the second suspension, the third rotating wheel is rotatably connected to the second suspension through a shaft hole fitting or the like, the third rotating wheel is connected to a power output end portion of the motor 121, that is, the third rotating wheel serves as a driving wheel which is driven by the motor 121 to rotate, the fourth rotating wheel and the third rotating wheel are respectively disposed on both ends of the second suspension in a direction along the detection track, the fourth rotating wheel and the third rotating wheel are coplanar, that is, the fourth rotating wheel and the third rotating wheel have the same structure, are parallel to each other, are at the same height, and are disposed side by side, the fourth rotating wheel is rotatably connected with the second suspension through shaft hole matching and the like, the second driving belt 151 is preferably a crawler belt, so that when the mobile device 100 is separated from the detection track, a track is laid and is in contact with a slope or a stair, the mobile device can have better ground gripping capacity, the running stability of the mobile device on the ground is further improved, and the crawler belt is sleeved outside the third rotating wheel and the fourth rotating wheel;
as further shown in fig. 1 and 2, the third rotating wheel is coaxial with the third track wheel, the third track wheel is located outside the third rotating wheel, i.e. the third track wheel is located in a direction away from the second suspension, the third track wheel is fixedly connected with the third rotating wheel to rotate synchronously with the third rotating wheel, i.e. the third track wheel is indirectly connected with the motor 121 and the transmission unit 122 through the third rotating wheel, so that the third track wheel and the third rotating wheel can be driven simultaneously without the provision of the plurality of motors 121 and the transmission units 122, thereby simplifying the structure and reducing the cost, and simultaneously, the third track wheel is coaxially and fixedly connected with the third rotating wheel, so that the moving device 100 can more efficiently move from the stairs or slopes to the track (linear track) laid in the detection track, thereby realizing the running of the moving device 100 on the track laid in the maintenance track, in a similar way, it is coaxial with the fourth rotation wheel to set up the fourth rail wheel, and fourth rail wheel and fourth rotation wheel fixed connection, and concrete implementation mode refers to the above-mentioned explanation to the third rail wheel, the utility model discloses do not describe here any more.
Based on the above, the utility model discloses following technological effect or advantage have at least:
referring to fig. 1, 2, and 4 to 8, the present invention realizes the switching between the belt-driven walking mode (e.g. crawler-type walking mode) and the rail-type walking mode by providing the first moving unit 130, the first rail unit 140, and the second rail unit 150, i.e. when the inspection robot detects the vehicle bottom, the rail-type walking mode is adopted, so as to ensure the stability and the position accuracy of the movement of the inspection robot, when the inspection robot needs to cross the stairs or slopes of the inspection track, the contact area with the stairs or slopes is increased by the belt-driven walking mode, so that the inspection robot can cross the stairs or slopes of the inspection track, thereby realizing the obstacle crossing performance of the inspection robot, solving the technical problem how to cross the stairs or slopes of the inspection track while ensuring the stability and the position accuracy of the movement when the inspection robot detects the vehicle bottom, and then be favorable to realizing the cross rail operation of maintenance robot, reduced the input cost.
In order to further improve the obstacle crossing stability of the mobile device 100 and the ability of crossing a stair or a slope of an overhaul track, with reference to fig. 1 and fig. 2, the first mobile unit 130 further includes a plurality of first bearing wheels 134, the first bearing wheels 134 are rotatably connected with the support unit 110, the first bearing wheels 143 are sleeved inside the first transmission belt 133, and the plurality of first bearing wheels 134 are arranged side by side and at intervals along the overhaul track direction, so that when the overhaul robot crosses the obstacle, the first transmission belt 133 can be well supported, the ground holding ability of the first transmission belt 133 is stronger, meanwhile, the first transmission belt 133 is ensured to have a larger contact area with the ground, and the obstacle crossing stability of the mobile device 100 is further improved; preferably, as shown in fig. 1 and 2, the first bearing wheels 134 and the first rotating wheels 131 are spaced apart from each other in the vertical direction, and the first transmission belt 133 is trapezoidal, so that when the maintenance robot crosses an obstacle, an inclined surface of the first transmission belt 133 contacts a slope or a stair first to provide a stable guiding function for the obstacle crossing movement of the maintenance robot, thereby better ensuring the contact and relative movement between the maintenance robot and the slope or the stair, further improving the obstacle crossing stability of the moving device 100, and the capability of crossing the stair or the slope of the maintenance track, further improving the obstacle crossing success rate of the maintenance robot, and further, the first transmission belt is isosceles trapezoid, thereby improving the obstacle crossing capability of the maintenance robot in two directions.
In order to further improve the obstacle crossing stability of the moving device 100 and the ability to cross a stair or a slope of an access track, with reference to fig. 1 and 2, the first moving unit 130 further includes a first idler pulley 135, the first idler pulley 135 is rotatably connected to the supporting unit 110, the first idler pulley 135 is sleeved inside the first driving belt 133, the first idler pulley 135 is located between the first rotating wheel 131 and the second rotating wheel 132, the first idler pulleys 135 are plural, a plurality of first carrier rollers 135 are arranged side by side in a direction along the service track, whereby the tension of the first driving belt 133 can be improved, thereby better ensuring the contact and relative movement of the maintenance robot and the slope or the stair when the maintenance robot gets over the obstacle, and then improved the stability that mobile device 100 hinders more to and cross the ability of overhauing the stair or the slope of track, and then more improved the success rate that overhauls the robot and hinders more.
Similarly, in this embodiment, when the second moving unit 150 is disposed, corresponding to the first moving unit 130, the second moving unit 150 includes a second bearing wheel and a second supporting wheel to improve the stability of the obstacle crossing of the moving device 100 and the ability of crossing the stairs or slopes of the maintenance track, and in a specific implementation manner, the above description of the first moving unit 130 is referred to for the trouble, which is not repeated herein.
With continuing reference to fig. 1 and 2, the maintenance robot of the present invention further includes a multi-degree-of-freedom mechanical arm 200, a first information collecting device 300 and a second information collecting device 400, the multi-degree-of-freedom mechanical arm is located above the supporting unit 110, the multi-degree-of-freedom mechanical arm is connected to the supporting unit to move synchronously with the moving device 100, the first information collecting device 300 is fixedly connected to the multi-degree-of-freedom mechanical arm 200 to move synchronously under the driving of the multi-degree-of-freedom mechanical arm 200 to collect information of each part of the vehicle bottom, the second information collecting device 400 is fixedly connected to the supporting unit 110 to move synchronously with the moving device 100 and detect each part of the vehicle bottom together with the first information collecting device 300, the second information collecting device 400, the first information collecting device 300 and the multi-degree-of-freedom mechanical arm 200 are all communicatively connected to the controller 123 (including wired connection and wireless, when the maintenance robot moves in a rail-type traveling manner, the second information acquisition device 400, the first information acquisition device 300 and the multi-degree-of-freedom mechanical arm 200 have a working environment with small vibration, so that the maintenance robot can have higher motion position accuracy and information acquisition accuracy; specifically, as shown in fig. 1 and 2, the multi-degree-of-freedom mechanical arm 200 is preferably a seven-degree-of-freedom mechanical arm, so that the multi-degree-of-freedom mechanical arm can drive the first information acquisition device 300 to detect the vehicle bottom and the vehicle side, the first information acquisition device 300 is preferably a camera module to acquire image information of each part of the vehicle bottom and the vehicle side, so that an inspection surface is increased, the use efficiency of the maintenance robot is improved, the second information acquisition device 400 is preferably a line scan camera module to acquire image information of each part of the vehicle bottom, the maintenance robot further comprises a position adjustment device 500, the position adjustment device 500 is fixedly connected between the moving device 100 and the multi-degree-of-freedom mechanical arm 200 to adjust the position of the multi-degree-of freedom mechanical arm 200 on the moving device 100, the position adjustment device 500 comprises a horizontal adjustment assembly 510:
the horizontal adjusting component 510 is used for adjusting the position of the multi-degree-of-freedom mechanical arm 200 on the mobile device 100 along the direction parallel to the horizontal plane, the horizontal adjusting component 510 includes a linear module 511, the linear module 511 is parallel to the horizontal plane, the linear module 511 is fixedly connected with the supporting unit 110, more specifically, the linear module 511 is fixedly connected with the box body 111, and for the specific structure of the linear module 511, the structure is the common technical knowledge of the technicians in the field, so the utility model is not described herein;
the vertical adjustment assembly 520 is used for adjusting the position of the multi-degree-of-freedom mechanical arm 200 on the moving device 100 along the vertical direction, the vertical adjustment assembly 520 is located above the linear module 511, the vertical adjustment assembly 520 includes an electric push rod 521, the electric push rod 521 is disposed along the vertical direction, and for the specific structure of the electric push rod 521, it is a common technical knowledge of those skilled in the art, so the present invention is not described herein any more, the electric push rod 521 is fixedly connected with the linear module 511 so as to reciprocate along a linear direction on the horizontal plane under the motion of the linear module 511, the electric push rod 521 is located below the multi-degree-of-freedom mechanical arm 200, the electric push rod 521 is fixedly connected with the multi-degree-of-freedom mechanical arm 200 so as to drive the multi-degree-of freedom mechanical arm 200 to perform a lifting motion, and more specifically, as shown in fig. 3, the first protection shell 525 and the second protection shell 526, the flange plate 522 is fixedly connected with a fixed portion (i.e. a cylinder) of the electric push rod 521, the sliding blocks 523 are fixedly connected with the flange plate 522, two sliding blocks 523 are provided, the two sliding blocks 523 are respectively connected with two ends of the flange plate 522, the guide rail 524 is arranged along the vertical direction, two guide rails 524 are also arranged corresponding to the sliding blocks 523, the two guide rails 524 are in one-to-one correspondence with the two sliding blocks 523, the guide rails 524 are in fit connection with the corresponding sliding blocks 523 and reciprocate along the vertical direction relative to the sliding blocks 523, the guide rails 524 can be lead screws or sliding guide rails, the guide rails 524 are connected with the multi-degree-of-freedom mechanical arm 200 to drive the multi-degree-of freedom mechanical arm 200 to synchronously move, the first protection shell 525 and the second protection shell 526 are both sleeved outside the electric push rod 521, the sliding blocks 523 and the guide rails 524 to protect the electric push rod 521, cup joint between first protective housing 525 and the second protective housing 526 to the realization is flexible, first protective housing 525 and sharp module 511 fixed connection, second protective housing 526 and flange plate 522 fixed connection.
For a more clear explanation of the present invention, the following description will be made of the obstacle crossing process of the inspection robot according to the present invention, taking the embodiment shown in fig. 4 to 8 as an example:
when the maintenance robot runs along the laid track in the maintenance track, the multi-degree-of-freedom mechanical arm 200, the first information acquisition device 300 and the second information acquisition device 400 start to work to detect all parts of the bottom and the side of the vehicle;
after the maintenance robot completes maintenance tasks in one rail, when the maintenance robot needs to climb over a slope or a stair of the maintenance rail, the maintenance robot runs to the bottom end of the slope or the stair and starts to switch from a rail type motion mode to a crawler type motion mode, the maintenance robot slowly climbs over the slope or the stair, the maintenance robot climbs over the upper plane of the maintenance rail by means of the excellent obstacle crossing performance of the crawler type motion mode, and climbing over of the slope or the stair is completed.
After that, the maintenance robot travels to the upper plane of the next maintenance track in a crawler-type motion mode, then gradually travels to the bottom end of a slope or a stair, and then is switched to the track-type motion mode to inspect the next rail vehicle, so that the track crossing function of the maintenance robot is realized.
Claims (10)
1. The utility model provides a rail vehicle bottom overhauls uses mobile device for move on overhauing the track, its characterized in that, mobile device includes:
a support unit;
a driving unit disposed on the supporting unit;
a first moving unit disposed on the supporting unit, the first moving unit being connected with the driving unit, the first moving unit including:
a first rotating wheel;
the second rotating wheel is arranged at an interval with the first rotating wheel along the direction of the maintenance track;
the first transmission belt is sleeved outside the first rotating wheel and the second rotating wheel;
a first rail wheel unit disposed on the supporting unit, the first rail wheel unit being connected with the driving unit, the first rail wheel unit including:
a first rail wheel; and
the second track wheel is arranged at intervals with the first track wheel along the direction of the maintenance track;
a second rail wheel unit disposed on the supporting unit, the second rail wheel unit being disposed at an interval with the first rail wheel unit, the second rail wheel unit being connected with the driving unit, the second rail wheel unit including:
a third rail wheel coaxial with the first rail wheel;
a fourth rail wheel coaxial with the second rail wheel.
2. The moving device for overhauling the bottom of the railway vehicle as claimed in claim 1, wherein the moving device comprises:
a second moving unit provided on the supporting unit, the second moving unit being spaced apart from the first moving unit in an axial direction along the first rotating wheel, a position of the first moving unit corresponding to a position of the first rail wheel unit, a position of the second moving unit corresponding to a position of the second rail wheel unit, the second moving unit including:
a third rotating wheel;
the fourth rotating wheel and the third rotating wheel are arranged at intervals in the direction along the overhauling track;
and the second transmission belt is sleeved outside the third rotating wheel and the fourth rotating wheel.
3. The moving device for overhauling the bottom of the railway vehicle as claimed in claim 2, wherein the first rotating wheel is connected with the driving unit, is coaxial with the first track wheel, and is fixedly connected with the first track wheel;
the third rotating wheel is connected with the driving unit, the third rotating wheel is coaxial with the third track wheel, and the third rotating wheel is fixedly connected with the third track wheel.
4. The moving device for overhauling the bottom of the railway vehicle as claimed in claim 3, wherein the second rotating wheel is coaxial with the second rail wheel and is fixedly connected with the second rail wheel;
the fourth rotating wheel is coaxial with the fourth track wheel, and the fourth rotating wheel is fixedly connected with the fourth track wheel.
5. The mobile device for overhauling the bottom of the railway vehicle as claimed in claim 1, wherein the first mobile unit further comprises:
first bearing wheel, first bearing wheel with the supporting element rotates to be connected, first bearing wheel cup joint in the inside of first drive belt, first bearing wheel is a plurality of, and is in along the orientation of overhauing the track, and is a plurality of first bearing wheel is just interval setting side by side.
6. The moving device for overhauling the bottom of the railway vehicle as claimed in claim 5, wherein the first bearing wheels and the first rotating wheels are distributed at intervals in the vertical direction, and the first transmission belt is trapezoidal.
7. The moving device for overhauling the bottom of the railway vehicle as claimed in claim 6, wherein the first moving unit further comprises:
the first supporting belt wheel is rotatably connected with the supporting unit, the first supporting belt wheel is sleeved inside the first transmission belt, the first supporting belt wheel is located between the first rotating wheel and the second rotating wheel, the first supporting belt wheels are multiple, and the first supporting belt wheels are arranged side by side in the direction along the maintenance track.
8. An inspection robot, characterized in that the inspection robot comprises:
the moving device for the underbody overhaul of the railway vehicle as claimed in any one of claims 1 to 7;
the multi-freedom-degree mechanical arm is positioned above the supporting unit and connected with the supporting unit; and
and the first information acquisition device is fixedly connected with the multi-degree-of-freedom mechanical arm.
9. The service robot of claim 8, further comprising:
and the second information acquisition device is fixedly connected with the supporting unit.
10. The service robot of claim 8, further comprising:
the position adjusting device is fixedly connected between the moving device and the multi-degree-of-freedom mechanical arm and comprises:
a level adjustment assembly, the level adjustment assembly comprising:
the linear module is parallel to the horizontal plane and is fixedly connected with the supporting unit;
a vertical adjustment assembly located above the linear module, the vertical adjustment assembly comprising:
the electric push rod is arranged along the vertical direction and fixedly connected with the linear module, the electric push rod is located below the multi-freedom mechanical arm, and the electric push rod is fixedly connected with the multi-freedom mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920718242.2U CN209850906U (en) | 2019-05-17 | 2019-05-17 | Moving device for railway vehicle bottom maintenance and maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920718242.2U CN209850906U (en) | 2019-05-17 | 2019-05-17 | Moving device for railway vehicle bottom maintenance and maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209850906U true CN209850906U (en) | 2019-12-27 |
Family
ID=68941537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920718242.2U Withdrawn - After Issue CN209850906U (en) | 2019-05-17 | 2019-05-17 | Moving device for railway vehicle bottom maintenance and maintenance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209850906U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091308A (en) * | 2019-05-17 | 2019-08-06 | 中车青岛四方车辆研究所有限公司 | The maintenance of rail vehicle bottom mobile device and robot for overhauling |
-
2019
- 2019-05-17 CN CN201920718242.2U patent/CN209850906U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091308A (en) * | 2019-05-17 | 2019-08-06 | 中车青岛四方车辆研究所有限公司 | The maintenance of rail vehicle bottom mobile device and robot for overhauling |
| CN110091308B (en) * | 2019-05-17 | 2023-12-19 | 中车青岛四方车辆研究所有限公司 | Mobile device for overhauling bottom of railway vehicle and overhauling robot |
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