WO2018040546A1 - Rescue robot for medium and low speed maglev - Google Patents

Rescue robot for medium and low speed maglev Download PDF

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Publication number
WO2018040546A1
WO2018040546A1 PCT/CN2017/077857 CN2017077857W WO2018040546A1 WO 2018040546 A1 WO2018040546 A1 WO 2018040546A1 CN 2017077857 W CN2017077857 W CN 2017077857W WO 2018040546 A1 WO2018040546 A1 WO 2018040546A1
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robot
rescue
module
walking
low speed
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PCT/CN2017/077857
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French (fr)
Chinese (zh)
Inventor
刘大玲
周芃
张�浩
张琨
许克亮
张昕
王东波
景晓斐
倪琍
张俊岭
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中铁第四勘察设计院集团有限公司
国开科技(武汉)有限公司
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Priority to CN201610786339.8A priority Critical patent/CN106239474B/en
Priority to CN201610786339.8 priority
Application filed by 中铁第四勘察设计院集团有限公司, 国开科技(武汉)有限公司 filed Critical 中铁第四勘察设计院集团有限公司
Publication of WO2018040546A1 publication Critical patent/WO2018040546A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway

Abstract

A rescue robot for a medium and low speed maglev, comprising a rack (11), a folding bending mechanism, a detecting rescue mechanism, and an autonomous cruise module (7). The rack (11) serves as a support mechanism and is used for securely mounting the folding bending mechanism and the detecting rescue mechanism. The folding bending mechanism is used for mounting a wheel pair to allow a rescue robot to move on F rails (4). The detecting rescue mechanism is used for connecting to F rail detection devices to be rescued, to rescue malfunctioning F rail detection devices in time. The autonomous cruise module (7) is used for allowing the rescue robot to autonomously cruise on the F rails of a medium and low speed maglev. By means of the cooperation of these mechanisms, the robot can rescue the F rail detection devices and walk autonomously. The robot implements timely rescue and is convenient to operate.

Description

一种中低速磁悬浮救援机器人Medium and low speed magnetic levitation rescue robot 【技术领域】[Technical Field]
本发明属于磁悬浮工务维修领域,更具体地,涉及一种中低速磁悬浮救援机器人。The invention belongs to the field of magnetic levitation maintenance, and more specifically relates to a medium and low speed magnetic levitation rescue robot.
【背景技术】【Background technique】
磁悬浮交通是一种低噪声无碳交通,是未来城市交通发展的重要方向之一。中低速磁浮技术是通过安装在车体上的电磁铁与F型轨道相互构成磁场闭合磁路,通过气隙感应器装置调节电磁铁的励磁电流,调整电磁铁与轨道之间的吸力(使磁浮间隙保持在8~10mm),以保持电磁铁与轨道之间的距离稳定,实现列车稳定悬浮。为保证F轨处于良好的状态,需要对F轨参数进行定期检测及探伤。Maglev traffic is a kind of low-noise and carbon-free traffic, and it is one of the important directions for the development of urban traffic in the future. The medium and low speed maglev technology is to form a magnetic field closed magnetic circuit by an electromagnet mounted on the vehicle body and an F-shaped track, and the excitation current of the electromagnet is adjusted by the air gap sensor device to adjust the suction between the electromagnet and the track (to make the magnetic float The gap is kept at 8~10mm) to keep the distance between the electromagnet and the track stable, and the train is stably suspended. In order to ensure that the F-rail is in a good state, it is necessary to periodically detect and inspect the F-track parameters.
为实现对F轨的探伤及F轨参数的检测,现有技术中采用各种探伤及检测装置对磁悬浮F轨进行检测及探伤,然而在检测过程中,各个检测装置难免会出现各种故障,当上述装置出现故障时,需及时进行救援。目前还没有一种可适用于中低速磁悬浮的救援机器人,以实现各种装置和设备的及时救援。另外,中低速磁浮轨排多为高架悬空的开放式结构,轨枕间距约为600mm,轨道上无作业人员走行位置,一般的机器人难以在磁悬浮轨道上自由行走,因此,研究设计的救援机器人需适应于开放式结构的中低速磁浮。In order to realize the detection of the F-track and the detection of the F-track parameters, various detection and detection devices are used in the prior art to detect and inspect the magnetic suspension F-track. However, in the detection process, various detection devices inevitably have various failures. When the above device fails, it is necessary to rescue in time. There is currently no rescue robot that can be applied to medium and low speed magnetic levitation to achieve timely rescue of various devices and equipment. In addition, the middle and low-speed magnetic floating rails are mostly open structures with overhead suspension. The spacing of the sleepers is about 600mm. There is no working position on the track. It is difficult for the general robot to walk freely on the magnetic levitation track. Therefore, the research and design of the rescue robot needs to adapt. Medium and low speed maglev in an open structure.
【发明内容】[Summary of the Invention]
针对现有技术的以上缺陷或改进需求,本发明提供了一种救援机器人,其中结合中低速磁悬浮自身的特点,相应设计了适用于中低速磁悬浮的救援装置,并对其关键组件如机架、折叠弯折机构、检测救援机构和自主巡航模块的结构及其具体设置方式进行研究和设计,相应的可有效实现F轨检测装置的及时救援,并可实现机器人的自主行走,具有结构简单、操作 方便等优点。In view of the above defects or improvement requirements of the prior art, the present invention provides a rescue robot in which a rescue device suitable for medium and low speed magnetic levitation is designed in combination with the characteristics of the medium and low speed magnetic levitation itself, and key components such as a rack, The structure of the folding and bending mechanism, the detection and rescue mechanism and the autonomous cruise module and the specific setting method are studied and designed, and the corresponding timely rescue of the F-track detection device can be realized, and the robot can walk autonomously, and has a simple structure and operation. Convenience and other advantages.
为实现上述目的,本发明提出了一种中低速磁悬浮救援机器人,包括机架、折叠弯折机构、检测救援机构和自主巡航模块,其中:To achieve the above object, the present invention provides a medium and low speed magnetic levitation rescue robot, including a frame, a folding and bending mechanism, a detection and rescue mechanism, and an autonomous cruise module, wherein:
所述机架用于安装所述折叠弯折机构、检测救援机构和自主巡航模块,其横跨在中低速磁悬浮两个F轨之间;The frame is used for installing the folding and bending mechanism, the detecting and rescue mechanism and the autonomous cruise module, which spans between the two F-tracks of the medium and low speed magnetic levitation;
所述折叠弯折机构共设有两组,其分设于所述机架的两端,并位于F轨的上方,每组所述折叠弯折机构上均设置有行走轮对和卡位轮对,其中行走轮对与所述F轨的上表面接触,并沿着F轨的上表面移动,所述卡位轮对的两个卡位轮分别与所述F轨的外侧面和下表面接触,并沿着F轨的外侧面和下表面移动;The folding and bending mechanism is provided with two groups, which are disposed at two ends of the frame and located above the F rail. Each group of the folding and bending mechanism is provided with a walking wheel pair and a card wheel pair. Where the pair of traveling wheels are in contact with the upper surface of the F rail and move along the upper surface of the F rail, the two latching wheels of the pair of latching wheels are in contact with the outer and lower surfaces of the F rail, respectively And moving along the outer and lower surfaces of the F rail;
所述检测救援机构包括测距传感器、摄像机和救援接触杆,所述测距传感器设在所述机架上,并位于两个F轨之间,所述摄像机安装在所述机架的上方;所述救援接触杆水平安装在所述机架的侧面,该救援接触杆顶部设置有封装于杆内的电磁吸盘,该电磁吸盘包括线圈和导磁面板,该电磁吸盘利用电磁原理通过使内部线圈通电产生磁力,经过导磁面板,将接触在面板表面的工件紧紧吸住,并通过线圈断电磁力消失实现退磁,所述线圈置于软磁材料外壳之中并以环氧树脂浇封;The detection and rescue mechanism includes a distance measuring sensor, a camera and a rescue contact rod, the distance measuring sensor is disposed on the frame and located between two F rails, and the camera is mounted above the rack; The rescue contact rod is horizontally mounted on a side of the frame, and the top of the rescue contact rod is provided with an electromagnetic chuck enclosed in a rod, the electromagnetic chuck comprises a coil and a magnetic conductive panel, and the electromagnetic chuck uses an electromagnetic principle to make the internal coil The magnetic force generates electricity, passes through the magnetic conductive panel, and the workpiece contacting the surface of the panel is tightly sucked, and demagnetization is realized by the electromagnetic force of the coil breaking, and the coil is placed in the outer shell of the soft magnetic material and is sealed with epoxy resin;
所述自主巡航模块安装在所述机架的下方,其用于实现救援机器人沿着F轨自由行走。The autonomous cruise module is mounted below the frame for enabling the rescue robot to walk freely along the F-track.
作为进一步优选的,所述自主巡航模块包括导航系统、巡航计算任务控制模块和地面控制站通讯模块,所述导航系统包括惯性导航单元、GPS接收模块和行走量程测量单元,所述惯性导航单元用于测量所述机器人的三轴加速度,所述GPS接收模块用于测量机器人的经度、纬度和高度,所述行走量程测量单元用于测量机器人的行走里程;所述巡航计算任务控制模块包括巡航模块和控制模块,所述巡航模块分别与所述惯性导航单元、GPS接收模块和行走量程测量单元相连,所述惯性导航单元、GPS接收模块 和行走量程测量单元测量的数据作为输入信号输入至巡航模块中,该巡航模块根据输入的信号判断所述机器人的具体位置,并将机器人的具体位置反馈给地面控制站,所述控制模块与地面控制站通讯模块相连,其根据地面控制站通讯模块的行走指令控制机器人的行走。Further preferably, the autonomous cruise module includes a navigation system, a cruise calculation task control module, and a ground control station communication module, and the navigation system includes an inertial navigation unit, a GPS receiving module, and a walking range measuring unit, and the inertial navigation unit is used. And measuring the three-axis acceleration of the robot, the GPS receiving module is configured to measure a longitude, a latitude and a height of the robot, the walking range measuring unit is configured to measure a walking mileage of the robot; and the cruise computing task control module comprises a cruise module And a control module, the cruise module is respectively connected to the inertial navigation unit, the GPS receiving module and the walking range measuring unit, the inertial navigation unit and the GPS receiving module And the data measured by the walking range measuring unit is input as an input signal to the cruise module, the cruise module determines the specific position of the robot according to the input signal, and feeds back the specific position of the robot to the ground control station, the control module and the ground The control station communication module is connected, and controls the walking of the robot according to the walking instruction of the ground control station communication module.
作为进一步优选的,每组所述折叠弯折机构上均设置有两组行走轮对和两组卡位轮对,两组行走轮对沿着所述F轨的延伸方向布置,并与F轨的上表面接触,两组卡位轮对同样沿着所述F轨的延伸方向布置,并与F轨的外侧面和下表面接触。Further preferably, each set of the folding and bending mechanism is provided with two sets of walking wheels and two sets of clamping wheel pairs, and the two sets of walking wheels are arranged along the extending direction of the F rails, and the F rails The upper surface contacts, the two sets of card wheel pairs are also arranged along the direction in which the F rails extend, and are in contact with the outer and lower surfaces of the F rails.
作为进一步优选的,所述折叠弯折机构包括行走轮安装板和卡位轮折叠板,所述行走轮安装板竖直设置并安装在所述机架上,所述行走轮对安装在所述行走轮安装板的下方,所述卡位轮折叠板通过卡位轮连接支架安装在所述行走轮安装板的侧面,所述卡位轮对安装在所述卡位轮折叠板上,并与所述F轨的外侧面和下表面接触。Further preferably, the folding and bending mechanism includes a traveling wheel mounting plate and a card wheel folding plate, the traveling wheel mounting plate is vertically disposed and mounted on the frame, and the traveling wheel pair is installed in the Below the traveling wheel mounting plate, the card wheel folding plate is mounted on a side of the traveling wheel mounting plate by a card wheel connecting bracket, and the card wheel pair is mounted on the card wheel folding plate, and The outer side and the lower surface of the F rail are in contact.
作为进一步优选的,所述测距传感器具体为超声波或红外测距传感器,其布置在所述机架的前后侧。As a further preferred, the distance measuring sensor is specifically an ultrasonic or infrared ranging sensor which is arranged on the front and rear sides of the frame.
作为进一步优选的,所述摄像机通过伸缩杆安装在所述机架的上方。As a further preferred, the camera is mounted above the frame by a telescopic rod.
作为进一步优选的,所述救援机器人还设置有F轨参数检测传感器,所述F轨参数检测传感器设在所述折叠弯折机构上。Further preferably, the rescue robot is further provided with an F-track parameter detecting sensor, and the F-track parameter detecting sensor is disposed on the folding and bending mechanism.
作为进一步优选的,所述机架上还设置有搭载物平台。Further preferably, the frame is further provided with a carrier platform.
总体而言,通过本发明所构思的以上技术方案与现有技术相比,主要具备以下的技术优点:In general, the above technical solutions conceived by the present invention mainly have the following technical advantages compared with the prior art:
1.本发明针对中低速磁悬浮的特点专门设置了适用于中低速磁悬浮的救援机器人,以完成对F轨异常检测装置的救援作业,具有体积小、结构轻、携带方便的特点,同时还具有救援及时、操作方便等优点,可随车到达作业地点落轨即可进行使用,可有效用于中低速磁浮的工务维护和安全运营。 1. The invention specially sets a rescue robot suitable for medium and low speed magnetic levitation for the characteristics of medium and low speed magnetic levitation, so as to complete the rescue operation of the F-track abnormality detecting device, which has the characteristics of small volume, light structure and convenient carrying, and also has rescue. Timely, easy to operate, etc., can be used when the car arrives at the working place, and can be effectively used for the maintenance and safe operation of medium and low speed maglev.
2.本发明通过设置适用于辅助作业机器人的折叠弯折机构和自主巡航模块,可实现机器人沿着F轨自主行走,通过专门研究设计的自主巡航模块,可实现机器人的准确定位与可靠行走,适用于中低速磁悬浮高架悬空的开放式结构,解决了中低速磁悬浮轨道上无作业人员走行位置而无法实现辅助作业机器人行走的问题。2. The invention realizes that the robot can walk autonomously along the F-track by setting a folding bending mechanism and an autonomous cruise module suitable for the auxiliary working robot, and the robot can accurately locate and reliably walk through the autonomous cruise module specially designed and designed. The utility model is suitable for the open structure of the medium and low speed magnetic suspension overhead suspension, and solves the problem that the auxiliary working robot can not walk on the middle and low speed magnetic levitation track without the walking position of the operator.
3.本发明的折叠弯折机构共设有两组,分设于机架的两端,使用时卡位轮折叠板可在轨道落轨时向下打开以扣住F轨的侧沿,并沿着F轨运动,使用结束后,其离开轨道时可向上折起,以减小行走装置的整体体积,具有携带方便、落轨即可工作的特点。3. The folding and bending mechanism of the present invention is provided with two groups, which are respectively disposed at two ends of the frame. When used, the card wheel folding plate can be opened downward when the track is dropped to buckle the side edge of the F rail, and along After the end of the use, the F-rail movement can be folded upwards when it leaves the track, so as to reduce the overall volume of the walking device, and has the characteristics of convenient carrying and falling rail to work.
4.本发明的折叠弯折机构上的行走轮对设计成双轮结构,可有效防止机器人通过F轨与轨枕连接的螺栓时产生颠簸,使探伤更加准确,卡位轮对采用抱卡的方式卡装在F轨上,可有效防止机器人脱轨。4. The walking wheel pair on the folding and bending mechanism of the invention is designed as a two-wheel structure, which can effectively prevent the robot from bumping when the bolt connecting the F rail and the sleeper is generated, so that the flaw detection is more accurate, and the card wheel wheel adopts the method of holding the card. The card is mounted on the F rail to prevent the robot from derailing.
5.本发明的机架的上方设置有摄像机,该摄像机可实现轨道及轨道沿线的图像采集,并且其可升降的安装在机架上,可实现多方位、多角度的图像拍摄。5. The camera of the present invention is provided with a camera, which can realize image acquisition along the track and the track, and can be mounted on the frame by lifting and lowering, and can realize multi-azimuth and multi-angle image capturing.
6.本发明救援机器人的前后均设置有测距传感器,通过测距可使救援机器人遇障碍时自动停车,实现机器人的防撞功能;本发明还设置有搭载物平台,为现场施工等作业搭载人工清洁设备。6. The front and rear of the rescue robot of the present invention are provided with a distance measuring sensor, and the rescue robot can automatically stop when the obstacle is encountered by the distance measurement, thereby realizing the anti-collision function of the robot; the present invention also provides a platform for carrying the work for on-site construction and the like. Manual cleaning equipment.
【附图说明】[Description of the Drawings]
图1是本发明实施例的中低速磁悬浮救援机器人的结构示意图;1 is a schematic structural view of a medium and low speed magnetic levitation rescue robot according to an embodiment of the present invention;
图2是本发明实施例的中低速磁悬浮救援机器人的后视图;2 is a rear elevational view of a medium and low speed magnetic levitation rescue robot according to an embodiment of the present invention;
图3是本发明实施例的中低速磁悬浮救援机器人的左视图;3 is a left side view of a medium and low speed magnetic levitation rescue robot according to an embodiment of the present invention;
图4是本发明实施例的自主巡航模块结构框图。4 is a block diagram showing the structure of an autonomous cruise module according to an embodiment of the present invention.
【具体实施方式】【detailed description】
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体 实施例仅仅用以解释本发明,并不用于限定本发明。此外,下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specifics described herein The examples are merely illustrative of the invention and are not intended to limit the invention. Further, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.
如图1所示,本发明实施例提供的一种中低速磁悬浮救援机器人,其主要包括机架11、折叠弯折机构、检测救援机构和自主巡航模块7,其中,机架11作为支撑机构,用于固定安装折叠弯折机构和检测救援机构,所述折叠弯折机构用于安装轮对,以实现救援机器人在F轨4上的移动,所述检测救援机构用于与待救援的F轨检测装置相连,实现出现故障的各种F轨检测装置的及时救援,所述自主巡航模块7用于实现救援机器人自主巡航于中低速磁浮F轨。通过上述各个机构的相互配合,可实现机器人对F轨检测装置进行救援,并可实现机器人的自主行走,具有救援及时、操作方便等优点。As shown in FIG. 1 , a medium and low speed magnetic levitation rescue robot provided by an embodiment of the present invention mainly includes a frame 11 , a folding and bending mechanism, a detection and rescue mechanism, and an autonomous cruise module 7 , wherein the frame 11 serves as a supporting mechanism. The utility model relates to a fixed installation folding folding mechanism and a detection and rescue mechanism, wherein the folding bending mechanism is used for installing a wheel pair to realize movement of a rescue robot on the F rail 4, and the detection and rescue mechanism is used for the F rail to be rescued. The detecting devices are connected to realize timely rescue of various faulty F-track detecting devices, and the autonomous cruise module 7 is used for realizing the autonomous cruise of the rescue robot on the medium-low speed magnetic floating F-track. Through the cooperation of the above various mechanisms, the robot can rescue the F-track detecting device, and can realize the autonomous walking of the robot, and has the advantages of timely rescue and convenient operation.
下面将对各个机构和部件进行详细的说明和描述。Each mechanism and component will be described and described in detail below.
如图1所示,机架11作为其他部件的支撑部件,其水平设置,并且横跨在待检测的中低速磁悬浮两个F轨之间,其布置方向与F轨的延伸方向垂直。As shown in Fig. 1, the frame 11 serves as a supporting member for other components, which is horizontally disposed and spans between the two F-tracks of the medium-low speed magnetic suspension to be detected, and is arranged in a direction perpendicular to the extending direction of the F-track.
如图1-3所示,折叠弯折机构共设有两组,其分设于所述机架的两端,具体的,每组所述折叠弯折机构上均设置有行走轮对5和卡位轮对。其中,行走轮对5包括一对行走轮,其与所述F轨的上表面接触,并沿着F轨的上表面移动,其中一个是被动轮一个是主动轮,主动轮对是电机轮。该行走轮对设计成双轮结构,可有效防止机器人通过F轨与轨枕连接的螺栓时产生颠簸,使探伤结果更加准确。所述卡位轮对2包括一对卡位轮,两个卡位轮分别与所述F轨的外侧面和下表面接触,并沿着F轨的外侧面和下表面移动,该卡位轮对可保证机器人沿着轨道行走,并且在弯道处可提供差速功能。卡位轮对2是没有动力的被动轮,起卡位、限位以及防脱轨的作用。 As shown in Figure 1-3, the folding and bending mechanism is provided with two groups, which are respectively disposed at two ends of the frame. Specifically, each group of the folding and bending mechanism is provided with a walking wheel pair 5 and a card. Bit wheel pair. The traveling wheel pair 5 includes a pair of walking wheels that are in contact with the upper surface of the F rail and move along the upper surface of the F rail, one of which is a passive wheel and the other is a driving wheel, and the driving wheel pair is a motor wheel. The walking wheel pair is designed as a two-wheel structure, which can effectively prevent the robot from bumping when the bolt connecting the F rail and the sleeper is generated, so that the flaw detection result is more accurate. The card wheel set 2 includes a pair of card wheel, the two card wheels respectively contacting the outer side surface and the lower surface of the F rail, and moving along the outer side surface and the lower surface of the F rail, the card wheel The pair can ensure that the robot walks along the track and provides a differential function at the corner. The card wheel pair 2 is a passive wheel with no power, which functions as a card position, a limit position and an anti-derailment.
进一步的,本发明的实施例中每组折叠弯折机构上均设置有两组行走轮对5和两组卡位轮对2,由此两组行走轮对5中的四个行走轮沿着所述F轨的延伸方向布置,并可沿着F轨运动,对救援机器人的移动进行可靠的导向,而两组卡位轮对2中的与F轨侧面接触的卡位轮沿着所述F轨的延伸方向布置,并沿着F轨的外侧面运动,两组卡位轮对2中的与F轨下表面接触的卡位轮沿着所述F轨的延伸方向布置,并沿着F轨的下表面运动,以此可有效保证救援机器人移动的可靠性。Further, in the embodiment of the present invention, each group of folding and bending mechanisms is provided with two sets of walking wheels 5 and two sets of card wheel sets 2, whereby four of the two sets of walking wheels 5 are along The F rails are arranged in an extending direction and are movable along the F rails to reliably guide the movement of the rescue robot, and the card wheels of the two sets of the card wheel pairs 2 that are in contact with the F rail side are along the The extending direction of the F rail is arranged and moves along the outer side of the F rail, and the latching wheels of the two sets of the latching wheel pairs 2 that are in contact with the lower surface of the F rail are arranged along the extending direction of the F rail, and along The lower surface of the F-rail moves to ensure the reliability of the rescue robot's movement.
具体的,折叠弯折机构包括行走轮安装板12和卡位轮折叠板3,其中行走轮安装板12竖直设置并安装在所述机架上,所述行走轮对安装在行走轮安装板12的下方,所述卡位轮折叠板3通过卡位轮连接支架安装在所述行走轮安装板的侧面,并包覆在F轨的外围,然后将卡位轮对安装在卡位轮折叠板12上,以使其中一个卡位轮与F轨的外侧面接触,另一个卡位轮与F轨的下表面接触,以此卡位轮对采用抱卡方式卡装在F轨上,可有效的防止救援机器人脱轨。折叠弯折机构未使用时,两组卡位轮折叠板1向上折起,以减小行走装置的整体体积,使用时,两组卡位轮折叠板1打开,使卡位轮卡装在F轨的外侧面和下表面,实现外侧抱轨和内侧向上抱轨。Specifically, the folding and bending mechanism includes a traveling wheel mounting plate 12 and a card wheel folding plate 3, wherein the traveling wheel mounting plate 12 is vertically disposed and mounted on the frame, and the traveling wheel pair is mounted on the traveling wheel mounting plate Below the 12, the card wheel folding plate 3 is mounted on the side of the traveling wheel mounting plate by a card wheel connecting bracket, and is wrapped around the periphery of the F rail, and then the card wheel pair is mounted on the card wheel to be folded The plate 12 is arranged such that one of the card position wheels is in contact with the outer side surface of the F rail, and the other card position wheel is in contact with the lower surface of the F rail, so that the card position wheel pair is clamped on the F rail by the holding card manner, Effectively prevent the rescue robot from derailing. When the folding and bending mechanism is not in use, the two sets of the folding wheel folding plates 1 are folded upwards to reduce the overall volume of the walking device. When in use, the two sets of the folding wheel folding plates 1 are opened, so that the locking wheel is loaded in the F The outer side and the lower surface of the rail realize the outer holding rail and the inner upward holding rail.
所述检测救援机构包括测距传感器6、摄像机10和救援接触杆14,所述测距传感器6设在所述机架上,并位于两个F轨之间,其具体为超声波或红外测距传感器,并以阵列的方式排布,救援机器人的前后均布置该测距传感器。具体的,在安全距离范围内,检测到行进线路有障碍,机器人控制电控驱动单元刹车,根据速度的不同设定安全距离不同,速度越快,安全距离越远。可使探伤机器人遇障碍时自动安全停车,实现机器人的防撞功能。所述摄像机10安装在所述机架的上方,其用于对轨道及轨道的沿线进行图像采集,可对异物入侵、侵限越界等情况进行观测,图像进行实时传输或存储本地,摄像机类型具体可为2D或3D摄像机,其具体通过伸缩杆9安装在机架的上方,可实现摄像机的升降,实现多方位多角度的拍 摄。所述救援接触杆14水平安装在所述机架的侧面,该接触杆14的顶部设置有封装于杆内的电磁吸盘,所述电磁吸盘包括电磁线圈和导磁面板,导磁面板面向被救援对象,电磁线圈位于导磁面板内侧(即导磁面板位于被救援对象和电磁线圈之间),电磁吸盘利用电磁原理,通过使内部线圈通电产生磁力,经过导磁面板,将接触在面板表面的工件紧紧吸住,通过线圈断电,磁力消失实现退磁,该救援接触杆结构简单紧凑,线圈置于软磁材料外壳之中并以环氧浇封,具有体积小,吸力大,牢固,可靠,全密封,环境适应性强等特点,该系列电磁铁通过救援机器人操作,动作简单灵敏,功能稳定可靠。被救援机器人由于运行于F轨,通过设计救援机器人的吸盘式电磁接触杆与被救援机器人铁磁材料位置相对应,当救援机器人的测距传感器检测到距离接近被救援的机器人时,自动减速到最小,开启接触检测模式,并且开启吸盘的控制器,实现被救援机器人与救援机器人的结合。与远程主控联系后,开启返航模式,带着被救援机器人返航。The detection and rescue mechanism comprises a distance measuring sensor 6, a camera 10 and a rescue contact rod 14. The distance measuring sensor 6 is arranged on the frame and is located between two F rails, which is specifically an ultrasonic or infrared ranging The sensors are arranged in an array, and the distance measuring sensors are arranged in front of and behind the rescue robot. Specifically, within the safe distance range, it is detected that there is an obstacle in the traveling line, and the robot controls the electronically controlled driving unit to brake, and the safety distance is set according to different speeds, and the faster the speed, the farther the safety distance is. The automatic detection robot can automatically stop when it encounters obstacles, and realize the anti-collision function of the robot. The camera 10 is mounted above the rack, and is used for image acquisition along the track and the track, and can observe the foreign object invasion, the intrusion limit and the like, and the image is transmitted or stored locally, and the camera type is specific. It can be a 2D or 3D camera, which is mounted on the top of the rack through the telescopic rod 9. It can realize the lifting of the camera and achieve multi-angle and multi-angle shooting. Photographed. The rescue contact rod 14 is horizontally mounted on a side of the frame, and the top of the contact rod 14 is provided with an electromagnetic chuck enclosed in a rod, the electromagnetic chuck comprises an electromagnetic coil and a magnetic conductive panel, and the magnetic conductive panel faces the rescued The electromagnetic coil is located inside the magnetic conductive panel (ie, the magnetic conductive panel is located between the object to be rescued and the electromagnetic coil), and the electromagnetic chuck uses electromagnetic principle to generate magnetic force by energizing the inner coil, and contacts the surface of the panel through the magnetic conductive panel. The workpiece is tightly sucked, the power is removed by the coil, and the magnetic force disappears to realize demagnetization. The rescue contact rod has a simple and compact structure, and the coil is placed in a soft magnetic material casing and is epoxy-sealed, and has a small volume, large suction force, firmness and reliability. It is fully sealed and has strong environmental adaptability. The electromagnets are operated by rescue robots, which are simple and sensitive, and have stable and reliable functions. The rescue robot is operated on the F-track, and the suction-type electromagnetic contact rod of the rescue robot is designed to correspond to the position of the ferromagnetic material of the rescued robot. When the distance measuring sensor of the rescue robot detects that the distance is close to the rescued robot, it automatically decelerates to The minimum, the contact detection mode is turned on, and the controller of the suction cup is turned on to realize the combination of the rescue robot and the rescue robot. After contacting the remote master, the return mode is turned on and the returned robot is returned.
自主巡航模块7安装在机架的下方,其通过控制行走轮对5的主动轮运动带动机器人运动,以驱动机器人沿着F轨移动,实现机器人的自主行走控制,由此使得本发明的辅助作业机器人适应于中低速磁悬浮高架悬空的开放式结构,该自主巡航模块7集成了行走稳定控制(控制两主动轮输出扭矩,使车辆牵引力平衡)、导航和任务控制等诸多功能,具有多个任务航路点,速度可单独设置,是一套完整的高性能、低成本和微型化的轨道机器人自主行走控制系统。The autonomous cruise module 7 is mounted under the frame, which drives the robot movement by controlling the driving wheel movement of the walking wheel pair 5 to drive the robot to move along the F rail to realize the autonomous walking control of the robot, thereby enabling the auxiliary work of the present invention. The robot is adapted to the open structure of the medium and low speed magnetic suspension overhead suspension. The autonomous cruise module 7 integrates the functions of walking stability control (controlling the output torque of the two driving wheels to balance the traction of the vehicle), navigation and mission control, and has multiple mission routes. The point and speed can be set separately. It is a complete high-performance, low-cost and miniaturized orbital robot autonomous walking control system.
自主巡航模块7包括导航系统、巡航计算任务控制模块和地面控制站通讯模块,导航系统包括惯性导航单元、GPS接收模块和行走量程测量单元,所述惯性导航单元用于测量所述机器人的三轴加速度(即xyz三向加速度,xyz方向根据实际需要设定,如设定F轨的延伸方向为x轴,与F轨延伸方向垂直,并水平分布的为y轴,与F轨延伸方向垂直,并垂直分布的为z轴),所述GPS接收模块用于测量机器人的经度、纬度和高度,所 述行走量程测量单元用于测量机器人的行走里程。巡航计算任务控制模块与地面控制站通讯模块实现数据交互,巡航计算任务控制模块可将机器人的具体位置反馈给地面控制站通讯模块,地面控制站通讯模块可发送指令给巡航计算任务控制模块,以使机器人运行至指定位置;该巡航计算任务控制模块主要包括巡航模块和控制模块,巡航模块和控制模块类似于两个微型计算机,巡航模块是基于嵌入式Linux的巡航计算机,用于导航和任务控制以及与地面控制站的通讯,控制模块是控制计算机,用于机器人的行走控制、增稳控制及与地面控制站的通讯,实现移动机器人的运动控制,具体是实现行走轮中主动轮的伺服电机的控制,通过控制主动轮的伺服电机实现主动轮的运动,进而实现机器人的运动,其适用于脉宽信号控制的各种扭矩三相无刷电机,该控制模块还可实现传感器的信息采集(测距传感器6的数据)、图像信息采集(摄像机10的数据)及导航数据的获取。具体的,巡航模块分别与惯性导航单元、GPS接收模块和行走量程测量单元相连,惯性导航单元、GPS接收模块和行走量程测量单元测量的数据作为输入信号输入至巡航模块中,该巡航模块根据输入的信号判断所述机器人的具体位置,并将机器人的具体位置反馈给地面控制站,所述控制模块与地面控制站通讯模块相连,其根据地面控制站通讯模块的行走指令控制机器人的行走。The autonomous cruise module 7 includes a navigation system, a cruise calculation task control module, and a ground control station communication module. The navigation system includes an inertial navigation unit, a GPS receiving module, and a walking range measuring unit, and the inertial navigation unit is configured to measure the three axes of the robot. Acceleration (ie xyz three-way acceleration, xyz direction is set according to actual needs, such as setting the extension direction of the F-track to the x-axis, perpendicular to the direction in which the F-track extends, and horizontally distributing the y-axis, perpendicular to the direction in which the F-track extends. And vertically distributed is the z-axis), the GPS receiving module is used to measure the longitude, latitude and height of the robot, The walking range measuring unit is used to measure the walking distance of the robot. The cruise calculation task control module and the ground control station communication module implement data interaction, and the cruise calculation task control module can feed the specific position of the robot to the ground control station communication module, and the ground control station communication module can send instructions to the cruise calculation task control module to The robot is operated to a designated position; the cruise calculation task control module mainly comprises a cruise module and a control module, the cruise module and the control module are similar to two microcomputers, and the cruise module is a cruise computer based on embedded Linux for navigation and task control And the communication with the ground control station, the control module is a control computer for the robot's walking control, stabilization control and communication with the ground control station to realize the motion control of the mobile robot, specifically to realize the servo motor of the driving wheel in the walking wheel The control realizes the movement of the driving wheel by controlling the servo motor of the driving wheel, thereby realizing the movement of the robot, which is suitable for various torque three-phase brushless motors controlled by the pulse width signal, and the control module can also realize the information collection of the sensor ( Number of ranging sensors 6 According to), image information collection (data of camera 10) and acquisition of navigation data. Specifically, the cruise module is respectively connected to the inertial navigation unit, the GPS receiving module and the walking range measuring unit, and the data measured by the inertial navigation unit, the GPS receiving module and the walking range measuring unit are input as input signals to the cruise module, and the cruise module is input according to the input. The signal determines the specific position of the robot, and feeds the specific position of the robot to the ground control station. The control module is connected to the ground control station communication module, and controls the walking of the robot according to the walking instruction of the ground control station communication module.
具体的,自主巡航模块7内的导航系统根据输入的巡航里程,GPS自动定位到需要到达的地点坐标,然后机器人根据行走里程与远程地面站通信输入的地点坐标实时匹配运算,同时组合惯性导航实时行走的位置与所设定的坐标位置实时匹配计算,并采用行走量程测量单元测量机器人移动的距离,以根据机器人出发点的初始值确定机器人当前的位置,根据机器人当前的具体位置,然后与已知的按照事先编制的作业航点进行PID匹配计算控制机器人的运动方向和距离,从而实现自主巡航,巡航的速度由机器人根据到达目的地的距离计算。本发明的导航系统主要是以量程标定为主, 以GPS以及惯性导航为辅助的导航系统,其控制逻辑简单,结构紧凑,体积小,可使得机器人根据导航的规划路径进行行走。Specifically, the navigation system in the autonomous cruise module 7 automatically locates the coordinates of the location to be reached according to the input cruise mileage, and then the robot performs real-time matching calculation according to the travel coordinates and the location coordinates of the remote ground station communication input, and simultaneously combines the inertial navigation real-time. The walking position is matched with the set coordinate position in real time, and the walking range measuring unit is used to measure the distance moved by the robot to determine the current position of the robot according to the initial value of the starting point of the robot, according to the current specific position of the robot, and then known The PID matching calculation is performed according to the pre-programmed waypoints to control the movement direction and distance of the robot, thereby achieving autonomous cruising, and the cruising speed is calculated by the robot according to the distance to the destination. The navigation system of the invention is mainly based on range calibration. The navigation system assisted by GPS and inertial navigation has simple control logic, compact structure and small volume, which enables the robot to walk according to the planned route of navigation.
所述机架上还设置有为自主巡航模块7提供电源的电池8,然而自主巡航模块7也可通过电缆与外部电源相连,通过外部电源提供巡航模块巡航所需的动力。其中,自主巡航模块7可接收测距传感器6和摄像机10的检测数据,并对检测数据进行分析,获得所需的数据。The rack is also provided with a battery 8 for supplying power to the autonomous cruise module 7. However, the autonomous cruise module 7 can also be connected to an external power source through a cable to provide the power required for the cruise module to cruise through an external power source. The autonomous cruise module 7 can receive the detection data of the ranging sensor 6 and the camera 10, and analyze the detected data to obtain the required data.
为了实现将机器人测得的数据及时的进行传输与保存,在所述机架上还设置有外接接口13,以实现机器人与远程控制台的通信联系,实现数据的远程交互。In order to realize the timely transmission and storage of the data measured by the robot, an external interface 13 is further disposed on the rack to realize communication communication between the robot and the remote console, and realize remote interaction of data.
此外,救援机器人还设置有F轨参数检测传感器1,该F轨参数检测传感器1设在所述折叠弯折机构上,其共设有多个,以阵列的方式排布,其用于检测F轨的轨道参数,主要包括F轨轨缝宽度,感应板横向错位,感应板垂直错位,以及F轨的平顺性等。轨缝宽度采用PSD位移传感器,位移变化的时间结合运行的速度,即可计算出轨缝的宽度;感应板横向错位和垂直错位、平顺性同样可以用传感器阵列通过位移的不同做出分析与计算。为了便于为现场施工等作业搭载人工清洁设备(如清洁用具和水),搭载保温食物及饮用水等,所述机架上还设置有搭载物平台15,该搭载物平台15可用于运货及运人。In addition, the rescue robot is further provided with an F-track parameter detecting sensor 1 which is disposed on the folding and bending mechanism, and is provided in plurality, arranged in an array, which is used for detecting F The track parameters of the rail mainly include the F rail width, the lateral displacement of the sensor board, the vertical misalignment of the sensor board, and the smoothness of the F rail. The width of the rail gap is measured by the PSD displacement sensor. The displacement change time combined with the running speed can calculate the width of the rail joint. The lateral misalignment and vertical misalignment and smoothness of the sensor board can also be analyzed and calculated by the difference of the displacement of the sensor array. In order to facilitate the installation of manual cleaning equipment (such as cleaning appliances and water) for on-site construction and the like, and to carry insulation food and drinking water, the rack is also provided with a platform 15 for loading and loading. Transporter.
本领域的技术人员容易理解,以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。 Those skilled in the art will appreciate that the above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the present invention, All should be included in the scope of protection of the present invention.

Claims (8)

  1. 一种中低速磁悬浮救援机器人,其特征在于,包括机架(11)、折叠弯折机构、检测救援机构和自主巡航模块(7),其中:A medium-low speed magnetic levitation rescue robot characterized by comprising a frame (11), a folding and bending mechanism, a detecting and rescue mechanism and an autonomous cruise module (7), wherein:
    所述机架用于安装所述折叠弯折机构、检测救援机构和自主巡航模块(7),其横跨在中低速磁悬浮两个F轨之间;The frame is used for installing the folding and bending mechanism, the detecting and rescue mechanism and the autonomous cruise module (7), which spans between the two F-tracks of the medium and low speed magnetic levitation;
    所述折叠弯折机构共设有两组,其分设于所述机架(11)的两端,并位于F轨的上方,每组所述折叠弯折机构上均设置有行走轮对(5)和卡位轮对(2),其中行走轮对(5)与所述F轨的上表面接触,并沿着F轨的上表面移动,所述卡位轮对(2)的两个卡位轮分别与所述F轨的外侧面和下表面接触,并沿着F轨的外侧面和下表面移动;The folding and bending mechanism is provided in two groups, which are disposed at two ends of the frame (11) and located above the F rail, and each set of the folding and bending mechanism is provided with a walking wheel pair (5) And a card wheel pair (2), wherein the pair of traveling wheels (5) is in contact with the upper surface of the F rail and moves along the upper surface of the F rail, the two cards of the card wheel pair (2) Position wheels are respectively in contact with the outer side surface and the lower surface of the F rail, and move along the outer side surface and the lower surface of the F rail;
    所述检测救援机构包括测距传感器(6)、摄像机(10)和救援接触杆(14),所述测距传感器(6)设在所述机架上,并位于两个F轨之间,所述摄像机(10)安装在所述机架的上方;所述救援接触杆(14)水平安装在所述机架的侧面,该救援接触杆(14)顶部设置有封装于杆内的电磁吸盘,该电磁吸盘包括线圈和导磁面板,该电磁吸盘利用电磁原理通过使内部线圈通电产生磁力,经过导磁面板,将接触在面板表面的工件紧紧吸住,并通过线圈断电磁力消失实现退磁,所述线圈置于软磁材料外壳之中并以环氧树脂浇封;The detection and rescue mechanism includes a distance measuring sensor (6), a camera (10) and a rescue contact rod (14), and the distance measuring sensor (6) is disposed on the frame and located between two F rails. The camera (10) is mounted above the frame; the rescue contact rod (14) is horizontally mounted on a side of the frame, and the top of the rescue contact rod (14) is provided with an electromagnetic chuck enclosed in the rod The electromagnetic chuck comprises a coil and a magnetic conductive panel. The electromagnetic chuck uses a magnetic principle to generate a magnetic force by energizing the inner coil, and the workpiece contacting the surface of the panel is tightly sucked through the magnetic conductive panel, and the electromagnetic force is broken by the coil. Demagnetizing, the coil is placed in a soft magnetic material casing and sealed with epoxy resin;
    所述自主巡航模块(7)安装在所述机架(11)的下方,其用于实现救援机器人沿着F轨自由行走。The autonomous cruise module (7) is mounted below the frame (11) for enabling the rescue robot to walk freely along the F-track.
  2. 如权利要求1所述的中低速磁悬浮救援机器人,其特征在于,所述自主巡航模块(7)包括导航系统、巡航计算任务控制模块和地面控制站通讯模块,所述导航系统包括惯性导航单元、GPS接收模块和行走量程测量单元,所述惯性导航单元用于测量所述机器人的三轴加速度,所述GPS接收模块用于测量机器人的经度、纬度和高度,所述行走量程测量单元用于测量机器人的行走里程;所述巡航计算任务控制模块包括巡航模块和控制模块,所述巡航模块分别与所述惯性导航单元、GPS接收模块和行走量程测量单元相连,所述惯性导航单元、 GPS接收模块和行走量程测量单元测量的数据作为输入信号输入至巡航模块中,该巡航模块根据输入的信号判断所述机器人的具体位置,并将机器人的具体位置反馈给地面控制站,所述控制模块与地面控制站通讯模块相连,其根据地面控制站通讯模块的行走指令控制机器人的行走。The medium-low speed magnetic levitation rescue robot according to claim 1, wherein the autonomous cruise module (7) comprises a navigation system, a cruise calculation task control module and a ground control station communication module, the navigation system comprising an inertial navigation unit, a GPS receiving module for measuring a triaxial acceleration of the robot, a GPS receiving module for measuring a longitude, a latitude and a height of the robot, the walking range measuring unit for measuring The cruise computing task control module includes a cruise module and a control module, and the cruise module is respectively connected to the inertial navigation unit, the GPS receiving module, and the walking range measuring unit, and the inertial navigation unit, The data measured by the GPS receiving module and the walking range measuring unit is input as an input signal to the cruise module, and the cruise module determines the specific position of the robot according to the input signal, and feeds back the specific position of the robot to the ground control station, the control The module is connected to the ground control station communication module, and controls the walking of the robot according to the walking instruction of the ground control station communication module.
  3. 如权利要求1或2所述的中低速磁悬浮救援机器人,其特征在于,每组所述折叠弯折机构上均设置有两组行走轮对(5)和两组卡位轮对(2),两组行走轮对(5)沿着所述F轨的延伸方向布置,并与F轨的上表面接触,两组卡位轮对(2)同样沿着所述F轨的延伸方向布置,并与F轨的外侧面和下表面接触。The medium and low speed magnetic levitation rescue robot according to claim 1 or 2, wherein each of the folding and bending mechanisms is provided with two sets of walking wheels (5) and two sets of card wheel sets (2), Two sets of walking wheels (5) are arranged along the extending direction of the F rails and are in contact with the upper surface of the F rails, and the two sets of the latching wheel pairs (2) are also arranged along the extending direction of the F rails, and It is in contact with the outer side and lower surface of the F rail.
  4. 如权利要求3所述的中低速磁悬浮救援机器人,其特征在于,所述折叠弯折机构包括行走轮安装板(12)和卡位轮折叠板(3),所述行走轮安装板竖直设置并安装在所述机架上,所述行走轮对(5)安装在所述行走轮安装板的下方,所述卡位轮折叠板(3)通过卡位轮连接支架安装在所述行走轮安装板的侧面,所述卡位轮对(2)安装在所述卡位轮折叠板(12)上,并与所述F轨的外侧面和下表面接触。A medium-low speed magnetic levitation rescue robot according to claim 3, wherein said folding and bending mechanism comprises a traveling wheel mounting plate (12) and a registration wheel folding plate (3), said walking wheel mounting plate being vertically arranged And mounted on the frame, the walking wheel pair (5) is installed under the traveling wheel mounting plate, and the card wheel folding plate (3) is mounted on the walking wheel through a card wheel connecting bracket On the side of the mounting plate, the card wheel set (2) is mounted on the card wheel folding plate (12) and is in contact with the outer side and lower surface of the F rail.
  5. 如权利要求4所述的中低速磁悬浮救援机器人,其特征在于,所述测距传感器(6)具体为超声波或红外测距传感器,其布置在所述机架的前后侧。The medium-low speed magnetic levitation rescue robot according to claim 4, wherein the distance measuring sensor (6) is specifically an ultrasonic or infrared ranging sensor which is disposed on the front and rear sides of the frame.
  6. 如权利要求5所述的中低速磁悬浮救援机器人,其特征在于,所述摄像机(10)通过伸缩杆(9)安装在所述机架的上方。A medium-low speed magnetic levitation rescue robot according to claim 5, wherein said camera (10) is mounted above said frame by a telescopic rod (9).
  7. 如权利要求6所述的中低速磁悬浮救援机器人,其特征在于,所述救援机器人还设置有F轨参数检测传感器(1),所述F轨参数检测传感器(1)设在所述折叠弯折机构上。The medium-low speed magnetic levitation rescue robot according to claim 6, wherein the rescue robot is further provided with an F-track parameter detecting sensor (1), and the F-track parameter detecting sensor (1) is disposed at the folding bend Institutional.
  8. 如权利要求1-7任意一项所述的中低速磁悬浮救援机器人,其特征在于,所述机架(11)上还设置有搭载物平台(15)。 The medium-low speed magnetic levitation rescue robot according to any one of claims 1 to 7, characterized in that the rack (11) is further provided with a carrier platform (15).
PCT/CN2017/077857 2016-08-31 2017-03-23 Rescue robot for medium and low speed maglev WO2018040546A1 (en)

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