CN210879690U - Intelligent maintenance robot suitable for subway vehicle train inspection - Google Patents
Intelligent maintenance robot suitable for subway vehicle train inspection Download PDFInfo
- Publication number
- CN210879690U CN210879690U CN201921917921.9U CN201921917921U CN210879690U CN 210879690 U CN210879690 U CN 210879690U CN 201921917921 U CN201921917921 U CN 201921917921U CN 210879690 U CN210879690 U CN 210879690U
- Authority
- CN
- China
- Prior art keywords
- instrument
- robot suitable
- maintenance robot
- maintenance
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an intelligence maintenance robot suitable for railcar train is examined, walk the capable mechanism of freely walking in overhauing the trench including being provided with the arm, the arm on be connected with the visual locator that the instrument snatched the mechanism and was used for fixing a position the target object, walk and still be provided with the saddlebag that is used for depositing the instrument on the mechanism, the arm drives visual locator and instrument snatchs the mechanism and removes between saddlebag position and operating position, the instrument snatchs the mechanism and removes operating position behind the saddlebag position snatchs the instrument and carry out the maintenance operation. Intelligent maintenance robot suitable for railcar train is examined replaces the mode of traditional artifical maintenance, effectively reduces intensity of labour, improves maintenance operating efficiency and reliability, degree of automation is high, the uniformity of guarantee maintenance effect, the carrying tool kind is many, can carry out polytype maintenance operation.
Description
Technical Field
The utility model relates to a track traffic overhauls technical field, especially relates to an intelligent maintenance robot suitable for railcar is listed as and is examined.
Background
Subway vehicles are important components in urban rail transit, run on rails and are responsible for carrying guests. The subway vehicle has a complex structure, and in order to ensure the daily safe operation of the subway vehicle, the subway vehicle needs to return to a special overhaul warehouse for overhaul after carrying tasks are executed every day. The inspection is divided into inspection, i.e., whether a component is faulty is judged by means of visual inspection, tool measurement, and the like, and maintenance, i.e., repair work is performed by means of replacement, marking, fastening, and the like. At present, the maintenance operation usually adopts a manual operation mode, including marking, replacing, locking and correcting, and the like, the labor intensity is high, the efficiency is low, the consistency of the maintenance effect is difficult to ensure, and the reliability is low.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve and the technical task who provides improve prior art, provide an intelligent maintenance robot suitable for railcar train is examined, solve among the prior art subway vehicle's maintenance work and adopt manual operation's mode, intensity of labour is high, and is inefficient, is difficult to the problem of guarantee maintenance effect uniformity.
For solving the above technical problem, the technical scheme of the utility model is that:
the utility model provides an intelligence maintenance robot suitable for railcar is listed as and is examined, including the walking mechanism who freely walks in overhauing the trench that is provided with the arm, the arm on be connected with the visual locator that the instrument snatched the mechanism and be used for fixing a position the target object, walk and still be provided with the saddlebag that is used for depositing the instrument on the mechanism, the arm drives visual locator and instrument and snatchs the mechanism and remove between saddlebag position and operating position, the instrument snatchs the mechanism and removes the operating position behind the saddlebag position snatchs the instrument and carry out the maintenance operation. The intelligent maintenance robot suitable for the train inspection of the metro vehicles utilizes the mechanical arm to drive the tool grabbing mechanism to move to the position of the tool bag for grabbing the required tools, the mechanical arm drives the tool grabbing mechanism to move to the working position for maintenance operation, including drawing anti-loosening lines, fastening screws, replacing parts, removing foreign matters, wiping parts and the like, after the maintenance is completed, the mechanical arm drives the tool grabbing mechanism to return to the position of the tool bag for putting the tools back into the tool bag, the tool grabbing mechanism grabs other tools for other maintenance operations, the visual positioner utilizes images to position when the tool grabbing mechanism takes and puts the tools and carries out the maintenance operations, the accuracy and the consistency of the taking and putting tools are ensured, the accuracy and the consistency of the maintenance operations are improved simultaneously, the traditional manual maintenance mode is replaced, the labor intensity is reduced, and the maintenance operation efficiency is effectively improved, the automation degree is high.
Furthermore, the tool grabbing mechanism is one of a clamping jaw, an electric sucker and an air sucker, and is simple in structure, convenient to use and capable of reliably achieving the picking and placing of the tool.
Furthermore, the vision positioner comprises a camera and a light source, the light source is an annular light source coaxial with the camera, image recognition and positioning are adopted, the light source provides good illumination, the definition of the camera during image acquisition is guaranteed, the positioning precision is higher, and the flexibility and the applicability are good.
Furthermore, the tools in the tool bag are stored in a vertical in-and-out mode, so that the tools can be conveniently taken and placed by the mechanical arm.
Furthermore, the tool is provided with an identification code, and the visual locator can read the identification code, so that the accuracy of taking and placing the tool is ensured, and the tool or the vehicle is prevented from being damaged due to the fact that the wrong tool is taken out for maintenance operation.
Furthermore, the mechanical arms are provided with a plurality of mechanical arms, the tool grabbing mechanisms on different mechanical arms grab different tools to perform collaborative operation, and the maintenance operation efficiency and reliability are improved.
Furthermore, the walking mechanism adopts differential wheels, thereby being convenient for turning and reversing and having good moving flexibility.
Furthermore, the walking mechanism is provided with an SLAM navigation module, and the SLAM navigation module is used for executing path planning, autonomous exploration, navigation and the like, so that the walking mechanism can flexibly and accurately move in a trench and automatically avoid collision.
Furthermore, the visual positioner is composed of a camera and a light source, and the light source is an annular light source coaxial with the camera, so that the visual positioner is compact in structure and accurate in positioning.
Compared with the prior art, the utility model discloses the advantage lies in:
intelligent maintenance robot suitable for railcar train is examined replaces the mode of traditional artifical maintenance, effectively reduces intensity of labour, improves maintenance work efficiency and reliability, degree of automation is high, the uniformity of guarantee maintenance effect, the carrying tool kind is many, can carry out polytype maintenance operation, can be with maintaining the content record, the later stage of being convenient for derives the analysis.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent maintenance robot suitable for train inspection of metro vehicles when a mechanical arm is in a furled state;
fig. 2 is a schematic structural diagram of the whole intelligent maintenance robot with the mechanical arm in the unfolding state, wherein the intelligent maintenance robot is suitable for metro train inspection.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses an intelligent maintenance robot suitable for railcar is listed as and is examined replaces manual operation's mode, effectively reduces intensity of labour, improves and overhauls the operating efficiency, and maintenance effect uniformity is good, and the reliability is high.
As shown in fig. 1 and 2, an intelligent maintenance robot suitable for metro train inspection comprises a traveling mechanism 1 which freely travels in an inspection trench and accurately moves to a designated place, a typical traveling component such as an AGV, the traveling mechanism 1 adopts differential wheels, the traveling mechanism has good mobility, a mechanical arm 2 is arranged on the traveling mechanism 1, the mechanical arm 2 can adopt a six-degree-of-freedom cooperative mechanical arm, a tool pack 5 for storing various types of tools is also arranged on the traveling mechanism 1, a tool grabbing mechanism 3 and a visual positioner 4 for positioning a target (the target comprises various types of tools in the tool pack and inspection components at a working position) are connected on the mechanical arm 2, the mechanical arm 2 drives the tool grabbing mechanism 3 and the visual positioner 4 to move in a three-dimensional space, the tool grabbing mechanism 3 is driven to the position of the tool pack 5 by the mechanical arm 2 and then is driven to the working position for maintenance operation, the operation height of the tool grabbing mechanism 3 driven by the mechanical arm 2 is not lower than 2.2 meters, the visual positioner 4 comprises a camera and a light source, the light source is an annular light source coaxial with the camera, the resolution of the camera is not lower than 200 ten thousand pixels, image recognition positioning is adopted, the moving position of the mechanical arm 2 is fed back by the visual positioner 4, the mechanical arm 2 is ensured to drive the tool grabbing mechanism 3 to accurately move in place, the tool grabbing mechanism 3 is enabled to accurately grab a required tool, the situation that a wrong tool is used for maintenance operation is avoided, meanwhile, the maintenance position is accurately positioned, the accuracy when a correct tool is used for maintenance is guaranteed, and the reliability and the consistency of maintenance are guaranteed.
The tool grabbing mechanism 3 can be one of a clamping jaw, an electric sucker and an air sucker, is convenient to use and low in cost, and can conveniently realize the taking and placing of tools; tools in the tool bag 5 are stored in a vertical in-and-out mode, so that the mechanical arm 2 drives the tool grabbing mechanism 3 to pick and place the tools, the tool bag 5 is suspended on the traveling mechanism 1, or the tool bag 5 is embedded in the traveling mechanism 1, and the tools are distributed in the tool bag 5 according to a matrix; tools stored in the tool bag 5 comprise a marking pen, a screwdriver, a nozzle, a socket wrench and a hairbrush, maintenance operations such as drawing anti-loosening wires, fastening screws, replacing parts, removing foreign matters and wiping parts can be performed, various types of maintenance operations can be realized, the labor intensity is effectively reduced, and the maintenance operation efficiency and reliability are improved; the tool is provided with an identification code, so that the accuracy of taking and placing the tool is ensured, the wrong tool is prevented from being taken out for maintenance, the tail end of the tool and the tool grabbing mechanism 3 are designed in a matched mode, and matched suction areas, magnetic conductive materials and the like can be adopted.
The walking mechanism 1 is provided with the SLAM navigation module 6, and the SLAM navigation module 6 is used for executing path planning, autonomous exploration, navigation and the like, so that the walking mechanism can flexibly and accurately move in a trench, and can automatically avoid obstacles. To ensure that the running gear 1 can freely shuttle in different trenches, the length, width and height of the running gear 1 are less than 1000 x 800 x 900 mm.
The structure of the double mechanical arms 2 can be further set, the tool grabbing mechanisms 3 on the different mechanical arms 2 grab different tools to perform cooperative operation, and the efficiency and the reliability of maintenance operation are improved.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the spirit and scope of the invention, and such modifications and enhancements are intended to be within the scope of the invention.
Claims (9)
1. The utility model provides an intelligence maintenance robot suitable for railcar is listed as and is examined, its characterized in that, including walking mechanism (1) of freely walking in overhauing the trench that is provided with arm (2), arm (2) on be connected with the visual locator (4) that the instrument snatchs mechanism (3) and is used for the location target object, walk and still be provided with saddlebag (5) that are used for depositing the instrument on mechanism (1), arm (2) drive visual locator (4) and instrument snatch mechanism (3) and remove between saddlebag (5) position and operating position, the instrument snatchs mechanism (3) and removes operating position behind saddlebag (5) position snatching the instrument and carries out maintenance operation.
2. The intelligent maintenance robot suitable for the train inspection of the metro vehicles according to claim 1, wherein the tool grabbing mechanism (3) is one or more of a combination of a claw, an electric suction cup and an air suction cup.
3. An intelligent maintenance robot suitable for the train inspection of the metro vehicles according to claim 1, wherein the visual positioner (4) comprises a camera and a light source, and the light source is an annular light source coaxial with the camera.
4. An intelligent maintenance robot suitable for the train inspection of the metro vehicles according to claim 1, wherein the tools in the tool kit (5) are stored in a vertical access manner.
5. An intelligent maintenance robot suitable for a subway vehicle train inspection as claimed in claim 1, wherein said tool is provided with an identification code.
6. An intelligent maintenance robot suitable for a train inspection of metro vehicles according to any one of claims 1 to 5, wherein a plurality of mechanical arms (2) are provided, and the tool grabbing mechanisms (3) on different mechanical arms (2) grab different tools for cooperative work.
7. An intelligent maintenance robot suitable for train inspection of metro vehicles according to any one of claims 1 to 5, wherein said running gear (1) adopts differential wheels.
8. The intelligent maintenance robot suitable for the train inspection of the metro vehicles according to any one of claims 1 to 5, wherein a SLAM navigation module is arranged on the running mechanism (1).
9. An intelligent maintenance robot suitable for train inspection of metro vehicles according to any one of claims 1 to 5, wherein said visual positioner (4) is composed of a camera and a light source, and the light source is a ring light source coaxial with the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921917921.9U CN210879690U (en) | 2019-11-07 | 2019-11-07 | Intelligent maintenance robot suitable for subway vehicle train inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921917921.9U CN210879690U (en) | 2019-11-07 | 2019-11-07 | Intelligent maintenance robot suitable for subway vehicle train inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210879690U true CN210879690U (en) | 2020-06-30 |
Family
ID=71330891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921917921.9U Active CN210879690U (en) | 2019-11-07 | 2019-11-07 | Intelligent maintenance robot suitable for subway vehicle train inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210879690U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775155A (en) * | 2020-07-22 | 2020-10-16 | 河南工业职业技术学院 | Digit control machine tool maintenance intelligent robot |
| CN113633384A (en) * | 2021-08-02 | 2021-11-12 | 北京邮电大学 | Autonomous medical robot systematization method capable of executing various operations |
| CN114714765A (en) * | 2022-03-16 | 2022-07-08 | 苏州迈为科技股份有限公司 | Maintenance equipment applied to intelligent screen printing line |
| CN115091429A (en) * | 2022-08-25 | 2022-09-23 | 中冶节能环保有限责任公司 | Overhauling robot of bag type dust collector and control method thereof |
-
2019
- 2019-11-07 CN CN201921917921.9U patent/CN210879690U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775155A (en) * | 2020-07-22 | 2020-10-16 | 河南工业职业技术学院 | Digit control machine tool maintenance intelligent robot |
| CN113633384A (en) * | 2021-08-02 | 2021-11-12 | 北京邮电大学 | Autonomous medical robot systematization method capable of executing various operations |
| CN114714765A (en) * | 2022-03-16 | 2022-07-08 | 苏州迈为科技股份有限公司 | Maintenance equipment applied to intelligent screen printing line |
| CN114714765B (en) * | 2022-03-16 | 2024-03-19 | 苏州迈为科技股份有限公司 | Maintenance equipment applied to intelligent screen printing line |
| CN115091429A (en) * | 2022-08-25 | 2022-09-23 | 中冶节能环保有限责任公司 | Overhauling robot of bag type dust collector and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210879690U (en) | Intelligent maintenance robot suitable for subway vehicle train inspection | |
| Feng et al. | Design and test of tomatoes harvesting robot | |
| CN105863351A (en) | Autonomous parking system and method based on intelligent automobile transporters | |
| CN107421518A (en) | A kind of trackless navigation AGV passes in and out lorry method automatically | |
| CN205857862U (en) | A kind of autonomous parking system based on intelligent automobile carrying implement | |
| CN109532522A (en) | A kind of unmanned charging system of automobile based on 3D vision technique and its application method | |
| CN108772304A (en) | A kind of three-dimensional sorting system and its operating method based on intelligent shuttle | |
| CN105857341B (en) | A kind of intelligent railway rail polling robot | |
| CN209657151U (en) | A kind of intelligent track crusing robot | |
| CN109969178A (en) | Based on the autonomous handling device of the more materials of multielement bar and method | |
| CN110667726A (en) | Four-foot walking inspection robot applied to subway train inspection warehouse | |
| CN109268618A (en) | Inner condition of pipeline detects robot | |
| CN115406676A (en) | Bogie detection system and method | |
| CN114581437A (en) | Visual inspection system for visual track guided by visual identification | |
| CN109571470A (en) | A kind of robot | |
| CN104973024A (en) | Electric automobile battery replacement system based on vision positioning method | |
| CN109352571A (en) | A kind of Intelligent spanner based on speech recognition is more changed trains | |
| CN208449603U (en) | A kind of cleaning table automatic detecting executive device based on manipulator | |
| CN112045690B (en) | Intelligent inspection robot for rail transit | |
| CN116257081A (en) | Unmanned aerial vehicle and ground unmanned aerial vehicle cooperation emasculation operation system | |
| CN110696016A (en) | Intelligent robot suitable for subway vehicle train inspection work | |
| CN110431999A (en) | A kind of planer-type fruit automatic harvester device people | |
| CN111352412A (en) | Intelligent track inspection robot | |
| CN115589845A (en) | Intelligent cotton picking robot and cotton picking operation path planning method thereof | |
| CN116934665A (en) | RFID guided track visual inspection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210701 Address after: Building 5, 389 Wenjia Road, Qingyang District, Chengdu, Sichuan 610000 Patentee after: Chengdu Shengkai Technology Co., Ltd Address before: 6 Donghai Road, Qingyang Park, Jiaolong industrial port, Chengdu, Sichuan 610000 Patentee before: CHENGDU TIEAN SCIENCE & TECHNOLOGY Co.,Ltd. |