Automatic maintenance vehicle for station ceiling screws

Abstract

The invention discloses an automatic maintenance vehicle for station ceiling screws. The automatic maintenance vehicle comprises a movable vehicle body, a screw position recognition device arranged on the movable vehicle body, a screw maintenance device and a driving device used for driving the screw maintenance device to move to the position above the screws needing to be maintained in a station ceiling. The screw position recognition device is used for recognizing the position of a screw to be overhauled and sending recognized position information to the control system. The control system is used for driving the movable vehicle body to move to the position corresponding to a screw to be overhauled and controlling the driving device to drive the screw overhauling device to move to the position above the screw needing to be overhauled in a station ceiling. And the screw overhauling device is used for overhauling the screws to be overhauled. The station ceiling screw automatic maintenance vehicle can automatically maintain the screws of the station ceiling, so that the maintenance efficiency can be improved, the maintenance cost can be reduced, and safety accidents during maintenance are avoided.

Description

Technical Field

[0001] The invention relates to a station ceiling screw maintenance device, in particular to an automatic station ceiling screw maintenance vehicle. Background Art

[0002] At present, the maintenance of station ceiling screws still adopts the traditional manual method, which requires maintenance personnel to climb up the station ceiling to reinforce the screws. The shapes of station ceilings are different, some are curved and the screws are far away from the stable support point for human standing, which brings great inconvenience to the maintenance work of maintenance personnel. Therefore, the manual maintenance method is not only inefficient, but also easy to cause safety accidents.

[0003] Therefore, in order to improve maintenance efficiency, reduce maintenance costs and avoid the occurrence of safety accidents, it is necessary to design a maintenance equipment that can automatically perform automatic maintenance on station ceiling screws. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the present invention provides an automatic maintenance vehicle for station ceiling screws, which can automatically inspect and repair the screws of the station ceiling, thereby not only improving the maintenance efficiency but also reducing the maintenance cost, and also avoiding the occurrence of safety accidents during maintenance.

[0005] The technical solution of the present invention to solve the above technical problems is:

[0006] An automatic inspection vehicle for station ceiling screws comprises a mobile body, a screw position identification device arranged on the mobile body, a screw inspection device and a driving device for driving the screw inspection device to move to above the screws in the station ceiling that need to be inspected, wherein the screw position identification device is used to identify the position of the screw to be inspected and send the identified position information to a control system; the control system is used to drive the mobile body to move to the position corresponding to the screw to be inspected and drive the screw inspection device to move to above the screw to be inspected in the station ceiling by controlling the driving device; and the screw inspection device is used to inspect the screws to be inspected.

[0007] Preferably, the driving device and the screw repairing device are both in two groups, and the two groups of driving devices and the two groups of screw repairing devices are symmetrically arranged on both sides of the mobile vehicle body.

[0008] Preferably, the driving device includes a rotating seat, a movable guide rail arranged on the rotating seat, and an X-axis swing driving mechanism for driving the movable guide rail to swing around the X-axis, wherein the screw inspection device is installed on the movable guide rail; the rotating seat and the mobile vehicle body are connected by a first rotating member; the X-axis swing driving mechanism includes a linear drive arranged on both sides of the rotating seat, the linear drive is installed on the mobile vehicle body, and the driving end of the linear drive is connected to the rotating seat through a second rotating member.

[0009] Preferably, the first rotating member includes a rotating sleeve and a rotating part arranged on the rotating sleeve, wherein the axial direction of the rotating sleeve is perpendicular to the axial direction of the rotating part; the rotating sleeve is sleeved on the supporting shaft of the mobile vehicle body, and the rotating part is rotatably connected to the middle part of the rotating seat; the second rotating member includes a first rotating shaft arranged on the driving end of the linear drive and a second rotating shaft arranged on the first rotating shaft, wherein the first rotating shaft and the second rotating shaft are arranged vertically, one end of the second rotating shaft is rotatably connected to the first rotating shaft, and the other end is rotatably connected to the rotating seat.

[0010] Preferably, the driving end of the linear drive is hingedly connected to the rotating seat, and the axial direction of the hinge point is parallel to the axial direction of the rotating part; the base of the linear drive is connected to the mobile body through a universal bearing structure.

[0011] Preferably, when the movement strokes of the driving ends of the two sets of linear actuators are consistent, the movable guide rail swings around the X-axis; when the movement strokes of the driving ends of the two sets of linear actuators are inconsistent, the movable guide rail swings around the Y-axis.

[0012] Preferably, the movable guide rails are in two groups, one end of the two groups of movable guide rails are respectively mounted on the rotating seat, and the other end is connected via a connecting seat.

[0013] Preferably, the screw position identification device includes an image recognition module arranged on the mobile body or the connecting seat, and the image recognition module is used to collect image information of the screws on the station ceiling and send it to the control system. The control system processes the collected image information and calculates the relative position relationship between the screws to be inspected and the mobile body.

[0014] Preferably, the screw repair device includes a mobile frame, a walking mechanism arranged on the mobile frame for driving the mobile frame to move on the mobile guide rail, and a screw disassembly and assembly mechanism for installing and removing screws, wherein the screw disassembly and assembly mechanism includes an electric wrench and a lifting drive mechanism for driving the electric wrench to rise and fall; the walking mechanism includes a roller group arranged on both sides of the mobile frame and a walking drive mechanism for driving the roller group to rotate, wherein the roller group includes an upper roller arranged on the upper side of the mobile guide rail and a lower roller arranged on the lower side of the mobile guide rail; the upper roller and the lower roller are respectively matched with guide rail grooves arranged on the upper and lower sides of the mobile guide rail; the walking drive mechanism is used to drive the upper roller and / or the lower roller to rotate.

[0015] Preferably, a plurality of groups of suction cup positioning devices are provided at the bottom of the mobile body, and when the mobile body moves to a preset position, the suction cups in the suction cup positioning devices extend out and are adsorbed on the ceiling of the station.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0017] 1. The automatic maintenance vehicle for station ceiling screws of the present invention can replace manual work, thereby reducing the number of manual tasks for station ceiling screw maintenance, lowering the accident rate of ceiling screw maintenance tasks, and improving the working environment of station ceiling screw maintenance staff.

[0018] 2. The automatic maintenance vehicle for station ceiling screws of the present invention can automatically perform maintenance on the screws of the station roof, which can not only improve the maintenance efficiency but also reduce the maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 and Figure 2 Schematic diagrams of results from two different viewing angles of the automatic inspection vehicle for station ceiling screws of the present invention.

[0020] Figure 3 It is a structural schematic diagram of the screw maintenance device.

[0021] Figure 4 A schematic diagram of the structure of the driving device.

[0022] Figure 5 It is a structural schematic diagram of the mobile body and the X-axis swing drive mechanism.

[0023] Figure 6 It is a schematic structural diagram of the first rotating member.

[0024] Figure 7 It is a schematic structural diagram of the second rotating member. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0026] See also Figure 1-Figure 7 The automatic maintenance vehicle for station ceiling screws of the present invention comprises a mobile body 1, a screw position identification device arranged on the mobile body 1, a screw maintenance device 5 and a driving device for driving the screw maintenance device 5 to move to above the screws that need to be inspected in the station ceiling, wherein the screw position identification device is used to identify the position of the screw to be inspected and send the identified position information to the control system; the control system is used to drive the mobile body 1 to move to the corresponding position of the screw to be inspected and drive the screw maintenance device 5 to move to above the screws that need to be inspected in the station ceiling by controlling the driving device; the screw maintenance device 5 is used to inspect the screws to be inspected.

[0027] In this embodiment, the driving device and the screw repairing device 5 are both in two groups, and the two groups of driving devices and the two groups of screw repairing devices 5 are symmetrically arranged on both sides of the mobile vehicle body 1.

[0028] See also Figure 1-Figure 7 , the driving device includes a rotating seat 6, a moving guide rail 2 arranged on the rotating seat 6, and an X-axis swing driving mechanism for driving the moving guide rail 2 to swing around the X-axis, wherein the screw repair device 5 is installed on the moving guide rail 2; the rotating seat 6 is connected to the moving vehicle body 1 through a first rotating member 8; the X-axis swing driving mechanism includes a linear driver 7 arranged on both sides of the rotating seat 6, the linear driver 7 is installed on the moving vehicle body 1, and the driving end of the linear driver 7 is connected to the rotating seat 6 through a second rotating member 11; in this embodiment, the linear driver 7 adopts a linear electric cylinder or an electric push rod;

[0029] Through the above-mentioned arrangement, when the automatic inspection vehicle for station ceiling screws of the present invention is not in a working state, the X-axis swing drive mechanisms on both sides drive the rotating seats 6 on both sides to swing upward, thereby driving the movable guide rails 2 on both sides to swing upward, so as to facilitate the folding and storage of the movable guide rails 2; during operation and when the movable vehicle body 1 moves to a specific position, the X-axis swing drive mechanisms on both sides drive the rotating seats 6 on both sides to swing downward, thereby driving the movable guide rails 2 on both sides to swing downward, so that the movable guide rails 2 in the folded state are unfolded; then, the screw inspection device 5 moves on the movable guide rail 2, and then reaches directly above the screw to be inspected and inspects the screw.

[0030] See also Figure 1-Figure 7, considering that some station ceilings are not horizontal, for example, they may be arched, so it is necessary to adjust the posture of the screw inspection device 5, so the following design is made:

[0031] The first rotating member 8 includes a rotating sleeve 801 and a rotating portion 802 disposed on the rotating sleeve 801, wherein the axis direction of the rotating sleeve 801 is perpendicular to the axis direction of the rotating portion 802; the rotating sleeve 801 is sleeved on the supporting shaft 9 of the mobile vehicle body 1, and the rotating portion 802 is rotatably connected to the middle portion of the rotating seat 6;

[0032] The second rotating member 11 includes a first rotating shaft 111 arranged on the driving end of the linear drive 7 and a second rotating shaft 112 arranged on the first rotating shaft 111, wherein the first rotating shaft 111 and the second rotating shaft 112 are vertically arranged, and one end of the second rotating shaft 112 is rotatably connected to the first rotating shaft 111, and the other end is rotatably connected to the rotating seat 6.

[0033] Through the above arrangement, the rotating seat 6 can not only rotate around the rotating part 802, but also the rotating seat 6 and the first rotating member 8 can jointly rotate around the supporting shaft 9 on the mobile body 1, so that the movable guide rail 2 can not only rotate around the X-axis (i.e. the axial direction of the rotating sleeve 801), but also around the Y-axis (i.e. the axial direction of the rotating part 802); the driving end of the linear drive 7 is hinged to the rotating seat 6, and the axial direction of the hinge point is parallel to the axial direction of the rotating part 802; the base of the linear drive 7 is connected to the mobile body 1 through a universal bearing structure; when the movement strokes of the driving ends of the two sets of linear drives 7 are consistent, the movable guide rail 2 swings up and down around the X-axis; when the movement strokes of the driving ends of the two sets of linear drives 7 are inconsistent, the movable guide rail 2 swings back and forth around the Y-axis;

[0034] Through the above-mentioned arrangement, the position and posture of the movable guide rail 2 and the screw repair device 5 arranged on the movable guide rail 2 can be adjusted by controlling the movement speed of the driving ends of the two groups of linear drivers 7, and the angle of the screw repair device 5 can be limited by ultimately controlling the movement stroke of the driving ends of the two groups of linear drivers 7, so as to realize the inspection of screws on different planes; in this process, since the base of the linear driver 7 is connected to the mobile body 1 through a universal bearing structure, when the movement stroke of the driving ends of the two groups of linear drivers 7 is inconsistent, the base of the linear driver 7 can swing at an adaptive angle to avoid interference with the position and posture adjustment of the screw repair device 5.

[0035] See also Figure 1-Figure 7The movable guide rails 2 are divided into two groups, one end of each of the two groups of movable guide rails 2 is respectively mounted on the rotating seat 6, and the other end is connected through the connecting seat 3; in this embodiment, the movable guide rails 2 are composed of several guide rail units connected by threads, and the length of the movable guide rails 2 can be extended or shortened according to actual conditions.

[0036] See also Figure 1-Figure 7 The screw position identification device includes an image recognition module (such as a camera) arranged on the mobile body 1 or the connecting seat 3. The image recognition module is used to collect image information of the screws on the station ceiling and send it to the control system. The control system processes the collected image information, and calculates the position relationship between the screw to be inspected and the mobile body 1 through the position relationship between the camera and the screw to be inspected and the position relationship between the camera and the mobile body 1, so as to control the movement stroke of the mobile body 1 and the screw inspection device 5, so that the screw inspection device 5 moves to the top of the screw to be inspected, and then adjusts the posture of the screw inspection device 5 according to the installation angle of the screw to be inspected, so as to realize the inspection of the screw to be inspected.

[0037] See also Figure 1-Figure 7 The screw repair device 5 includes a moving frame 504, a walking mechanism arranged on the moving frame 504 for driving the moving frame 504 to move on the moving guide rail 2, and a screw disassembly mechanism 503 for installing and disassembling screws, wherein:

[0038] The screw disassembly and assembly mechanism 503 includes an electric wrench and a lifting drive mechanism for driving the electric wrench to lift and lower; the electric wrench can provide a torque value range of 0.73Nm (kgf.m)-412N.m (kgf.m), and the nut fitting part at the end can be replaced to cope with different types of maintenance screws. The electric wrench in this embodiment can be implemented using an existing electric wrench, and the lifting drive mechanism can be driven by a linear motor;

[0039] The walking mechanism includes a roller group 501 arranged on both sides of the moving frame 504 and a walking drive mechanism for driving the roller group 501 to rotate, wherein the roller group 501 includes an upper roller arranged on the upper side of the moving guide rail 2 and a lower roller arranged on the lower side of the moving guide rail 2; the upper roller and the lower roller are respectively matched with the guide rail grooves arranged on the upper and lower sides of the moving guide rail 2, so as to limit the moving frame 504 in the up and down directions and the front and back directions; wherein there are two upper rollers and two lower rollers on each side of the moving frame 504; the walking drive mechanism is used to drive the upper roller and / or the lower roller to rotate, thereby driving the moving frame 504 and the screw disassembly mechanism 503 arranged on the moving frame 504 to move to the specified position;

[0040] In this embodiment, the upper roller and the lower roller are independently driven by a micro motor 502; the upper roller and the lower roller clamp the movable guide rail 2 and then rotate in reverse to achieve the walking effect of the working part.

[0041] See also Figure 1-Figure 7 A distance sensor 4 is provided on the connecting seat 3, and the distance sensor 4 is used to detect the movement stroke of the screw repair device 5 to ensure its position accuracy.

[0042] See also Figure 1-Figure 7 A plurality of suction cup positioning devices are arranged at the bottom of the mobile body 1. When the mobile body 1 moves to a preset position, the suction cups in the suction cup positioning devices extend out and are adsorbed on the ceiling of the station, thereby positioning the mobile body 1. This prevents the vibration generated during the operation of the screw inspection device 5 from causing the mobile body 1 to shift, thereby further ensuring the position accuracy of the screw inspection device 5 during inspection.

[0043] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An automatic maintenance vehicle for station ceiling screws, characterized in that: It includes a mobile body, a screw position identification device arranged on the mobile body, a screw inspection device and a driving device for driving the screw inspection device to move to the top of the screw that needs to be inspected in the station ceiling, wherein the screw position identification device is used to identify the position of the screw to be inspected and send the identified position information to the control system; the control system is used to drive the mobile body to move to the corresponding position of the screw to be inspected and drive the screw inspection device to move to the top of the screw that needs to be inspected in the station ceiling by controlling the driving device; and the screw inspection device is used to inspect the screw to be inspected.

2. The automatic station ceiling screw maintenance vehicle according to claim 1 is characterized in that: The driving device and the screw repairing device are both in two groups, and the two driving devices and the two screw repairing devices are symmetrically arranged on both sides of the mobile vehicle body.

3. The automatic station ceiling screw maintenance vehicle according to claim 2 is characterized in that: The driving device includes a rotating seat, a movable guide rail arranged on the rotating seat, and an X-axis swing driving mechanism for driving the movable guide rail to swing around the X-axis, wherein the screw repair device is installed on the movable guide rail; the rotating seat and the mobile vehicle body are connected by a first rotating member; the X-axis swing driving mechanism includes a linear driver arranged on both sides of the rotating seat, the linear driver is installed on the mobile vehicle body, and the driving end of the linear driver is connected to the rotating seat through a second rotating member.

4. The automatic station ceiling screw maintenance vehicle according to claim 3 is characterized in that: The first rotating member includes a rotating sleeve and a rotating part arranged on the rotating sleeve, wherein the axial direction of the rotating sleeve is perpendicular to the axial direction of the rotating part; the rotating sleeve is sleeved on the supporting shaft of the mobile vehicle body, and the rotating part is rotatably connected to the middle part of the rotating seat; the second rotating member includes a first rotating shaft arranged on the driving end of the linear drive and a second rotating shaft arranged on the first rotating shaft, wherein the first rotating shaft and the second rotating shaft are vertically arranged, one end of the second rotating shaft is rotatably connected to the first rotating shaft, and the other end is rotatably connected to the rotating seat.

5. The automatic station ceiling screw maintenance vehicle according to claim 4 is characterized in that: The driving end of the linear drive is hingedly connected to the rotating seat, and the axial direction of the hinge point is parallel to the axial direction of the rotating part; the base of the linear drive is connected to the mobile body through a universal bearing structure.

6. The automatic station ceiling screw maintenance vehicle according to claim 5 is characterized in that: When the movement strokes of the driving ends of the two sets of linear actuators are consistent, the movable guide rail swings around the X-axis; when the movement strokes of the driving ends of the two sets of linear actuators are inconsistent, the movable guide rail swings around the Y-axis.

7. The automatic station ceiling screw maintenance vehicle according to claim 5 is characterized in that: The movable guide rails are divided into two groups, one end of each of the two groups of movable guide rails is respectively mounted on the rotating seat, and the other end is connected via a connecting seat.

8. The automatic station ceiling screw maintenance vehicle according to claim 7 is characterized in that: The screw position identification device includes an image recognition module arranged on the mobile body or the connecting seat. The image recognition module is used to collect image information of the screws on the station ceiling and send it to the control system. The control system processes the collected image information and calculates the relative position relationship between the screws to be inspected and the mobile body.

9. The automatic station ceiling screw maintenance vehicle according to claim 7, characterized in that: The screw repair device includes a mobile frame, a walking mechanism arranged on the mobile frame for driving the mobile frame to move on the mobile guide rail, and a screw disassembly and assembly mechanism for installing and removing screws, wherein the screw disassembly and assembly mechanism includes an electric wrench and a lifting drive mechanism for driving the electric wrench to rise and fall; the walking mechanism includes a roller group arranged on both sides of the mobile frame and a walking drive mechanism for driving the roller group to rotate, wherein the roller group includes an upper roller arranged on the upper side of the mobile guide rail and a lower roller arranged on the lower side of the mobile guide rail; the upper roller and the lower roller are respectively matched with the guide rail grooves arranged on the upper and lower sides of the mobile guide rail; the walking drive mechanism is used to drive the upper roller and / or the lower roller to rotate.

10. The automatic station ceiling screw maintenance vehicle according to claim 1, characterized in that: A plurality of groups of suction cup positioning devices are arranged at the bottom of the mobile vehicle body. When the mobile vehicle body moves to a preset position, the suction cups in the suction cup positioning devices extend out and are adsorbed on the ceiling of the station.

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