Automatic maintenance vehicle for station roof screws

Abstract

The application discloses a kind of station ceiling screw automatic maintenance vehicles, including mobile car body, be set on mobile car body screw position identification device, screw maintenance device and be used to drive the drive device of screw maintenance device movement to the above of screw needing maintenance in station ceiling;The screw position identification device is used to identify the position of the screw to be maintained, and the position information identified is sent to control system;The control system is used to drive mobile car body movement to the corresponding position with the screw to be maintained and by controlling drive device drive screw maintenance device movement to the above of screw needing maintenance in station ceiling;The screw maintenance device is then used to maintain the screw to be maintained.The station ceiling screw automatic maintenance vehicle of the application can automatically realize the maintenance of the screw of station ceiling, so not only can improve the maintenance efficiency, but also can reduce the maintenance cost, avoid the occurrence of safety accidents during maintenance.

Description

Technical Field

[0001] This invention relates to a railway station roof screw inspection and maintenance device, specifically to an automatic railway station roof screw inspection and maintenance vehicle. Background Technology

[0002] Currently, the maintenance of station roof screws still relies on traditional manual methods, requiring maintenance personnel to climb onto the station roof to reinforce the screws. However, station roofs vary in shape, some being curved, and the screws are located far from stable support points for standing, which greatly inconveniences maintenance personnel. Therefore, manual maintenance is not only inefficient but also prone to safety accidents.

[0003] Therefore, in order to improve maintenance efficiency, reduce maintenance costs and avoid safety accidents, it is necessary to design a maintenance equipment that can automatically inspect the bolts on the station roof. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the present invention provides an automatic maintenance vehicle for station roof screws. The automatic maintenance vehicle for station roof screws can automatically inspect and maintain the screws on the station roof, which can not only improve maintenance efficiency, but also reduce maintenance costs, and at the same time avoid safety accidents during maintenance.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is: An automatic maintenance vehicle for railway station roof screws includes a mobile vehicle body, a screw position identification device mounted on the mobile vehicle body, a screw maintenance device, and a drive device for moving the screw maintenance device to a position above the screws to be maintained in the railway station roof. The screw position identification device identifies the position of the screws to be maintained and sends the identified position information to a control system. The control system drives the mobile vehicle body to a position corresponding to the screws to be maintained and controls the drive device to move the screw maintenance device to a position above the screws to be maintained in the railway station roof. The screw maintenance device then performs maintenance on the screws.

[0006] Preferably, there are two sets of both the drive unit and the screw maintenance device, and the two sets of drive units and the two sets of screw maintenance devices are symmetrically arranged on both sides of the mobile vehicle body.

[0007] Preferably, the driving device includes a rotating base, a movable guide rail disposed on the rotating base, and an X-axis swing drive mechanism for driving the movable guide rail to swing around the X-axis, wherein the screw maintenance device is mounted on the movable guide rail; the rotating base is connected to the mobile vehicle body via a first rotating component; the X-axis swing drive mechanism includes linear actuators disposed on both sides of the rotating base, the linear actuators are mounted on the mobile vehicle body, and the driving end of the linear actuator is connected to the rotating base via a second rotating component.

[0008] Preferably, the first rotating component includes a rotating sleeve and a rotating part disposed 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 support shaft of the moving vehicle body, and the rotating part is rotatably connected to the middle part of the rotating seat; the second rotating component includes a first rotating shaft disposed on the drive end of the linear actuator and a second rotating shaft disposed on the first rotating shaft, wherein the first rotating shaft and the second rotating shaft are perpendicularly 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.

[0009] Preferably, the driving end of the linear actuator is hinged to the rotating base, and the axial direction of the hinge point is parallel to the axial direction of the rotating part; the base of the linear actuator is connected to the moving vehicle body through a universal bearing structure.

[0010] Preferably, when the drive ends of the two linear actuators have the same stroke, the moving guide rail swings around the X-axis; when the drive ends of the two linear actuators have different strokes, the moving guide rail swings around the Y-axis.

[0011] Preferably, there are two sets of movable guide rails, with one end of each set of movable guide rails mounted on the rotating seat and the other end connected by a connecting seat.

[0012] Preferably, the screw position identification device includes an image recognition module disposed on the mobile vehicle body or the connecting seat. The image recognition module is used to collect image information of the screws on the station roof and send it to the control system. The control system processes the collected image information and calculates the relative positional relationship between the screw to be repaired and the mobile vehicle body.

[0013] Preferably, the screw repair device includes a movable frame, a traveling mechanism mounted on the movable frame for driving the movable frame to move on the movable guide rail, and a screw installation and removal mechanism for installing and removing screws. The screw installation and removal mechanism includes an electric wrench and a lifting drive mechanism for driving the electric wrench to rise and fall. The traveling mechanism includes roller assemblies mounted on both sides of the movable frame and a traveling drive mechanism for driving the roller assemblies to rotate. The roller assemblies include an upper roller mounted on the upper side of the movable guide rail and a lower roller mounted on the lower side of the movable guide rail. The upper roller and the lower roller respectively cooperate with guide rail grooves mounted on the upper and lower sides of the movable guide rail. The traveling drive mechanism drives the upper roller and / or the lower roller to rotate.

[0014] Preferably, the bottom of the mobile vehicle is provided with multiple sets of suction cup positioning devices. When the mobile vehicle moves to a preset position, the suction cups in the suction cup positioning devices extend and adhere to the station ceiling.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. The automatic maintenance vehicle for station roof screws of the present invention can replace manual work, thereby reducing the number of manual tasks for the maintenance of station roof screws, reducing the accident rate of the maintenance tasks, and improving the working environment of the maintenance personnel for station roof screws.

[0016] 2. The automatic maintenance vehicle for station roof screws of the present invention can automatically inspect and maintain the screws on the roof of the vehicle, which can not only improve maintenance efficiency, but also reduce maintenance costs. Attached Figure Description

[0017] Figure 1 and Figure 2 These are schematic diagrams showing the results from two different perspectives of the automatic maintenance vehicle for station roof screws according to the present invention.

[0018] Figure 3 This is a schematic diagram of the screw inspection device.

[0019] Figure 4 This is a schematic diagram of the drive device.

[0020] Figure 5 This is a schematic diagram of the moving vehicle body and the X-axis swing drive mechanism.

[0021] Figure 6 This is a schematic diagram of the structure of the first rotating component.

[0022] Figure 7 This is a schematic diagram of the second rotating component. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0024] See Figures 1-7 The automatic maintenance vehicle for station roof screws of the present invention includes a mobile vehicle body 1, a screw position identification device, a screw maintenance device 5, and a driving device for driving the screw maintenance device 5 to move above the screws to be maintained in the station roof. The screw position identification device identifies the position of the screw to be maintained and sends the identified position information to the control system. The control system drives the mobile vehicle body 1 to the position corresponding to the screw to be maintained and drives the screw maintenance device 5 to move above the screws to be maintained in the station roof via the control driving device. The screw maintenance device 5 is then used to maintain the screws to be maintained.

[0025] In this embodiment, there are two sets of driving devices and two sets of screw repair devices 5, which are symmetrically arranged on both sides of the mobile vehicle body 1.

[0026] See Figures 1-7 The driving device includes a rotating base 6, a movable guide rail 2 disposed on the rotating base 6, and an X-axis swing drive mechanism for driving the movable guide rail 2 to swing around the X-axis. The screw maintenance device 5 is mounted on the movable guide rail 2. The rotating base 6 is connected to the mobile vehicle body 1 via a first rotating component 8. The X-axis swing drive mechanism includes linear actuators 7 disposed on both sides of the rotating base 6. The linear actuators 7 are mounted on the mobile vehicle body 1, and the driving end of the linear actuator 7 is connected to the rotating base 6 via a second rotating component 11. In this embodiment, the linear actuator 7 is a linear electric cylinder or an electric push rod. With the above configuration, when the automatic maintenance vehicle for station roof screws of the present invention is not in operation, the X-axis swing drive mechanism on both sides drives the rotating seats 6 on both sides to swing upward, thereby causing the moving guide rails 2 on both sides to swing upward, so as to facilitate the folding and storage of the moving guide rails 2; when in operation, and when the moving vehicle body 1 moves to a specific position, the X-axis swing drive mechanism on both sides drives the rotating seats 6 on both sides to swing downward, thereby causing the moving guide rails 2 on both sides to swing downward, so that the folded moving guide rails 2 unfold; then, the screw maintenance device 5 moves on the moving guide rail 2, thereby reaching directly above the screw to be maintained and maintaining the screw.

[0027] See Figures 1-7 Considering that some station roofs are not horizontal, but may be arched, the orientation of the screw inspection device 5 needs to be adjusted. Therefore, the following design was made: The first rotating component 8 includes a rotating sleeve 801 and a rotating part 802 disposed on the rotating sleeve 801, wherein the axial direction of the rotating sleeve 801 is perpendicular to the axial direction of the rotating part 802; the rotating sleeve 801 is sleeved on the support shaft 9 of the mobile vehicle body 1, and the rotating part 802 is rotatably connected to the middle part of the rotating seat 6. The second rotating component 11 includes a first rotating shaft 111 disposed on the drive end of the linear driver 7 and a second rotating shaft 112 disposed on the first rotating shaft 111, wherein the first rotating shaft 111 and the second rotating shaft 112 are arranged perpendicularly, 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.

[0028] With the above configuration, the rotating seat 6 can not only rotate around the rotating part 802, but the rotating seat 6 and the first rotating component 8 can also rotate together around the support shaft 9 on the mobile vehicle body 1, thereby causing the mobile guide rail 2 to rotate not only 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 actuator 7 is hinged to the rotating seat 6, and the axial direction of its hinge point is parallel to the axial direction of the rotating part 802; the base of the linear actuator 7 is connected to the mobile vehicle body 1 through a universal bearing structure 10; when the travel of the driving ends of the two sets of linear actuators 7 is consistent, the mobile guide rail 2 swings up and down around the X-axis; when the travel of the driving ends of the two sets of linear actuators 7 is inconsistent, the mobile guide rail 2 swings back and forth around the Y-axis. With the above settings, the position and orientation of the moving guide rail 2 and the screw inspection device 5 mounted on the moving guide rail 2 can be adjusted by controlling the movement speed of the drive ends of the two sets of linear actuators 7. By ultimately controlling the movement stroke of the drive ends of the two sets of linear actuators 7, the angle of the screw inspection device 5 can be limited to enable the inspection of screws on different planes. During this process, since the base of the linear actuator 7 is connected to the moving vehicle body 1 through a universal bearing structure, when the movement stroke of the drive ends of the two sets of linear actuators 7 is inconsistent, the base of the linear actuator 7 can undergo adaptive angular swinging to avoid interference with the position and orientation adjustment of the screw inspection device 5.

[0029] See Figures 1-7 The movable guide rail 2 consists of two sets, with one end of each set mounted on the rotating seat 6 and the other end connected via a connecting seat 3. In this embodiment, the movable guide rail 2 is formed by connecting several guide rail units with threads, and the length of the movable guide rail 2 can be extended or shortened according to actual conditions.

[0030] See Figures 1-7 The screw position recognition device includes an image recognition module (e.g., a camera) mounted on the mobile vehicle body 1 or the connecting seat 3. The image recognition module is used to collect image information of the screws on the station roof and send it to the control system. The control system processes the collected image information and calculates the positional relationship between the screw to be inspected and the mobile vehicle body 1 by considering the positional relationship between the camera and the screw to be inspected and the positional relationship between the camera and the mobile vehicle body 1. This controls the movement stroke of the mobile vehicle body 1 and the screw inspection device 5, so that the screw inspection device 5 moves to directly above the screw to be inspected. Then, according to the installation angle of the screw to be inspected, the position and posture of the screw inspection device 5 are adjusted to perform the inspection of the screw.

[0031] See Figures 1-7 The screw repair device 5 includes a movable frame 504, a traveling mechanism mounted on the movable frame 504 for driving the movable frame 504 to move on the movable guide rail 2, and a screw installation / removal mechanism 503 for installing and removing screws. The screw removal and installation 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 0.73 Nm (kgf.m) to 412 N.m (kgf.m), and the end nut engagement part can be replaced to accommodate different types of screws for maintenance. In this embodiment, the electric wrench can be implemented using an existing electric wrench, while the lifting drive mechanism can be driven by a linear motor. The traveling mechanism includes roller assemblies 501 disposed on both sides of the movable frame 504 and a traveling drive mechanism for driving the roller assemblies 501 to rotate. Each roller assembly 501 includes an upper roller disposed on the upper side of the movable guide rail 2 and a lower roller disposed on the lower side of the movable guide rail 2. The upper roller and the lower roller respectively cooperate with guide rail grooves disposed on the upper and lower sides of the movable guide rail 2, thereby limiting the movable frame 504 in the vertical and horizontal directions and the front-back direction. Each side of the movable frame 504 has two upper rollers and two lower rollers. The traveling drive mechanism drives the upper rollers and / or the lower rollers to rotate, thereby driving the movable frame 504 and the screw removal and installation mechanism 503 disposed on the movable frame 504 to move to a designated position. In this embodiment, both the upper roller and the lower roller are driven independently by a micro motor 502; after the upper roller and the lower roller clamp the moving guide rail 2, they rotate in the opposite direction to achieve the walking effect of the working part.

[0032] See Figures 1-7The connecting seat 3 is equipped with a distance measuring sensor 4, which is used to detect the movement stroke of the screw inspection device 5 to ensure its positional accuracy.

[0033] See Figures 1-7 The bottom of the mobile vehicle body 1 is equipped with multiple sets of suction cup positioning devices. When the mobile vehicle body 1 moves to a preset position, the suction cups in the suction cup positioning devices extend and adhere to the station roof, thereby positioning the mobile vehicle body 1. This prevents the vibration generated by the screw repair device 5 during operation from causing the mobile vehicle body 1 to shift, thereby further ensuring the positional accuracy of the screw repair device 5 during repair.

[0034] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An automatic maintenance vehicle for railway station roof screws, characterized in that, The system includes a mobile vehicle, a screw position identification device mounted on the mobile vehicle, a screw repair device, and a drive device for moving the screw repair device to a position above the screw to be repaired in the station roof. The screw position identification device identifies the position of the screw to be repaired and sends the identified position information to a control system. The control system drives the mobile vehicle to a position corresponding to the screw to be repaired and controls the drive device to move the screw repair device to a position above the screw to be repaired in the station roof. The screw repair device is then used to repair the screw. Both the drive unit and the screw maintenance device are in two sets, and the two sets of drive units and the two sets of screw maintenance devices are symmetrically arranged on both sides of the mobile vehicle body. The driving device includes a rotating base, a movable guide rail disposed on the rotating base, and an X-axis swing drive mechanism for driving the movable guide rail to swing around the X-axis, wherein the screw maintenance device is mounted on the movable guide rail; the rotating base is connected to the mobile vehicle body via a first rotating component; the X-axis swing drive mechanism includes linear actuators disposed on both sides of the rotating base, the linear actuators are mounted on the mobile vehicle body, and the driving end of the linear actuator is connected to the rotating base via a second rotating component; The first rotating component includes a rotating sleeve and a rotating part disposed on the rotating sleeve, wherein the axial direction of the rotating sleeve and the axial direction of the rotating part are perpendicular; the rotating sleeve is sleeved on the support shaft of the moving vehicle body, and the rotating part is rotatably connected to the middle part of the rotating seat; the second rotating component includes a first rotating shaft disposed on the drive end of the linear actuator and a second rotating shaft disposed on the first rotating shaft, wherein the first rotating shaft and the second rotating shaft are perpendicularly 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.

2. The automatic maintenance vehicle for station roof screws according to claim 1, characterized in that, The driving end of the linear actuator is hinged to the rotating base, and the axial direction of the hinge point is parallel to the axial direction of the rotating part; the base of the linear actuator is connected to the moving vehicle body through a universal bearing structure.

3. The automatic maintenance vehicle for station roof screws according to claim 2, characterized in that, When the driving ends of the two linear actuators have the same stroke, the moving guide rail swings around the X-axis; when the driving ends of the two linear actuators have different strokes, the moving guide rail swings around the Y-axis.

4. The automatic maintenance vehicle for station roof screws according to claim 3, characterized in that, The movable guide rails are in two sets, with one end of each set mounted on the rotating seat and the other end connected via a connecting seat.

5. The automatic maintenance vehicle for station roof screws according to claim 4, characterized in that, The screw position identification device includes an image recognition module installed on the mobile vehicle body or the connecting seat. The image recognition module is used to collect image information of the screws on the station roof and send it to the control system. The control system processes the collected image information and calculates the relative positional relationship between the screw to be repaired and the mobile vehicle body.

6. The automatic maintenance vehicle for station roof screws according to claim 4, characterized in that, The screw repair device includes a movable frame, a traveling mechanism mounted on the movable frame for driving the movable frame to move on the movable guide rail, and a screw removal and assembly mechanism for installing and removing screws. The screw removal and assembly mechanism includes an electric wrench and a lifting drive mechanism for driving the electric wrench to rise and fall. The traveling mechanism includes roller assemblies mounted on both sides of the movable frame and a traveling drive mechanism for driving the roller assemblies to rotate. The roller assemblies include an upper roller mounted on the upper side of the movable guide rail and a lower roller mounted on the lower side of the movable guide rail. The upper roller and the lower roller respectively cooperate with guide rail grooves mounted on the upper and lower sides of the movable guide rail. The traveling drive mechanism drives the upper roller and / or the lower roller to rotate.

7. The automatic maintenance vehicle for station roof screws according to claim 1, characterized in that, The bottom of the mobile vehicle is equipped with multiple sets of suction cup positioning devices. When the mobile vehicle moves to a preset position, the suction cups in the suction cup positioning devices extend and adhere to the station roof.

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