Intelligent and efficient tying and caulking robot and method for side doors of train carriages

Abstract

The present invention relates to an intelligent and efficient tying and caulking robot and method for side doors of train carriages, comprising: a trolley capable of moving along railway tracks, the trolley being provided with a multi-degree-of-freedom mechanical arm and an operating head, and an intelligent identifier for the position of carriage doors; the trolley being provided with an explosion-proof integrated electrical box, and anti-collision detectors being provided at the four corners, the trolley also being provided with a wire supply disk and a caulking agent supply tank; a caulking agent spray gun being provided at one end of the operating head, and a wire tying pliers being provided at the other end. The present invention utilizes a mechanical arm mounted on the trolley, and the intelligent identifier for the position of carriage doors can accurately find the positions of door bolts and door buckles, as well as the positions of door gaps, and can quickly tie and spray caulking agent on multiple doors of freight carriages, thereby improving work efficiency and reducing labor intensity.

Description

Technical Field

[0001] The invention relates to an intelligent and efficient tying and caulking robot and method for side doors of train carriages, which is an auxiliary device for transport machinery and a mechanical device and method for tying doors of railway freight carriages. Background Art

[0002] After a period of use, freight train carriages are often squeezed and deformed, and doors are not tightly closed, which can easily lead to material leakage, threatening driving safety and causing environmental pollution. At present, the main method of preventing material leakage is to tie and caulk the train carriages manually, which is labor-intensive, time-consuming, inefficient, and unsafe. In addition, long-term use of caulking agents can cause harm to the human body. How to improve the efficiency of tying and caulking is a problem that needs to be solved. Summary of the invention

[0003] In order to overcome the problems of the prior art, the present invention proposes an intelligent and efficient tying and caulking robot and method for train compartment side doors. The robot and method use a mechanical arm to fasten the working head to the compartment door bolt and door buckle and spray caulking agent on the door gap, so as to replace the existing manual work, realize automatic and efficient tying and caulking of the train compartment side doors, improve work efficiency and reduce labor intensity.

[0004] The object of the present invention is achieved as follows: an intelligent and efficient tying and caulking robot for a side door of a train carriage, comprising: a trolley capable of moving along a railway track, the trolley being provided with a multi-degree-of-freedom mechanical arm and an operating head, and an intelligent identifier for the position of a carriage door; the trolley being provided with an explosion-proof integrated electrical box, and anti-collision detectors being provided at the four corners, the trolley being also provided with a wire supply reel and a caulking agent supply tank; a caulking agent spray gun being provided at one end of the operating head, and a wire tying pliers being provided at the other end.

[0005] Furthermore, the wire tying pliers are provided with a wire feeder, a cutting knife, a rotating seat capable of rotating more than 720 degrees, a clamping block, and two clamp arms capable of opening and closing in sequence, the clamp arms are provided with grooves capable of guiding the movement of the wire, and the clamp arms are provided with a forward guide plate and a return guide plate near the root.

[0006] Furthermore, the robotic arm is a two-dimensional polar coordinate robotic arm.

[0007] Furthermore, the car is electrically driven, and the power source is a power battery.

[0008] Furthermore, the running road surface of the trolley is a light rail or a hard road surface.

[0009] Furthermore, the vehicle door position intelligent identifier is one or a combination of infrared, laser radar or video recognition sensors.

[0010] Furthermore, the anti-collision detector is one or a combination of infrared, laser radar or video recognition sensors.

[0011] An intelligent and efficient tying and caulking method for a train compartment side door using the robot, the steps of the method are as follows:

[0012] Step 1, detecting the position of the door: the intelligent recognition device recognizes the door position and the tying position, and moves to the position to be tyed under the protection of the anti-collision device;

[0013] Step 2, reaching the position to be tied: under the guidance of the intelligent recognition device, the robot arm drives the operation head to move quickly, completes the wire taking and makes the wire tying pliers of the operation head reach the bundling position;

[0014] Step 3, wire tying: In the wire supply of the wire reel, the wire tying pliers drive the wire to tighten the bolt, and cut the wire after tightening; after one bolt is tightened, look for the second bolt, if there is no second bolt, go to the next step;

[0015] Step 4, identifying the door gap: the intelligent recognition device identifies the position of the door gap;

[0016] Step 5, spraying caulking agent: the operation head rotates, and under the guidance of the intelligent recognition device, the caulking agent nozzle of the operation head is aimed at the door gap, and the entire door gap is caulked under the drive of the robotic arm. After completion, it is determined whether there is another car door that needs to be bundled. If so, return to step 1, otherwise end.

[0017] Furthermore, the step 3 includes the following sub-steps:

[0018] Sub-step 1, holding the door bolt and the door catch: the two clamp arms of the wire tying pliers are open when reaching the bundling position, and after reaching the bundling position, the two clamp arms are closed to hold the door bolt and the door catch together, and the grooves in the two clamp arms are aligned;

[0019] Sub-step 2, winding: the wire feeder feeds the wire, and the wire first enters the groove along the front guide plate, and the wire is wound along the groove around the bolt and the door buckle and rotates back to the return guide plate, and the return guide plate guides the wire into the pressing block;

[0020] Sub-step 3, locking the wire: the pressing block locks the wire end;

[0021] Sub-step 4, cutting: the two clamp arms are opened, and the cutting knife is actuated at the same time to cut off the tail end of the locked wire, so that the wire wrapped around the door buckle and the door bolt is separated from the wire wrapped around the wire feeder;

[0022] Sub-step 5, tightening: the rotating seat drives the wire to rotate more than 720 degrees, and tightens the wire;

[0023] Sub-step 6, end: The wire pliers move back to complete the tightening of the bolt and door catch.

[0024] The advantages and beneficial effects of the present invention are as follows: the present invention utilizes a small vehicle-mounted mechanical arm, and the intelligent door position identifier of the carriage can accurately find the positions of the door bolts and door catches, as well as the positions of the door gaps, and quickly tighten and spray caulking agent on multiple doors of the freight carriage, thereby improving work efficiency and reducing labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 is a schematic structural diagram of the robot according to the first embodiment of the present invention;

[0027] Figure 2 It is a schematic diagram of the door of an open carriage;

[0028] Figure 3 This is a schematic diagram of the door bolt and door buckle binding. Figure 2 Enlarged view of point B in the middle;

[0029] Figure 4 is a structural schematic diagram of the wire tying pliers according to the second embodiment of the present invention;

[0030] Figure 5 It is a flow chart of the method described in Embodiment 8 of the present invention. DETAILED DESCRIPTION

[0031] Embodiment 1:

[0032] This embodiment is an intelligent and efficient tying and caulking robot for train compartment side doors. Figure 1 This embodiment comprises: a trolley 1 capable of moving along a railway track, the trolley being provided with a multi-degree-of-freedom mechanical arm 2 and an operation head 3, and a compartment door position intelligent identifier 4; the trolley being provided with an explosion-proof integrated electrical box 5, and anti-collision detectors 6 at four corners, the trolley being provided with a wire supply disk 7 and a caulking agent supply tank 8; a caulking agent spray gun 301 being provided at one end of the operation head, and a wire tying pliers 302 being provided at the other end.

[0033] The trolley described in this embodiment can use a light rail or a cement or asphalt road parallel to the railway line, so that the trolley can run along the railway and operate on the carriage. The trolley can use a power battery to ensure its operation and operation.

[0034] The working carriage 9 in this embodiment is a railway standard open carriage, and there are multiple doors on the side of the carriage, such as Figure 2As shown, six top-hung doors 901 are usually arranged on one side, and a swing door 902 is arranged in the middle. Top-hung doors usually have two bolts 903 and door buckles 904 that need to be tied, while swing doors only have one bolt and door buckle that need to be tied. Although the bolts and door buckles of top-hung doors and swing doors are different in size, they are in the same form, and the tying method of the tying wire 905 is also the same, such as Figure 3 As shown. The door seams of each door need to be sprayed with caulking agent.

[0035] The robotic arm is an automated device that can determine the position of the working head by rotating itself. It usually has at least two degrees of freedom, and can achieve three-dimensional operation when combined with the operation of the trolley.

[0036] The working head includes two working devices, one is a wire tying pliers for tying car doors, and the other is a spray gun for spraying caulking agent at the door gap. The spray gun has a liquid supply tank to supply caulking agent and sprays along the door gap. The wire tying pliers are relatively complicated. The wire tying process requires the wire to be passed around the door bolt and door buckle, turned back to the front and tightened. There are many options for wire tying pliers. Two manipulators can be used to simulate human wire tying actions, or other methods can be used.

[0037] The intelligent door position identifier can be a device that directly commands the position of the operating head, or a feedback device that guides the robot arm to find the operating position. The intelligent door position identifier can be a sensor such as infrared, laser radar or video recognition, or a combination of two or more devices.

[0038] The anti-collision detector is installed at the four corners of the car to automatically identify the operating environment of the car to avoid collision with people or other vehicles. The anti-collision detector can be a sensor such as infrared, laser radar or video recognition, or a combination of two or more devices.

[0039] Embodiment 2:

[0040] This embodiment is an improvement of the first embodiment, and is a refinement of the first embodiment regarding the wire tying pliers. The wire tying pliers described in this embodiment are provided with a wire feeder 3021, a cutting knife 3022, a rotating seat 3023 capable of rotating at an angle of more than 720 degrees, a pressing block 3024, and two clamp arms 3025 capable of opening and closing. The clamp arms are provided with grooves 30251 capable of guiding the movement of the wire tying, and the clamp arms are provided with a forward guide piece 3026 and a return guide piece 3027 near the root, such as Figure 4 shown.

[0041] The basic idea of ​​the wire tying pliers described in this embodiment is that when the two pliers arms are put together (such as Figure 4The wire is then tightened by a series of actions such as fixing the head and tail ends, cutting off the tail ends, and tightening the wire.

[0042] The wire feeder can use two wheels with rims facing each other, squeeze and rotate the shaft to send out the wire and form the previous push action. It can also be in the form of a clamping wheel, that is, a wheel with a V-shaped rim is used, the wire is placed in the V-shaped groove, and when the clamping wheel rotates, the friction force on both sides of the V-shaped groove is used to push the wire forward.

[0043] The cutting knife should be able to cut off the tail end of the wire tie. For neatness and beauty, the head end and the tail end of the wire tie can also be cut off at the same time.

[0044] The rotating seat can be rotated by a rotating shaft 30231 (see Figure 4 ) drives the rotation, and a clamping block is provided on the rotating seat, which can clamp and fix the head end and tail end of the wire.

[0045] One end of the clamp arm is provided with a rotating shaft so that the clamp arm can swing open and close. The other end of the clamp arm is semicircular. The two clamp arms together are close to a circle, which is used to form a close embrace of the door bolt and the door buckle. A groove is provided in the clamp arm, and the function of the groove is to guide the movement of the wire head. The opening and closing of the two clamp arms can use a power device such as an electric push rod or a hydraulic cylinder, a cylinder, etc.

[0046] The forward guide piece and the return guide piece are two elastic guide pieces, which can block the movement of the head end of the wire tie. When the clamp arm is opened, they can spring open to release the wire tie from the groove.

[0047] Embodiment three:

[0048] This embodiment is an improvement of the above embodiment and a refinement of the above embodiment regarding the mechanical arm. The mechanical arm described in this embodiment is a two-dimensional polar coordinate mechanical arm.

[0049] The robot arm described in this embodiment is composed of two articulated arms, which realize the motion trajectory of the working head on the x and y planes, and realize the x, y, z three-dimensional motion trajectory through the movement of the trolley (constituting the z-axis motion trajectory). The motion trajectory can be controlled according to the rotation coordinates on the robot arm and the linear coordinates on the trolley, and corrected by the intelligent identifier of the car door position.

[0050] Embodiment 4:

[0051] This embodiment is an improvement of the above embodiment and a refinement of the above embodiment regarding the small vehicle. The small vehicle described in this embodiment is electrically driven, and the power source is a power battery.

[0052] The car described in this embodiment is an unmanned car that automatically searches for a work location. It is powered by a power battery and cooperates with automatic driving software to achieve autonomous operation.

[0053] Embodiment five:

[0054] This embodiment is an improvement of the above embodiment and is a refinement of the above embodiment with respect to the trolley. The running road surface of the trolley described in this embodiment is a light rail or a hard road surface.

[0055] Since the operation points of the trolleys are all on the railway side, light rails or hard roads can be set on both sides of the railway with a length of about one or two carriages so that the trolleys can run on both sides of the carriages. The hard road surface can be a cement road surface or an asphalt road surface to match the rubber tires of the trolleys.

[0056] Embodiment six:

[0057] This embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding the intelligent door position identifier. The intelligent door position identifier described in this embodiment is one or a combination of infrared, laser radar or video recognition sensors.

[0058] Infrared and laser radar can recognize the car door through distance measurement calculation, while the video recognition sensor (camera) can image the car door to determine the working position.

[0059] Embodiment seven:

[0060] This embodiment is an improvement of the above embodiment and a refinement of the anti-collision detector in the above embodiment. The anti-collision detector in this embodiment is one or a combination of infrared, laser radar or video recognition sensors.

[0061] Infrared and laser radar can detect whether there are any foreign objects around the car through distance measurement calculations, while video recognition sensors (cameras) can detect the environment around the car through images to avoid collision accidents.

[0062] Embodiment eight:

[0063] This embodiment is a method for intelligently and efficiently tying and caulking the side doors of train carriages using the above-mentioned robot. The steps of the method are as follows: (see the process Figure 5 ):

[0064] Step 1, detect the position of the car door: the intelligent recognition device identifies the door position and the tying position, and moves to the tying position under the protection of the anti-collision detector.

[0065] Since carriages usually have multiple doors, the positions of the doors need to be identified. The gaps between carriages can be used to identify the first door. When the trolley reaches the center, it should be able to identify the swing door in the middle. Before identification, various information about the carriage should be obtained from the host computer, including the position, size, and bolt position of the doors. Then, the route and process of the trolley operation should be planned according to the position of each door, so as to operate on the optimal route.

[0066] Step 2, arrive at the position to be tied: under the guidance of the intelligent recognition device, the robotic arm drives the operating head to move quickly, completes the wire taking and makes the wire tying pliers of the operating head reach the bundling position.

[0067] When the trolley recognizes the door currently being operated, the intelligent door position identifier can identify the binding position of the door bolt and door catch, and align the wire tying pliers with the wire binding position.

[0068] Step 3, wire tying: In the wire supply of the wire reel, the wire tying pliers drive the wire to tighten the door bolt, and cut the wire after tightening; after one door bolt is tightened, look for the second door bolt, if there is no second door bolt, go to the next step.

[0069] The wire tying pliers pass the wire through the back of the bolt and door catch, and then go around to the front to tighten. After tightening, the wire tying pliers retreat and detect whether there is another bolt and door catch that needs to be tied according to the recorded car data. If not, the caulking agent is sprayed.

[0070] Step 4, identifying the door gap: the intelligent recognition device identifies the position of the door gap.

[0071] First, based on the current vehicle information, the position of the door gap is identified through the intelligent door position identifier, and then the optimal route for the sealant spray gun to move is determined.

[0072] Step 5, spraying caulking agent: the operation head rotates, and under the guidance of the intelligent recognition device, the caulking agent nozzle of the operation head is aimed at the door gap, and the entire door gap is caulked under the drive of the robotic arm. After completion, it is determined whether there is another car door that needs to be bundled. If so, return to step 1, otherwise end.

[0073] For the bundling and spraying operation of an entire train, when the caulking of a door is completed, it is necessary not only to identify whether this operation is the last door of the current car, but also to determine whether it is the last car of the train in order to complete the operation of the entire train.

[0074] Embodiment nine:

[0075] This embodiment is an improvement of the eighth embodiment, and is a refinement of step 3 of the eighth embodiment. Step 3 described in this embodiment includes the following sub-steps:

[0076] Sub-step 1, holding the door bolt and the door catch: the two clamp arms of the wire tying pliers are open when reaching the bundling position. After reaching the bundling position, the two clamp arms are closed to hold the door bolt and the door catch together, and the grooves in the two clamp arms are aligned.

[0077] The purpose of holding the bolt and the door buckle with the two clamp arms of the wire tying pliers is to provide a passage for the wire to go around from the front of the bolt and the door buckle to the back of the bolt and the door buckle so that the wire can be passed around.

[0078] Sub-step 2, winding: the wire feeder feeds the wire, and the wire first enters the groove along the front guide plate, and the wire wraps around the bolt and the door buckle along the groove and rotates back to the return guide plate, and the return guide plate guides the wire into the clamping block.

[0079] Utilize the groove in the wire tie pliers and the channel formed by the two baffles, utilize the thrust of the wire feeder to push the wire forward, the forward guide piece turns the wire around the bend of the pliers arm, and then under the guidance of the groove, bypasses the bolt and the door catch, and enters the return guide piece. The return guide piece forces the wire to turn around the bend of the pliers arm again, so that the head of the wire enters the wire tie pliers parallel to the tail end of the wire, ready for tightening.

[0080] Sub-step 3, locking the wire: the pressing block is moved to lock the end of the wire.

[0081] After the head and tail ends of the wire are aligned, the clamping block clamps and fixes the head and tail ends of the wire, or only the tail end of the wire can be clamped to improve the conditions for tightening.

[0082] Sub-step 4, cutting: the two clamp arms are opened, and the cutting knife is actuated at the same time to cut off the tail end of the locked wire, so that the wire wrapped around the door buckle and the door bolt is separated from the wire coiled on the wire feeder.

[0083] In order not to hinder the rotation, the two clamp arms need to be opened, and when the two clamp arms are opened, the two guide pieces are also opened together, so that the wire is separated from the groove of the clamp arm, and the cutting knife cuts off the tail end of the wire.

[0084] Sub-step 5, tightening: the rotating seat drives the wire to rotate more than 720 degrees and tightens the wire.

[0085] Tighten it at least twice to make it tight.

[0086] Sub-step 6, end: The wire pliers move back to complete the tightening of the bolt and door catch.

[0087] Finally, it should be noted that the above is only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred arrangement scheme, a person skilled in the art should understand that the technical solution of the present invention (such as the form of the carriage, the form and operation mode of the trolley, the sequence of steps, etc.) can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for intelligently and efficiently tying and caulking the side doors of train carriages using an intelligently and efficiently tying and caulking robot for the side doors of train carriages, wherein the robot used in the method comprises: A trolley capable of moving along a railway track, the trolley being provided with a multi-degree-of-freedom mechanical arm and an operating head, and an intelligent identifier for the position of a carriage door; the trolley being provided with an explosion-proof integrated electrical box, and anti-collision detectors being provided at the four corners, the trolley being further provided with a wire supply disk and a caulking agent supply tank; a caulking agent spray gun being provided at one end of the operating head, and a wire tying pliers being provided at the other end, the wire tying pliers being provided with a wire feeder, a cutting knife, a rotating seat capable of rotating at an angle of more than 720 degrees, a pressing block, and two clamp arms capable of opening and closing, the clamp arms being provided with grooves capable of guiding the movement of the wire tying, and the clamp arms being provided with a forward guide piece and a return guide piece near the root; The method is characterized in that the steps are as follows: Step 1, detecting the position of the door: the intelligent recognition device recognizes the door position and the tying position, and moves to the position to be tyed under the protection of the anti-collision device; Step 2, reaching the position to be tied: under the guidance of the intelligent recognition device, the robot arm drives the operation head to move quickly, completes the wire taking and makes the wire tying pliers of the operation head reach the bundling position; Step 3, wire tying: In the wire supply of the wire reel, the wire tying pliers drive the wire to tighten the bolt, and cut the wire after tightening; after one bolt is tightened, look for the second bolt, if there is no second bolt, go to the next step; Step 4, identifying the door gap: the intelligent recognition device identifies the position of the door gap; Step 5, spraying caulking agent: the operation head rotates, and under the guidance of the intelligent recognition device, the caulking agent nozzle of the operation head is aimed at the door gap, and the entire door gap is caulked under the drive of the robotic arm. After completion, it is determined whether there is another door that needs to be bundled. If yes, it returns to step 1, otherwise it ends; The step 3 includes the following sub-steps: Sub-step 1, holding the door bolt and the door catch: the two clamp arms of the wire tying pliers are open when reaching the bundling position, and after reaching the bundling position, the two clamp arms are closed to hold the door bolt and the door catch together, and the grooves in the two clamp arms are aligned; Sub-step 2, winding: the wire feeder feeds the wire, and the wire first enters the groove along the front guide plate, and the wire is wound along the groove around the bolt and the door buckle and rotates back to the return guide plate, and the return guide plate guides the wire into the pressing block; Sub-step 3, locking the wire: the pressing block locks the wire end; Sub-step 4, cutting: the two clamp arms are opened, and the cutting knife is actuated at the same time to cut off the tail end of the locked wire, so that the wire wrapped around the door buckle and the door bolt is separated from the wire wrapped around the wire feeder; Sub-step 5, tightening: the rotating seat drives the wire to rotate more than 720 degrees, and tightens the wire; Sub-step 6, end: The wire pliers move back to complete the tightening of the bolt and door catch.

2. According to claim 1, the method for intelligent and efficient tying and caulking of train compartment side doors using the robot is characterized in that: The mechanical arm is a two-dimensional polar coordinate mechanical arm.

3. According to claim 2, the method for intelligent and efficient tying and caulking of train compartment side doors using the robot is characterized in that: The car is driven by electricity, and the power source is a power battery.

4. According to claim 3, the method for intelligent and efficient tying and caulking of train compartment side doors using the robot is characterized in that: The running road surface of the trolley is a light rail or a hard road surface.

5. According to claim 4, the method for intelligent and efficient tying and caulking of train compartment side doors using the robot is characterized in that: The vehicle door position intelligent identifier is one or a combination of infrared, laser radar or video recognition sensors.

6. According to claim 5, the method for intelligent and efficient tying and caulking of train compartment side doors using the robot is characterized in that: The anti-collision detector is one or a combination of infrared, laser radar or video recognition sensors.

Images