CN214516467U - Intelligent flexible manipulator device that railcar vehicle bottom sweeps - Google Patents
Intelligent flexible manipulator device that railcar vehicle bottom sweeps Download PDFInfo
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- CN214516467U CN214516467U CN202120411624.8U CN202120411624U CN214516467U CN 214516467 U CN214516467 U CN 214516467U CN 202120411624 U CN202120411624 U CN 202120411624U CN 214516467 U CN214516467 U CN 214516467U
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Abstract
The utility model discloses an intelligent flexible manipulator device that railcar vehicle bottom sweeps, its characterized in that: comprises a mechanical arm, a nozzle, an air supply pipe and an air suction pipe; the mechanical arm is a six-axis joint flexible mechanical arm and comprises a base, six sections of wall rods and flexible joints among the wall rods; the base is arranged on the top surface of the integrated box body, and the integrated box body is borne on the running part and runs in an overhaul trench of the subway vehicle; the arm rod at the tail end of the mechanical arm has six degrees of freedom in directions and is connected with the nozzle; the air supply pipe conveys sweeping gas, and the air suction pipe conveys dust gas. The utility model discloses a modified nozzle form can carry out the intellectuality according to coordinate location, dust concentration detection and video monitoring image and sweep, adopts wholly to sweep and sweep the differentiation that combines together with local focus and sweep to be equipped with anticollision protection device, can promote greatly and sweep the effect, improve the operating efficiency.
Description
Technical Field
The utility model belongs to the technical field of urban rail transit vehicle maintains the maintenance, concretely relates to intelligent flexible manipulator device that subway vehicle bottom sweeps.
Background
After the subway vehicle runs for a certain time, a certain amount of dust and dirt can be accumulated at the bottom of the subway vehicle, and if the subway vehicle is not cleaned in time, the running safety of the subway can be endangered even in serious conditions. The traditional mode of sweeping the operation to the train is manual work, and this mode is not only inefficient, and the dust is to diffusion all around when the operation moreover, and the noise is great, and is serious to environmental pollution, and the operation personnel must dress protective clothing and respirator, and intensity of labour is big.
Although related automatic purging equipment is available at present, the vehicle bottom is purged integrally and uniformly, while the purging degree of the parts with serious local pollution or the key parts and components at the vehicle bottom is insufficient, and the intelligent degree is low.
SUMMERY OF THE UTILITY MODEL
At least one in defect or improvement demand more than prior art, the utility model provides a subway vehicle bottom sweeps intelligent flexible manipulator device, and manipulator device terminal adopts the modified nozzle form, can carry out intellectuality according to coordinate location, dust concentration detection and video monitoring image and sweep, adopts wholly to sweep and sweep the differentiation that combines together with local focus to be equipped with anticollision protection device, can promote greatly and sweep the effect, improve the operating efficiency.
In order to realize the above purpose, according to the utility model discloses an aspect provides an intelligent flexible manipulator device that railcar vehicle bottom sweeps, its characterized in that: the manipulator device comprises a mechanical arm, a nozzle, an air supply pipe and an air suction pipe;
the mechanical arm is a six-axis joint flexible mechanical arm and comprises a base, six sections of wall rods and flexible joints among the wall rods;
the base is arranged on the top surface of the integrated box body, and the integrated box body is borne on the running part and runs in an overhaul trench of the subway vehicle;
the tail end arm rod of the mechanical arm has six degrees of freedom in directions and is connected with the nozzle;
the gas supply pipe is used for conveying sweeping gas, and two ends of the gas supply pipe are respectively connected with the gas outlet of the integrated box body and the nozzle; one end of the air suction pipe conveying belt dust gas is connected with the air inlet of the integrated box body, and the other end of the air suction pipe conveying belt dust gas penetrates through the arm rod at the tail end to form a dust suction opening arranged side by side with the nozzle.
At least part of the wall rods are internally provided with obstacle avoidance sensors which are used for detecting the tendency that the moving path of the arm rods collides with other objects including vehicle bottom equipment, sending out alarm signals in advance and stopping moving.
The nozzle comprises a double-head nozzle and a dust collecting funnel;
the dual-head nozzle comprises a switchable cluster nozzle and a duckbill nozzle;
the dust collecting funnel comprises a reducing opening and a flaring opening, the reducing opening is fixed on the arm rod at the tail end, the bottoms of the cluster type nozzle and the duckbilled type nozzle are positioned in the reducing opening, and the air suction pipe extends into the reducing opening to form the dust suction opening.
The nozzle also comprises a limit sensor which is arranged on the double-head nozzle and used for controlling the moving range of the nozzle and preventing the nozzle from colliding with vehicle bottom equipment.
The cluster nozzle and the duckbill nozzle are flexible material nozzles.
The nozzle further comprises a dust concentration sensor installed in the dust collection funnel for monitoring the dust concentration of the blown polluted air in real time.
The traveling part adopts an AGV trolley with a magnetic navigation path self-guidance function, adopts an electric driving mode, and obtains current by contacting with a sliding contact line fixedly arranged beside a rail upright post;
the AGV trolley is provided with an obstacle avoidance sensor and is used for stopping advancing when meeting people or obstacles in the advancing process and sending out acousto-optic alarm display.
The integrated box body internally comprises an air compressor and a dust absorption filter, and the top surface of the integrated box body is embedded with a camera for shooting and monitoring the bottom picture of the vehicle and transmits the bottom picture to a terminal display screen;
the air compressor delivers compressed air to the nozzle through the outlet port to provide a flow of purge air, and the purged dust laden air is drawn into the dust extraction filter through the inlet port for filtration.
The two cameras are respectively arranged at the front end and the rear end of the top surface of the integrated box body.
The air compressor adopts a screw air compressor unit, the interior of the air compressor is of a frame partition type structure, and the air compressor is made of a sound insulation material;
and/or the presence of a gas in the gas,
the dust absorption filter adopts integrated form multi-stage filtration device, is equipped with cylinder filter core and piece formula filter screen.
The above-described technical features may be combined with each other as long as they do not conflict with each other.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, has following beneficial effect:
1. the utility model discloses an intelligent flexible manipulator device that railcar vehicle bottom swept, manipulator device terminal adopt the modified nozzle form, can carry out the intellectuality according to coordinate location, dust concentration detection and video monitoring image and sweep, adopt wholly sweep and sweep the differentiation that combines together with local focus to sweep, and be equipped with anticollision protection device, can promote greatly and sweep the effect, improve the operating efficiency.
2. The utility model discloses an adopt intelligent control's manipulator, combine positioning system, realized sweeping subway vehicle bottom automation, differentiation, heavily sweep the serious position of pollution or key spare part, promoted the operating efficiency greatly and swept the effect, reduced operation personnel's intensity of labour.
3. The utility model discloses a flexible manipulator, flexible material nozzle and be equipped with spacing sensor, when sweeping the operation, the probability greatly reduced that vehicle bottom equipment was damaged by the manipulator collision for sweep operation safe and reliable more.
4. Blowing and dust collection are carried out synchronously, blown dust cannot diffuse to the periphery in a large range, sucked turbid air can be filtered and dedusted, and the emission is realized after the discharge reaches the standard, so that the environmental pollution is reduced.
Drawings
Fig. 1 is an overall effect diagram of the blowing operation platform of the present invention;
FIG. 2 is a schematic diagram of the integrated box assembly of the present invention;
fig. 3 is a schematic structural view of the robot arm of the present invention;
FIG. 4 is a schematic view of a nozzle structure at the end of a robot arm according to the present invention;
fig. 5 is a schematic view of the overall flow of the purging method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to the following embodiments.
As shown in fig. 1, the utility model provides an intelligent flexible manipulator device that subway vehicle bottom sweeps, this intelligent flexible manipulator device mainly comprises arm 3, nozzle 4 to constitute jointly together with walking portion 1, integrated form box 2 and sweep the operation platform and sweep equipment promptly.
The magnetic guided AGV trolley can be used for positioning and navigating automatically, the running space of the magnetic guided AGV trolley is in a maintenance trench of a subway vehicle, and a sliding contact line is fixedly installed on the side face of the trench and used for providing a power supply for the running part 1 and the purging equipment. The movement and stoppage of the running gear 1 are controlled by the control system, and the movement of the running gear 1 is controlled in accordance with a predetermined trajectory or with manual intervention. The walking part 1 is provided with an obstacle avoidance sensor, and can automatically stop moving forwards when meeting people or obstacles in the process of moving, and sends out acousto-optic alarm display.
The integrated box 2 is fixed on the loading platform of the running gear 1, and as shown in fig. 2, the box is internally composed of an air compressor 201, a dust absorption filter 202, a control system 203 and a camera 204 mounted in an embedded manner.
Preferably, the air compressor 201 adopts a screw air compressor unit, a frame partition type structural design, a novel high-quality sound insulation material is applied, a high-reliability pressure sensor is equipped, and high-pressure gas generated by the pressure sensor is conveyed to the purging device through the air outlet 205.
Preferably, the dust absorption filter 202 is an integrated multi-stage filter device, which is provided with a cylinder type filter element and a sheet type filter screen and is easy to replace, a pressure difference sensor is arranged in the dust hopper, and the pressure difference sensor is used for sucking the blown dirty and turbid air through the air inlet 206, performing filtration treatment in the dust hopper, and discharging the air to the outside after reaching the standard.
Preferably, the control system 203 is composed of an electric control system and a central control system, wherein the electric control system controls the current distribution of each sub-component of the device; the central control system is responsible for positioning guidance and track control of the equipment, is in wireless connection with the terminal and is controlled by the command of the terminal.
Preferably, the two cameras 204 are respectively installed at two ends of the integrated box body 2, and are used for shooting and monitoring images at the bottom of the vehicle and transmitting the images to a terminal display screen, so that a worker can know the purging condition according to the images, and can perform supplementary purging on the part which is not cleaned up by issuing an instruction.
The mechanical arm 3 adopts a flexible design, as shown in fig. 3, a base 301 of the mechanical arm is fixedly installed on the upper plane of the integrated box body 2, a six-axis flexible joint 302 and a light arm rod 303 are adopted, the arm rod at the tail end of the mechanical arm has six degrees of freedom in directions, the movement of the arm rod is controlled by an operation path preset by a control system, the full coverage of the area of the vehicle bottom can be realized, the key parts of the vehicle bottom are comprehensively purged, and the key parts of the vehicle bottom comprise a traction box, an auxiliary inverter box, a high-low voltage electric box, a circulating air box and a braking resistance box. In addition, the arm rod is internally provided with an obstacle avoidance sensor, when the arm rod moving path is detected to collide with the vehicle bottom equipment, the mechanical arm automatically stops moving and uploads an alarm signal, and therefore safety of the vehicle bottom equipment is protected. The mechanical arm 3 is attached with a flexible bundling hose which comprises an air supply pipe 5 for conveying sweeping gas and an air suction pipe 6 for conveying dust gas.
The nozzle 4 is installed at the terminal end of the mechanical arm, as shown in fig. 4, wherein the dust collecting funnel 402 includes a throat and a flare, the throat is fixed at the end arm rod, the bottoms of the cluster nozzle and the duckbill nozzle are located in the throat, the air suction pipe extends into the throat to form the dust suction port, and purging and dust suction are performed simultaneously.
Double-end nozzle 401 installs in collection dirt funnel 402's centre to adopt the tripod form fixed, double-end nozzle 401 connect air supply pipe 5, and breathing pipe 6 stretches into form in the throat dust absorption mouth 601, install spacing sensor 403 on double-end nozzle 401, be used for controlling the home range of nozzle, prevent with vehicle bottom equipment collision. A dust concentration sensor 404 is installed in the dust collection funnel for monitoring the dust concentration of the blown polluted air in real time and feeding back the data to the control center, and when the dust concentration is lower than a set value, the nozzle is turned to the next area for blowing. Preferably, the dust collecting funnel 402 is adjustable in height and size of its flare, depending on the object to be purged, by using a variable technique of vector nozzle, etc.
Preferably, the dual head nozzle 401 includes a cluster nozzle and a duckbill nozzle, both made of flexible material to avoid serious damage in case of collision. For the part with the pollution degree smaller than the threshold value, a duckbill nozzle is adopted; and adopting a cluster nozzle for the part with the pollution degree greater than or equal to the threshold value. Specifically, at the part with low pollution degree, the duckbill nozzle with moderate and uniform air flow and large air outlet coverage area is preferably selected for large-range blowing, and at the part with serious dust accumulation or incomplete blowing by adopting the duckbill nozzle, the duckbill nozzle is automatically switched to the cluster nozzle, so that the jet speed of the sprayed air flow is high, the striking pressure is high, and the blowing is more thorough.
When the sweeping operation is carried out, sweeping and dust collection are carried out synchronously, the walking part 1 and the mechanical arm 3 are installed with preset paths to move, different parts at the bottom of the vehicle are positioned for differential sweeping, meanwhile, the dust concentration sensor 404 and the camera 204 feed back the real-time sweeping condition to the terminal and the control system, and for the part which is not swept cleanly, an operator can apply an additional sweeping instruction and manually control the part to carry out sweeping in different modes for multiple times.
Specifically, as shown in fig. 5, the utility model provides a sweeping method of intelligent flexible manipulator device that subway vehicle bottom swept, this method including start-up with location, mobility control, differentiation sweep mode selection, pollution detection and control discernment, sweep main step such as task termination judgement.
The starting and positioning comprise that the purging equipment is remotely controlled at the control terminal, the operation scene schematic diagram of the purging equipment is shown in fig. 2, the schematic diagram of the system structure scheme is shown in fig. 3, the control terminal has a one-key starting function, the purging equipment is ready and completes self-checking after starting, a signal is sent out after no abnormality occurs, a worker manually closes a power transmission switch to supply power to the purging equipment at the moment, a set operation program is selected at the control terminal, the purging equipment starts to operate, when the purging equipment enters the vehicle bottom area of the trench 101, the purging equipment is positioned through scanning and identifying a two-dimensional code band, and the initial coordinate of the purging equipment is determined under a relative coordinate system.
The movement control comprises the control of the movement of the walking part 2 of the purging device and the movement of the mechanical arm 3, and the purging device moves to a corresponding position according to coordinates provided by the positioning system to purge different positions of the bottom of the vehicle.
Preferably, the running part 2 of the purging device adopts an AGV magnetic navigation trolley which can run along a magnetic path laid on the ground, and the running track is longitudinal, namely along the direction of the central line of the track. In addition, the trolley obtains current by contacting with a trolley line 103 arranged on the side surface of the rail upright post 102, the two-dimensional code strip for positioning is attached to the surface of the trolley line, and the two-dimensional code information is read by a code scanner arranged on the side surface of the blowing equipment.
Preferably, the mechanical arm 3 is a six-axis joint flexible mechanical arm, as shown in fig. 3, considering that the mechanical arm 3 mainly sweeps key equipment or key parts, the arm rod 303 and the end nozzle 4 are both made of flexible materials, and the end part is provided with a limit sensor, sensing data of which is connected with a positioning system, so that the motion and the positioning of the mechanical arm are controlled, and the mechanical arm is prevented from colliding with equipment at the bottom of the vehicle. The mechanical arm device controls the local positioning and the transverse movement of the blowing nozzle through the rotating motor at the joint to clean key parts of the vehicle bottom, and comprises the steps of blowing a traction box, an auxiliary inverter box, a high-low voltage electric box, a circulating air box and a braking resistance box, and determining blowing tasks of different key parts in the selection of an operation program when the equipment is started.
The differential purging mode comprises global scanning purging and key cleaning part purging, the purging device automatically selects one purging mode according to a set program, and then the modes are switched according to the purging condition.
Preferably, the global scanning type purging adopts a duckbill-shaped nozzle with large air outlet amount and uniform and mild air flow, the nozzle is made of flexible materials, and the advancing mode of the purging device is continuous propelling.
Preferably, the intensive cleaning part is blown by a cluster type flexible material nozzle with high air flow jet speed and high striking pressure, the parts with serious pollution or incomplete cleaning are blown intensively, and the moving mode of the blowing equipment in the mode is a stepping mode.
After a first round of purging is performed on a certain position or area, the real-time data is uploaded by the pollution detection and monitoring identification, and the purging device judges whether purging reaches the standard according to the pollution detection data or the video monitoring image, so that the next automatic or manual instruction action is performed, namely, whether the next action of the purging device is to be moved to other positions or the current position is subjected to repeated supplementary purging.
Preferably, the pollution detection is completed by a dust concentration sensor arranged at the nozzle 4 of the mechanical arm, the dust concentration of the air around the blowing part is detected, if the dust concentration reaches the standard, the next part is blown, otherwise, the blowing is repeated until the blowing is clean.
Preferably, the monitoring identification is shot by a high-definition camera 204 installed on the purging device and transmitted to the display terminal in real time, and an additional instruction can be applied to the purging device after manual identification, so that repeated purging of the current part is performed or the current operation is finished so that purging of the next part is performed.
And the blowing task termination judgment is determined by the current position of the blowing equipment, the position coordinate of the blowing equipment is positioned through the positioning system, the length size of the train bottom is combined, whether the sweeping of the train bottom is completed or not is judged, if the sweeping is completed, the equipment automatically stops running and issues a corresponding prompt signal on a control terminal screen, and if the sweeping of the whole train is not completed, the blowing equipment continues to perform the blowing process of the next part of the train bottom.
The utility model discloses a purging method, this method are directed against the pollution degree and the clear dynamics of needs at the different positions of railcar vehicle bottom, through operation route selection and pollution identification, control intelligence and purge the mobile location and the mode conversion of equipment for purging equipment can carry out differentiation, accurate, intelligent purging to the railcar vehicle bottom, makes whole sweep and sweep with local focus and combine together, can promote automatic work efficiency and the holistic clean effect of purging by a wide margin.
The utility model discloses an adopt towards the vehicle bottom and pollute the operation that the vehicle bottom sweeps equipment is controlled to the method of sweeping of discernment, carry out ordinary sweeping to polluting the position that is lighter, carry out the pertinence to polluting serious position and sweep for sweep more rationally, intelligence, high-efficient, promoted clean effect greatly, reduced the waste of resource.
The utility model discloses a method of sweeping sweeps equipment and can acquire monitoring feedback data in real time at the operation in-process to the redistribution of sweeping the task according to the pollution degree of monitoring reaches once only and sweeps clean purpose.
To sum up, compare with prior art, the utility model discloses a scheme has following apparent advantage:
the utility model discloses an intelligent flexible manipulator device that railcar vehicle bottom swept, manipulator device terminal adopt the modified nozzle form, can carry out the intellectuality according to coordinate location, dust concentration detection and video monitoring image and sweep, adopt wholly sweep and sweep the differentiation that combines together with local focus to sweep, and be equipped with anticollision protection device, can promote greatly and sweep the effect, improve the operating efficiency.
The utility model discloses an adopt intelligent control's manipulator, combine positioning system, realized sweeping subway vehicle bottom automation, differentiation, heavily sweep the serious position of pollution or key spare part, promoted the operating efficiency greatly and swept the effect, reduced operation personnel's intensity of labour.
The utility model discloses a flexible manipulator, flexible material nozzle and be equipped with spacing sensor, when sweeping the operation, the probability greatly reduced that vehicle bottom equipment was damaged by the manipulator collision for sweep operation safe and reliable more.
Blowing and dust collection are carried out synchronously, blown dust cannot diffuse to the periphery in a large range, sucked turbid air can be filtered and dedusted, and the emission is realized after the discharge reaches the standard, so that the environmental pollution is reduced.
It will be appreciated that the embodiments of the system described above are merely illustrative, in that elements illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over different network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In addition, it should be understood by those skilled in the art that in the specification of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the embodiments of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
However, the disclosed method should not be interpreted as reflecting an intention that: rather, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of an embodiment of this invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an intelligent flexible manipulator device that railcar vehicle bottom sweeps which characterized in that: the manipulator device comprises a mechanical arm (3), a nozzle (4), an air supply pipe (5) and an air suction pipe (6);
the mechanical arm (3) is a six-axis joint flexible mechanical arm and comprises a base (301), six sections of wall rods (303) and flexible joints (302) among the wall rods;
the base (301) is arranged on the top surface of the integrated box body (2), and the integrated box body (2) is borne on the walking part (1) and runs in an overhaul trench of a subway vehicle;
the tail-end arm rod of the mechanical arm has six degrees of freedom in directions and is connected with the nozzle (4);
the gas supply pipe (5) is used for conveying sweeping gas, and two ends of the gas supply pipe are respectively connected with a gas outlet (205) of the integrated box body (2) and the nozzle (4); the air suction pipe (6) conveys dust and air, one end of the air suction pipe is connected with an air inlet (206) of the integrated box body (2), and the other end of the air suction pipe penetrates through the arm rod at the tail end to form a dust suction opening (601) which is arranged side by side with the nozzle (4).
2. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 1, wherein:
at least part of the wall rods (303) are internally provided with obstacle avoidance sensors which are used for detecting the tendency that the moving path of the arm rods collides with other objects including vehicle bottom equipment, sending out alarm signals in advance and stopping moving.
3. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 1 or 2, wherein:
the nozzle (4) comprises a double-head nozzle (401) and a dust collection funnel (402);
the dual-head nozzle (401) comprises a switchable cluster nozzle and a duckbill nozzle;
the dust collecting funnel (402) comprises a reducing opening and a flaring opening, the reducing opening is fixed on the arm rod at the tail end, the bottoms of the cluster nozzle and the duckbilled nozzle are positioned in the reducing opening, and the air suction pipe (6) extends into the reducing opening to form the dust suction opening (601).
4. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:
the nozzle (4) further comprises a limit sensor (403) which is arranged on the double-head nozzle (401) and used for controlling the moving range of the nozzle and preventing collision with vehicle bottom equipment.
5. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:
the cluster nozzle and the duckbill nozzle are flexible material nozzles.
6. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:
the nozzle (4) further comprises a dust concentration sensor (404) mounted in the dust collection funnel (402) for monitoring the dust concentration of the blown polluted air in real time.
7. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:
the traveling part (1) adopts an AGV trolley with a magnetic navigation path self-guidance function, adopts an electric driving mode, and obtains current by contacting with a sliding contact line fixedly arranged beside a rail upright post;
the AGV trolley is provided with an obstacle avoidance sensor and is used for stopping advancing when meeting people or obstacles in the advancing process and sending out acousto-optic alarm display.
8. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 3, wherein:
the integrated box body (2) internally comprises an air compressor (201) and a dust absorption filter (202), a camera (204) is embedded on the top surface of the integrated box body to shoot and monitor the bottom picture of the vehicle, and the bottom picture is transmitted to a terminal display screen;
the air compressor (201) delivers compressed air to the nozzle (4) through an air outlet (205) to provide a flow of purge air, and the purged dust laden air is drawn into the dust extraction filter (202) through an air inlet (206) for filtration.
9. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 8, wherein:
the two cameras (204) are respectively arranged at the front end and the rear end of the top surface of the integrated box body (2).
10. The intelligent flexible manipulator device for sweeping the underbody of the metro vehicle as claimed in claim 8, wherein:
the air compressor (201) adopts a screw air compressor unit, is internally of a frame partition type structure and is made of a sound insulation material;
and/or the presence of a gas in the gas,
the dust absorption filter (202) adopts an integrated multi-stage filtering device and is provided with a cylinder type filter element and a sheet type filter screen.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120411624.8U CN214516467U (en) | 2021-02-24 | 2021-02-24 | Intelligent flexible manipulator device that railcar vehicle bottom sweeps |
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| CN202120411624.8U CN214516467U (en) | 2021-02-24 | 2021-02-24 | Intelligent flexible manipulator device that railcar vehicle bottom sweeps |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114103882A (en) * | 2021-11-15 | 2022-03-01 | 深圳市一轨同风科技有限公司 | Cleaning device and cleaning method for metro vehicle chassis |
| CN114674838A (en) * | 2022-03-18 | 2022-06-28 | 哈尔滨市科佳通用机电股份有限公司 | Motor train unit vehicle bottom automatic detection system and detection method |
-
2021
- 2021-02-24 CN CN202120411624.8U patent/CN214516467U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114103882A (en) * | 2021-11-15 | 2022-03-01 | 深圳市一轨同风科技有限公司 | Cleaning device and cleaning method for metro vehicle chassis |
| CN114674838A (en) * | 2022-03-18 | 2022-06-28 | 哈尔滨市科佳通用机电股份有限公司 | Motor train unit vehicle bottom automatic detection system and detection method |
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