Safe self-driven manipulator of rail transit equipment

Abstract

The invention relates to the technical field of mechanical equipment for rail transit, and discloses a safe self-driven manipulator for rail transit equipment. Comprising a vehicle frame and further comprises a control box fixed to the top of the vehicle frame, through cooperative operation of the control box and control buttons, electronic elements in a main body are conveniently controlled, and moving wheels are conveniently driven to drive the main body to move; meanwhile, the design of the box door provides convenience for maintenance of electronic components in the control box, the whole system is easy and convenient to operate and high in maintainability, efficient operation and management convenience of equipment are ensured, angle adjustment of the adjusting plate, the fixing plate and the fixing frame is achieved through the arranged first adjusting part, second adjusting part and third adjusting part, and the adjustment efficiency is improved. By means of the design, the flexibility and adaptability of the equipment are enhanced, and it is ensured that the clamping system can be rapidly and accurately adjusted according to the requirements of different traffic equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment for rail transit, and in particular to a safe self-driving manipulator for rail transit equipment. Background Art

[0002] Rail transit equipment is a general term for various high-end equipment required for railway and urban rail transit transportation, covering multiple subsystems such as locomotives, communication signals, traction power supply, and track. These equipment work together to ensure the safe, efficient, and comfortable operation of trains. Among them, locomotives provide power and space for people and goods, communication signal systems ensure coordination and scheduling between trains, traction power supply systems provide electricity for trains, and track is the cornerstone of train operation. These equipment are technology-intensive, capital-intensive, and highly integrated, and are an indispensable and important part of the modern urban transportation system.

[0003] The safe maintenance and overhaul of rail transit equipment is of vital importance, and the application of self-driving manipulators can significantly improve work efficiency and safety. This type of manipulator has the ability to move and operate autonomously, and can flexibly respond to changing operational requirements in a complex rail environment. However, existing self-driving manipulators do have certain limitations in adapting to the clamping and movement of different equipment. First, the clamping structure of existing manipulators is often designed for specific types of equipment, resulting in the inability to flexibly adjust the clamping method when facing equipment of different specifications or shapes. This limitation requires frequent replacement of fixtures in practical applications, increasing the complexity and time cost of operations. Secondly, when adjusting the angle and position, most of the current manipulators can only make limited adjustments, making it difficult to achieve flexible operation at multiple angles. This affects the effectiveness and adaptability of the manipulator for the complex structure of rail transit equipment, especially when space is limited or angles are difficult to access. Summary of the invention

[0004] The purpose of the present invention is to provide a safe self-driving manipulator for rail transit equipment to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a safe self-driving manipulator for rail transit equipment, comprising a frame, and further comprising:

[0006] A control box fixed on the top of the frame, wherein a display screen and control buttons are respectively arranged on the top of the control box, and a door is arranged on one side of the control box for convenient inspection of the internal electronic components of the control box;

[0007] A fixing frame fixed on the top of the frame, the inner wall of the fixing frame is rotatably provided with two groups of adjustment plates, the inner wall of the fixing frame is provided with a first adjustment member, the top of the first adjustment member is provided with a first connecting frame, and the outer side of the first connecting frame is rotatably connected with the inner walls of the two groups of adjustment plates, the inner wall of the adjustment plate is provided with a second adjustment member, the outer side of the second adjustment member is provided with a second connecting frame, the outer side of the second connecting frame is rotatably provided with two groups of fixing plates, and the outer side of the fixing plate is rotatably connected with the inner wall of the adjustment plate, and the inner wall of the fixing plate is provided with a third adjustment member;

[0008] A fixed frame is arranged on one side of the third adjusting member, a limiting frame is fixed on one side of the fixed frame, a pushing member is arranged on the inner wall of the limiting frame, two groups of adjusting arms are arranged on the outer side of the pushing member, two groups of clamping arms are rotatably arranged on the inner walls of the two groups of adjusting arms, and two groups of clamping plates for clamping the traffic equipment are installed on the inner walls of the two groups of clamping arms.

[0009] Preferably, the first adjusting member comprises a first oil cylinder rotated on the inner wall of the fixing frame, and a piston rod of the first oil cylinder rotates to drive a first connecting shaft for adjusting the first connecting frame.

[0010] Preferably, the second adjusting member comprises a second oil cylinder rotating between the two groups of adjusting plates, and the piston rod of the second oil cylinder rotates to drive the second connecting frame to adjust the second connecting shaft.

[0011] Preferably, the third adjusting member comprises a third oil cylinder rotating between the two sets of fixed plates, and the piston rod of the third oil cylinder rotates to drive a connecting frame for adjusting the fixed frame.

[0012] Preferably, the pushing member comprises a fourth oil cylinder fixed to the inner wall of the limiting frame, and a piston rod of the fourth oil cylinder is fixed with a pushing plate for driving the adjusting arm to perform adjustment.

[0013] Preferably, four mounting rods are fixed on one side of the limit frame, and a mounting plate is fixed to the other end of the four mounting rods. The inner wall of the mounting plate is rotated with multiple groups of limit plates, and the inner walls of the multiple groups of limit plates are rotated with fixed shafts for limiting the clamping arm.

[0014] Preferably, mounting brackets are installed on both sides of the fixing bracket, and the inner walls of the two groups of mounting brackets are threadedly connected with a plurality of mounting bolts, and the outer sides of the mounting bolts are threadedly connected with the inner wall of the frame.

[0015] Preferably, the inner wall of the frame is provided with rotatable moving wheels, and the moving wheels are arranged in four groups.

[0016] Preferably, a connecting plate is installed on one side of the control box, a lock frame is slidably provided on the inner wall of the connecting plate, a lock rod is fixed on one side of the box door, and the inner wall of the lock frame is clamped with the outer side of the lock rod.

[0017] Preferably, a groove is formed on the inner wall of the box door, a mounting frame is fixed on the inner wall of the groove, and a cooling fan for dissipating heat from electronic components in the control box is provided on the inner wall of the mounting frame.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention realizes convenient control of the electronic components inside the main body through the coordinated operation of the control box and the control button, and is convenient for driving the moving wheel to drive the main body to move; at the same time, the design of the box door provides convenience for the maintenance of the electronic components inside the control box. The whole system is easy to operate and has strong maintainability, ensuring the efficient operation of the equipment and the convenience of management.

[0020] 2. The present invention realizes angle adjustment of the adjustment plate, the fixing plate and the fixing frame respectively by providing the first adjustment member, the second adjustment member and the third adjustment member. This design enhances the flexibility and adaptability of the equipment and ensures that the clamping system can be quickly and accurately adjusted according to the needs of different traffic equipment.

[0021] 3. The present invention provides a stable installation foundation for the pushing member by setting a fixed frame; the introduction of the pushing member realizes the effective driving and adjustment of the adjusting arm; the adjusting arm serves as a connecting bridge to ensure the smooth linkage with the clamping arm; finally, the clamping arm and the clamping plate work closely together to form an efficient and flexible clamping system, which can accurately and stably clamp and transport various transportation equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a preferred embodiment of a safe self-driving manipulator for rail transit equipment provided by the present invention;

[0023] Figure 2 A schematic diagram of the control box and display screen structure provided by the present invention;

[0024] Figure 3 for Figure 2 An enlarged structural schematic diagram of point A is shown;

[0025] Figure 4 A schematic diagram of the structure of a first adjusting member provided by the present invention;

[0026] Figure 5 A schematic diagram of the structure of the second adjusting member provided by the present invention;

[0027] Figure 6 A schematic diagram of the structure of the pusher provided by the present invention;

[0028] Figure 7A schematic diagram of the structure of the adjustment plate and the fixed shaft provided by the present invention;

[0029] Figure 8 This is a schematic diagram of the structure of the adjustment arm and the clamping arm provided by the present invention.

[0030] In the figure: 1, frame; 2, control box; 3, display screen; 4, control button; 5, box door; 6, fixing frame; 7, adjustment plate; 8, first adjustment member; 81, first oil cylinder; 82, first connecting shaft; 9, first connecting frame; 10, second adjustment member; 101, second oil cylinder; 102, second connecting shaft; 11, second connecting frame; 12, fixing plate; 13, third adjustment member; 131, third oil cylinder; 132, connecting frame; 14. Fixed frame; 15. Limiting frame; 16. Pushing member; 161. Fourth oil cylinder; 162. Pushing plate; 17. Adjusting arm; 18. Clamping arm; 19. Clamping plate; 20. Mounting rod; 21. Mounting plate; 22. Limiting plate; 23. Fixed shaft; 24. Mounting frame; 25. Mounting bolt; 26. Moving wheel; 27. Connecting plate; 28. Locking frame; 29. ​​Locking rod; 30. Groove; 31. Mounting frame; 32. Cooling fan. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-Figure 8As shown, a safe self-driving manipulator for rail transit equipment includes a frame 1, a control box 2 is fixed on the top of the frame 1, and a display screen 3 and a control button 4 are respectively arranged on the top of the control box 2. By setting the coordinated use of the control box 2 and the control button 4, the electronic components in the main body can be conveniently controlled, and the moving wheel 26 can be conveniently controlled to drive the main body to move. Through the box door 5, the electronic components in the control box 2 can be conveniently repaired, and a box door 5 for convenient repair of the internal electronic components of the control box 2 is arranged on one side of the control box 2; a fixed frame 6 fixed on the top of the frame 1, two groups of adjustment plates 7 are rotatably arranged on the inner wall of the fixed frame 6, and by setting a first adjustment member 8, the adjustment plates 7 can be conveniently driven to adjust the angle, the inner wall of the fixed frame 6 is provided with a first adjustment member 8, the top of the first adjustment member 8 is provided with a first connecting frame 9, and the outer side of the first connecting frame 9 is rotatably connected to the inner walls of the two groups of adjustment plates 7, the inner wall of the adjustment plate 7 is provided with a second adjustment member 10, and the outer side of the second adjustment member 10 is provided with a second connecting frame 11, and by setting the second adjustment member 10, which can conveniently drive the fixing plate 12 to adjust the angle. Two sets of fixing plates 12 are rotatably arranged on the outer side of the second connecting frame 11, and the outer side of the fixing plate 12 is rotatably connected to the inner wall of the adjusting plate 7. By setting a third adjusting member 13, the fixing frame 14 can be conveniently driven to adjust. The inner wall of the fixing plate 12 is provided with a third adjusting member 13; the fixing frame 14 is arranged on one side of the third adjusting member 13, and a limiting frame 15 is fixed on one side of the fixing frame 14. The inner wall of the limiting frame 15 is provided with a pushing member 16, and the outer side of the pushing member 16 is provided with There are two groups of adjusting arms 17. By setting the fixed frame 14, the pushing member 16 can be easily installed. By setting the pushing member 16, the adjusting arm 17 can be easily pushed for adjustment. The inner walls of the two groups of adjusting arms 17 are both rotatably provided with two groups of clamping arms 18. By setting the adjusting arms 17, the connection with the clamping arms 18 can be conveniently achieved. By setting the clamping arms 18 and the clamping plates 19 for coordinated use, the traffic equipment can be conveniently clamped. The inner walls of the two groups of clamping arms 18 are both installed with two groups of clamping plates 19 for clamping the traffic equipment.

[0033] The first adjusting member 8 includes a first oil cylinder 81 rotating on the inner wall of the fixing frame 6, and the piston rod of the first oil cylinder 81 rotates to drive the first connecting shaft 82 for adjusting the first connecting frame 9; by providing the first oil cylinder 81, the first connecting frame 9 can be easily driven for adjustment.

[0034] The second adjusting member 10 includes a second oil cylinder 101 rotating between the two groups of adjusting plates 7. The piston rod of the second oil cylinder 101 rotates to drive the second connecting shaft 102 for adjusting the second connecting frame 11. By setting the second oil cylinder 101, the second connecting frame 11 can be easily driven for adjustment.

[0035] The third adjusting member 13 includes a third oil cylinder 131 rotating between the two sets of fixed plates 12. The piston rod of the third oil cylinder 131 rotates a connecting frame 132 for driving the fixed frame 14 to adjust. By setting the third oil cylinder 131, the fixed frame 14 can be easily driven to adjust.

[0036] The pusher 16 includes a fourth oil cylinder 161 fixed to the inner wall of the limit frame 15, and the piston rod of the fourth oil cylinder 161 is fixed with a push plate 162 for driving the adjustment arm 17 to adjust; by providing the fourth oil cylinder 161, the push plate 162 can be easily driven to move.

[0037] Four mounting rods 20 are fixed to one side of the limit frame 15, and mounting plates 21 are fixed to the other ends of the four mounting rods 20. Multiple groups of limit plates 22 are rotated on the inner wall of the mounting plate 21, and fixed shafts 23 for limiting the clamping arm 18 are rotated on the inner walls of the multiple groups of limit plates 22. By setting the mounting rods 20, the push plate 162 can be limited conveniently, and the connection with the mounting plate 21 can be conveniently provided. By setting the mounting plate 21, the connection with the limit plate 22 can be conveniently provided. By setting the limit plate 22, the connection with the fixed shaft 23 can be conveniently provided. By setting the fixed shaft 23, the connection with the clamping arm 18 can be conveniently provided.

[0038] Mounting frames 24 are installed on both sides of the fixing frame 6, and the inner walls of the two sets of mounting frames 24 are threadedly connected with multiple mounting bolts 25, and the outer sides of the mounting bolts 25 are threadedly connected to the inner wall of the frame 1; through the coordinated use of the mounting frames 24 and the mounting bolts 25, the stability of the connection between the fixing frame 6 and the frame 1 can be conveniently improved.

[0039] The inner wall of the frame 1 is rotatably provided with moving wheels 26, and the moving wheels 26 are arranged in four groups; by arranging four groups of moving wheels 26, the main body can be conveniently moved.

[0040] A connecting plate 27 is installed on one side of the control box 2, and a locking frame 28 is slidably arranged on the inner wall of the connecting plate 27. A locking rod 29 is fixed on one side of the box door 5, and the inner wall of the locking frame 28 is engaged with the outer side of the locking rod 29. By setting the connecting plate 27, the locking frame 28 can be easily moved, and by setting the locking frame 28, the locking rod 29 can be easily limited, and by setting the locking rod 29, the box door 5 can be easily limited.

[0041] A groove 30 is provided on the inner wall of the box door 5, and a mounting frame 31 is fixed on the inner wall of the groove 30. A cooling fan 32 is provided on the inner wall of the mounting frame 31 for dissipating heat from the electronic components in the control box 2. By providing the groove 30, the mounting frame 31 can be conveniently installed, and by providing the mounting frame 31, the cooling fan 32 can be conveniently installed, and by providing the cooling fan 32, the electronic components in the control box 2 can be conveniently cooled.

[0042] Working principle: The whole operation process starts with the coordinated action of the control box 2 and the control button 4. The user first activates the first cylinder 81 through the two. The activation of the first cylinder 81 immediately drives the first connecting shaft 82 to adjust the angle. This action further prompts the first connecting frame 9 to adjust its posture accordingly. The adjustment of the first connecting frame 9 drives the angle change of the adjustment plate 7 until the required clamping position is reached. Then, the second cylinder 101 is activated through the combination of the control box 2 and the control button 4. The second cylinder 101 can make the second connecting shaft 102 to be adjusted accordingly, thereby driving the position adjustment of the second connecting frame 11. As the second connecting frame 11 is adjusted into place, the angle of the fixed plate 12 is also determined, providing a solid foundation for the subsequent clamping action. Subsequently, the third cylinder 131 is opened through the same control method, and the driving force of the third cylinder 131 is transmitted through the connecting frame 132, so that the fixed plate 12 is fixed to the position of the second connecting frame 11. The fixed frame 14 can be adjusted to the optimal angle to ensure that all parts of the clamping system are in the corresponding position to adapt to the shapes and sizes of different traffic equipment. Finally, through the operation of the control box 2 and the control button 4, the fourth cylinder 161 is opened. This action can make the push plate 162 move along the predetermined trajectory on the mounting rod 20. The movement of the push plate 162 is transmitted through the adjustment arm 17, thereby realizing the relative movement of the two sets of clamping arms 18 and the clamping plates 19, ensuring that the clamping arms 18 and the clamping plates 19 can fit the surface of the traffic equipment to complete the clamping action. In the whole process, through four independent cylinder drives and corresponding mechanical structure adjustments, the system realizes fully automated control from preliminary positioning to precise clamping. Only one continuous operation process is required (that is, through four coordinations of the control box 2 and the control button 4), to achieve effective clamping of traffic equipment in different positions, thereby improving the transportation efficiency and the convenience of operation.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A safe self-driving manipulator for rail transit equipment, comprising a frame (1), characterized in that: Also includes: A control box (2) fixed on the top of the vehicle frame (1), wherein a display screen (3) and control buttons (4) are respectively arranged on the top of the control box (2), and a box door (5) is arranged on one side of the control box (2) for convenient inspection of the internal electronic components of the control box (2); A fixing frame (6) fixed on the top of the vehicle frame (1), the inner wall of the fixing frame (6) being rotatably provided with two groups of adjustment plates (7), the inner wall of the fixing frame (6) being provided with a first adjustment member (8), the top of the first adjustment member (8) being provided with a first connecting frame (9), and the outer side of the first connecting frame (9) being rotatably connected to the inner walls of the two groups of adjustment plates (7), the inner wall of the adjustment plate (7) being provided with a second adjustment member (10), the outer side of the second adjustment member (10) being provided with a second connecting frame (11), the outer side of the second connecting frame (11) being rotatably provided with two groups of fixing plates (12), and the outer side of the fixing plate (12) being rotatably connected to the inner wall of the adjustment plate (7), and the inner wall of the fixing plate (12) being provided with a third adjustment member (13); A fixed frame (14) is arranged on one side of the third adjusting member (13), a limiting frame (15) is fixed on one side of the fixed frame (14), a pushing member (16) is arranged on the inner wall of the limiting frame (15), two groups of adjusting arms (17) are arranged on the outer side of the pushing member (16), two groups of clamping arms (18) are rotatably arranged on the inner walls of the two groups of adjusting arms (17), and two groups of clamping plates (19) for clamping the traffic equipment are installed on the inner walls of the two groups of clamping arms (18).

2. The rail transit equipment safety self-driving manipulator according to claim 1 is characterized in that: The first adjusting member (8) comprises a first oil cylinder (81) which rotates on the inner wall of the fixing frame (6); the piston rod of the first oil cylinder (81) rotates to drive a first connecting shaft (82) for adjusting the first connecting frame (9).

3. The rail transit equipment safety self-driving manipulator according to claim 1 is characterized in that: The second adjustment member (10) comprises a second oil cylinder (101) which rotates between two groups of adjustment plates (7); a piston rod of the second oil cylinder (101) rotates to drive a second connecting shaft (102) for adjusting the second connecting frame (11).

4. The rail transit equipment safety self-driving manipulator according to claim 1 is characterized in that: The third adjusting member (13) comprises a third oil cylinder (131) which rotates between two sets of fixed plates (12); a piston rod of the third oil cylinder (131) rotates to drive a connecting frame (132) for adjusting the fixed frame (14).

5. The rail transit equipment safety self-driving manipulator according to claim 1 is characterized in that: The pushing member (16) comprises a fourth oil cylinder (161) fixed to the inner wall of the limiting frame (15); a piston rod of the fourth oil cylinder (161) is fixed with a pushing plate (162) for driving the adjusting arm (17) to perform adjustment.

6. The rail transit equipment safety self-driving manipulator according to claim 1, characterized in that: Four mounting rods (20) are fixed on one side of the limit frame (15), and mounting plates (21) are fixed on the other ends of the four mounting rods (20). The inner wall of the mounting plate (21) is rotatably provided with multiple groups of limit plates (22), and the inner walls of the multiple groups of limit plates (22) are rotatably provided with fixed shafts (23) for limiting the clamping arm (18).

7. The rail transit equipment safety self-driving manipulator according to claim 1, characterized in that: Mounting frames (24) are installed on both sides of the fixing frame (6), and the inner walls of the two groups of mounting frames (24) are threadedly connected with a plurality of mounting bolts (25), and the outer sides of the mounting bolts (25) are threadedly connected with the inner wall of the vehicle frame (1).

8. The rail transit equipment safety self-driving manipulator according to claim 1, characterized in that: The inner wall of the frame (1) is provided with movable wheels (26) for rotation, and the movable wheels (26) are arranged in four groups.

9. The rail transit equipment safety self-driving manipulator according to claim 1, characterized in that: A connecting plate (27) is installed on one side of the control box (2), a locking frame (28) is slidably mounted on the inner wall of the connecting plate (27), a locking rod (29) is fixed on one side of the box door (5), and the inner wall of the locking frame (28) is clamped with the outer side of the locking rod (29).

10. The rail transit equipment safety self-driving manipulator according to claim 1, characterized in that: The inner wall of the box door (5) is provided with a groove (30), the inner wall of the groove (30) is fixed with a mounting frame (31), and the inner wall of the mounting frame (31) is provided with a cooling fan (32) for cooling electronic components in the control box (2).

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