Locomotive bottom intelligent servicing robot system

Abstract

The invention relates to a locomotive bottom intelligent servicing robot system, and relates to the technical field of electric locomotive intelligent detection equipment. The robot comprises a robot body, and the robot body is composed of a robot frame, a driving module, a driven module, a guiding module and a lifting module. The inspection control system takes an industrial personal computer as a general control unit and is internally provided with a whole machine inspection process control program; the image acquisition and transmission system transmits acquired image information to the industrial personal computer; image acquisition of key parts at the bottom of a locomotive is realized, and the image is uploaded to the image processing server and the maintenance management platform server through the image transmission system, so that the manual operation amount is reduced, and the intelligentization and informatization of maintenance operation are realized; the mode that double mechanical arms carry a precise scanning module is adopted, images of parts located at the deeper position of the vehicle bottom are collected, robot positioning parking points are reduced, and the robot overhauling efficiency is improved; a gear and rack meshing mode is adopted, so that accumulative errors and forward and reverse rotation back clearance errors can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of electric locomotive intelligent detection equipment, and in particular to a locomotive underbody intelligent preparation robot system. Background Art

[0002] With the rapid development of the heavy-haul railway industry, the ownership rate of high-power electric locomotives has increased year by year. The quality of locomotives is related to the safe and reliable operation of trains. However, the existing testing equipment and maintenance methods are backward. Locomotive maintenance operations are faced with shortage of personnel, heavy maintenance tasks, low level of informatization, and the quality of maintenance is affected by the subjective factors of operators. There are certain safety hazards. Therefore, intelligent and modern methods and means are needed to replace manual maintenance operations.

[0003] Patent application number CN201810463145.3 discloses a rail vehicle auxiliary maintenance robot, which uses a single mechanical arm to perform operations, has many parking and positioning times, and has low maintenance efficiency. In addition, its driving method uses a motor to directly drive the track wheel, which is easy to slip on the I-beam rail, resulting in inaccurate running position; Patent application number CN212556235U discloses a EMU undercarriage detection system, in which the detection vehicle and the detected vehicle use the same track. During the detection process, the detection vehicle needs to avoid the detected wheel pair and sand spreader, resulting in low detection efficiency;

[0004] In general, the intelligent inspection robots currently used in the rail transit industry for undercarriage inspection and maintenance have the following problems:

[0005] (1) The space under the vehicle is small, and the range of motion of the robot arm is limited, which affects the number of inspection points covered by the robot in one image acquisition, thereby affecting the robot's inspection and maintenance efficiency;

[0006] (2) The robot’s positioning accuracy is not high, resulting in inaccurate image acquisition, which can easily lead to false alarms or missed alarms. Summary of the invention

[0007] The present invention provides a locomotive underbody intelligent maintenance robot system, which is used to solve the problems of low efficiency, poor stability, low level of informatization, etc. in locomotive vehicle maintenance methods, completely replace manual maintenance operations, improve the coverage rate of locomotive automated maintenance operations, improve the maintenance efficiency of locomotive vehicles, and ensure the quality status of locomotive running gear.

[0008] The present invention provides a locomotive underbody intelligent preparation robot system, comprising:

[0009] The robot body consists of a robot frame, a driving module, a driven module, a guide module, and a lifting module;

[0010] Inspection control system, with industrial computer as the master control unit, built-in whole machine inspection process control program;

[0011] The image acquisition and transmission system transmits the acquired image information to the industrial computer.

[0012] The robot frame is used to install and carry the drive module, driven module, guide module, lifting module, robotic arm, vision module and related electrical parts.

[0013] The robot frame is equipped with a wired laser sensor and a laser distance sensor;

[0014] The driving module is fixed on the robot frame;

[0015] The driving module provides power for the robot to travel on the I-beam rail;

[0016] The driving module comprises a driving module base, a driving module motor is arranged on the driving module base, and an output end of the driving module motor passes through the driving module base and is fixedly connected with a matching gear shaft.

[0017] The lower end surface of the driving module motor is fixedly connected with a matching slide seat, the lower surface of the slide seat is fixedly provided with a matching slider, and the slider sliding sleeve is provided with a matching slide rail.

[0018] The slide rail is fixedly arranged on the upper surface of the driving module base, and the driving module motor slides on the driving module base through the cooperation between the slider and the slide rail;

[0019] A matching driving adjustment block is fixedly arranged on the driving module base, a matching driving module adjustment bolt is fixedly arranged at a position corresponding to the driving adjustment block on the side wall of the driving module motor, and a matching flexible element is sleeved on the outer surface of the driving module adjustment bolt.

[0020] The driven module is fixed on the robot frame;

[0021] The driven module is used for the robot to travel on the I-beam rail;

[0022] The driven module comprises two groups of symmetrically distributed driven module housings, and the two groups of driven module housings are connected to each other;

[0023] A matched driven wheel shaft is rotatably arranged between the two sets of driven module housings, and a matched driven wheel is sleeved on the outer surface of the driven wheel shaft;

[0024] A matching tapered roller bearing is sleeved between the driven wheel and the driven wheel shaft, and the driven wheel is rotationally connected to the driven wheel shaft through the tapered roller bearing.

[0025] A matching shaft sleeve is sleeved on the outer surface of the driven wheel shaft at a position corresponding to the position between the two groups of tapered roller bearings, and a matching stop ring is sleeved on the outer surface of the driven wheel shaft at a position corresponding to the other side of the tapered roller bearings;

[0026] The two groups of tapered roller bearings are both connected with matching oil injection nozzles, and the oil injection nozzles are communicated with the interior of the tapered roller bearings.

[0027] A matching outer frame upper mounting plate is fixedly provided on the side wall of one group of the driven module housings, and the upper end surface of the outer frame upper mounting plate is in contact with the bottom of the robot frame.

[0028] The guide module comprises a guide wheel fixing plate, and the guide wheel fixing plate is fixed on the robot frame;

[0029] The guide module is used to prevent the robot from moving perpendicular to the rail when it is running on the rail;

[0030] A matching second guide wheel is fixedly disposed on one side of the upper end surface of the guide wheel fixing plate, and a matching first guide wheel is slidably disposed on a side of the upper end surface of the guide wheel fixing plate away from the second guide wheel;

[0031] A matching one is slidably provided on the lower end surface of the guide wheel fixing plate at a position corresponding to the first guide wheel, and the first guide wheel is connected to the guide adjustment block;

[0032] A matching guide module adjusting bolt is threadedly provided on the guide adjusting block, and one end of the guide module adjusting bolt passes through the guide adjusting block and is threadedly connected into the interior of the guide wheel fixing plate.

[0033] The lifting module is fixed on the robot frame, and the robot arm is fixed on the lifting module;

[0034] The lifting modules are arranged one in front and one in the back, and are used to adjust the height of the robot arm and expand the coverage of the robot arm;

[0035] The visual module includes a line scanning module and a precision scanning module. The line scanning module is fixed on the robot frame and is used to collect parts close to the bottom of the vehicle.

[0036] The precision scanning module is fixed at the end of the robotic arm and is used to collect parts that are far away from the bottom of the vehicle;

[0037] The inspection control system uses an industrial computer as the master control unit, with built-in whole machine inspection process control program, robotic arm control program, line scanning module, precision scanning module image acquisition, image processing, image transmission program, to control the coordinated work of each module;

[0038] The image acquisition and transmission system collects image information through the line scanning module and the precision scanning module at the end of the robotic arm, and transmits it to the industrial computer. The industrial computer locally recognizes the collected images and generates high-definition images and fault information. The industrial computer transmits the information to the image processing server and the maintenance management platform server through the trackside network transmission system (including switches, directional APs, and track-side directional APs), and performs image fault classification, fault judgment, and platform display on the server side.

[0039] Compared with the prior art, the advantages of the present invention are:

[0040] 1. The robot frame is driven to move under the locomotive through the cooperation of the driving module, the driven module and the guiding module. During the movement, the visual module on the robot arm takes pictures and collects images. The setting of the lifting module can drive the robot arm to rise and fall, thereby expanding the coverage of the robot arm and increasing the number of maintenance items covered by the robot in one image acquisition.

[0041] 2. The locomotive underbody intelligent maintenance robot system provided by the present invention adopts a dual-manipulator arm equipped with a precision scanning module to collect images of parts located deeper under the vehicle, reduce the robot positioning parking points, and increase the robot maintenance efficiency.

[0042] 3. The drive module provided by the present invention adopts the method of meshing gears and racks, which can reduce the cumulative error and the forward and reverse backlash error, effectively solve the problem of driven wheel slippage affecting the running accuracy, and ensure the stability of the whole machine operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0044] Figure 1 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of the structure of a drive module in an embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of the structure of a driven module in an embodiment of the present invention;

[0047] Figure 4 is a schematic diagram of the guide module structure in an embodiment of the present invention;

[0048] Figure 5 is a schematic diagram of the hardware topology of the robot system in an embodiment of the present invention;

[0049] Reference numerals:

[0050] 110. Robot framework;

[0051] 120, driving module; 121, gear shaft; 122, driving module motor; 123, driving adjustment block; 124, slider; 125, slide seat; 126, slide rail; 127, flexible element; 128, driving module base; 129, driving module adjustment bolt;

[0052] 130, driven wheel module; 131, driven wheel shaft; 132, driven wheel; 133, bushing; 134, tapered roller bearing; 135, driven module housing; 136, upper mounting plate of outer frame; 137, oiling nozzle; 138, stop ring;

[0053] 140, guide module; 141, first guide wheel; 142, second guide wheel; 143, guide module adjustment bolt; 144, guide adjustment block; 145, guide wheel fixing plate;

[0054] 150. Lifting module;

[0055] 161. Precision scanning module; 162. Line scanning module;

[0056] 170. Robotic arm;

[0057] 181. Line laser sensor; 182. Laser distance sensor; DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings.

[0059] The locomotive underbody intelligent preparation robot system is characterized by comprising:

[0060] The robot body is composed of a robot frame 110, a driving module 120, a driven module 130, a guide module 140, and a lifting module 150;

[0061] The driving module 120 is installed at the bottom center of the robot frame 110 and is used to drive the robot frame 110 to move;

[0062] The driven module 130 is disposed at the bottom of the robot frame 110 at a position corresponding to the driving module 120 to assist the robot frame 110 in moving;

[0063] The guide module 140 is arranged on one side of the driven module 130;

[0064] A lifting module 150 is arranged on the upper end surface of the robot frame 110, and a robot arm 170 is installed on the lifting module;

[0065] A visual module, including a line scanning module 162 and a precision scanning module 161;

[0066] The line scanning module 162 is fixed on the robot frame 110 and is used to collect parts that are close to the bottom of the vehicle. The fine scanning module 161 is fixed at the end of the robot arm 170 and is used to collect parts that are far from the bottom of the vehicle.

[0067] Inspection control system, with industrial computer as the master control unit, built-in whole machine inspection process control program;

[0068] The image acquisition and transmission system transmits the acquired image information to the industrial computer.

[0069] The robot frame 110 is used to install and carry the driving module 120, the driven module 130, the guiding module 140, the lifting module 150, the robot arm 170, the visual module and the electrical parts;

[0070] The robot frame 110 is installed with a line laser sensor 181 and a laser distance sensor 182 , and the line laser sensor 181 and the laser distance sensor 182 are located at a position of the robot frame 110 close to the line scanning module 162 .

[0071] The driving module 120 includes a driving module base 128 , on which a driving module motor 122 is disposed. An output end of the driving module motor 122 passes through the driving module base 128 and is fixedly connected to a matching gear shaft 121 .

[0072] A matching slide seat 125 is fixedly connected to the lower end surface of the driving module motor 122 , a matching slider 124 is fixedly provided on the lower surface of the slider 125 , and a matching slide rail 126 is slidably sleeved on the slider 124 .

[0073] The slide rail 126 is fixedly disposed on the upper surface of the driving module base 128 , and the driving module motor 122 slides on the driving module base 128 through the cooperation between the slider 124 and the slide rail 126 .

[0074] A matching driving adjustment block 123 is fixedly provided on the driving module base 128 , a matching driving module adjusting bolt 129 is fixedly provided at the position of the driving adjustment block 123 on the side wall of the driving module motor 122 , and a matching flexible element 127 is sleeved on the outer surface of the driving module adjusting bolt 129 .

[0075] The driven module 130 includes two sets of symmetrically distributed driven module housings 135 , and the two sets of driven module housings 135 are connected to each other.

[0076] A matched driven wheel shaft 131 is rotatably disposed between the two sets of driven module housings 135 , and a matched driven wheel 132 is sleeved on the outer surface of the driven wheel shaft 131 .

[0077] A matching tapered roller bearing 134 is sleeved between the driven wheel 132 and the driven wheel shaft 131 , and the driven wheel 132 is rotatably connected to the driven wheel shaft 131 via the tapered roller bearing 134 .

[0078] A matching sleeve 133 is sleeved on the outer surface of the driven wheel shaft 131 at a position corresponding to the position between the two sets of tapered roller bearings 134 , and a matching stop ring 138 is sleeved on the outer surface of the driven wheel shaft 131 at a position corresponding to the other side of the tapered roller bearings 134 .

[0079] The two sets of tapered roller bearings 134 are both connected with matching oil injection nozzles 137 , and the oil injection nozzles 137 are communicated with the interior of the tapered roller bearings 134 .

[0080] A matching outer frame upper mounting plate 136 is fixedly provided on the side wall of one set of driven module housings 135 , and the upper end surface of the outer frame upper mounting plate 136 is in contact with the bottom of the robot frame 110 .

[0081] The guide module 140 includes a guide wheel fixing plate 145 , and the guide wheel fixing plate 145 is fixed on the robot frame 110 .

[0082] A matching second guide wheel 142 is fixedly disposed on one side of the upper end surface of the guide wheel fixing plate 145 , and a matching first guide wheel 141 is slidably disposed on a side of the upper end surface of the guide wheel fixing plate 145 away from the second guide wheel 142 .

[0083] A matching block 144 is slidably disposed on the lower end surface of the guide wheel fixing plate 145 at a position corresponding to the first guide wheel 141 , and the first guide wheel 141 is connected to the guide adjustment block 144 .

[0084] A matching guide module adjusting bolt 143 is threadedly provided on the guide adjusting block 144 , and one end of the guide module adjusting bolt 143 passes through the guide adjusting block 144 and is threadedly connected to the interior of the guide wheel fixing plate 145 .

[0085] The lifting module 150 is fixed on the robot frame 110 , and the robot arm 170 is fixed on the lifting module 150 .

[0086] There are two lifting modules 150 , one arranged in front and one in the back, which are used to adjust the height of the robot arm 170 and expand the coverage of the robot arm 170 .

[0087] The inspection control system uses an industrial computer as the master control unit, with built-in whole machine inspection process control program, robot arm 170 control program, line scanning module 162, fine scanning module 161 image acquisition, image processing, image transmission program, control each module to work together;

[0088] The image acquisition and transmission system collects image information through the line scanning module 162 and the precision scanning module 161 at the end of the robotic arm 170, and transmits it to the industrial computer. The industrial computer locally recognizes the collected image and generates high-definition images and fault information. The industrial computer transmits it to the image processing server and the maintenance management platform server through the trackside network transmission system (including switches, directional APs, and track-side directional APs), and performs image fault classification, fault judgment, and platform display on the server side.

[0089] Embodiment 1

[0090] See also Figure 1 As shown, Figure 1 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0091] See also Figure 2 As shown, Figure 2 is a schematic diagram of the structure of a drive module in an embodiment of the present invention;

[0092] like Figure 1-Figure 2 As shown, the locomotive underbody intelligent preparation robot system includes:

[0093] The robot body is composed of a robot frame 110, a driving module 120, a driven module 130, a guide module 140, and a lifting module 150;

[0094] The driving module 120 is installed at the bottom center of the robot frame 110;

[0095] The driving module 120 provides power for the robot to travel on the I-beam rail;

[0096] The driving module 120 includes a driving module base 128 , on which a driving module motor 122 is disposed. An output end of the driving module motor 122 passes through the driving module base 128 and is fixedly connected to a matching gear shaft 121 .

[0097] The lower end surface of the driving module motor 122 is fixedly connected with a matching slide seat 125, the lower surface of the slide seat 125 is fixedly provided with a matching slider 124, and the slider 124 is slidably sleeved with a matching slide rail 126;

[0098] The slide rail 126 is fixedly disposed on the upper surface of the driving module base 128 , and the driving module motor 122 slides on the driving module base 128 through the cooperation between the slider 124 and the slide rail 126 .

[0099] A matching driving adjustment block 123 is fixedly provided on the driving module base 128 , a matching driving module adjusting bolt 129 is fixedly provided at the position of the driving adjustment block 123 on the side wall of the driving module motor 122 , and a matching flexible element 127 is sleeved on the outer surface of the driving module adjusting bolt 129 .

[0100] The drive module 120 adopts a gear rack meshing mode, which can reduce the cumulative error and the forward and reverse backlash error, effectively solve the problem of the driven wheel slipping affecting the running accuracy, and ensure the stability of the whole machine operation; the rack is fixed on the inner side of the I-beam rail, and the drive module 120 is fixed on the robot frame 110, and the drive module motor 122 drives the gear shaft 121 to rotate; the drive module 120 is provided with a slide 125, which is fixed on the slider 124, and the slider 124 can slide on the slide rail 126, and the slide 125 is fixed to the drive adjustment block 123, and the rigidity of the flexible element 127 is used to apply force to the drive adjustment block 123, so that the gear rack is tightly meshed, thereby ensuring the running accuracy; the preload force of the flexible element 127 can be changed by loosening and tightening the drive module adjustment bolt 129.

[0101] Embodiment 2

[0102] See also Figure 1 As shown, Figure 1 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0103] See also Figure 3 As shown, Figure 3 is a schematic diagram of the structure of a driven module in an embodiment of the present invention;

[0104] like Figure 1 and Figure 3 As shown, the driven module 130 is disposed at the bottom of the robot frame 110 at a position corresponding to the driving module 120 to assist the robot frame 110 in moving;

[0105] The driven module 130 includes two sets of symmetrically distributed driven module housings 135 , and the two sets of driven module housings 135 are connected to each other.

[0106] A matching driven wheel shaft 131 is rotatably disposed between the two sets of driven module housings 135, and a matching driven wheel 132 is sleeved on the outer surface of the driven wheel shaft 131;

[0107] A matching tapered roller bearing 134 is sleeved between the driven wheel 132 and the driven wheel shaft 131 , and the driven wheel 132 is rotatably connected to the driven wheel shaft 131 via the tapered roller bearing 134 .

[0108] A matching sleeve 133 is sleeved on the outer surface of the driven wheel shaft 131 at a position corresponding to the position between the two sets of tapered roller bearings 134 , and a matching stop ring 138 is sleeved on the outer surface of the driven wheel shaft 131 at a position corresponding to the other side of the tapered roller bearings 134 .

[0109] The two sets of tapered roller bearings 134 are both connected with matching oil injection nozzles 137, and the oil injection nozzles 137 are connected with the interior of the tapered roller bearings 134;

[0110] A matching outer frame upper mounting plate 136 is fixedly provided on the side wall of one set of driven module housings 135 , and the upper end surface of the outer frame upper mounting plate 136 is in contact with the bottom of the robot frame 110 .

[0111] The driven module 130 is used for the robot to travel on the I-rail; the driven module housings 135 are interconnected and fixed on the robot frame 110 to protect the driven wheel shaft 131 and the tapered roller bearing 134 from being contaminated by external dust; the driven wheel 132 is radially fixed to the driven wheel shaft through the tapered roller bearing 134; the stop ring 138 and the bushing 133 are used for axial fixation of the tapered roller bearing 134; the oiling nozzle 137 is used for lubrication of the bearing; the upper mounting plate 136 of the outer frame is in contact with the robot frame 110, and the material is polyurethane, which is used for shock absorption of the entire robot.

[0112] Embodiment 3

[0113] See also Figure 1 As shown, Figure 1 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0114] See also Figure 4 As shown, Figure 4 is a schematic diagram of the guide module structure in an embodiment of the present invention;

[0115] like Figure 1 and Figure 4 As shown, the guide module 140 is disposed on one side of the driven module 130 .

[0116] The guide module 140 includes a guide wheel fixing plate 145 , and the guide wheel fixing plate 145 is fixed on the robot frame 110 ;

[0117] The guide module 140 is used to prevent the robot from moving perpendicularly to the rail when running on the rail.

[0118] A matching second guide wheel 142 is fixedly disposed on one side of the upper end surface of the guide wheel fixing plate 145 , and a matching first guide wheel 141 is slidably disposed on a side of the upper end surface of the guide wheel fixing plate 145 away from the second guide wheel 142 .

[0119] A matching block 144 is slidably disposed on the lower end surface of the guide wheel fixing plate 145 at a position corresponding to the first guide wheel 141 , and the first guide wheel 141 is connected to the guide adjustment block 144 .

[0120] A matching guide module adjusting bolt 143 is threadedly provided on the guide adjusting block 144 , and one end of the guide module adjusting bolt 143 passes through the guide adjusting block 144 and is threadedly connected to the interior of the guide wheel fixing plate 145 .

[0121] The guide module 140 is used to prevent the robot from moving perpendicular to the rail when running on the rail; the first guide wheel 141 and the second guide wheel 142 are fixed on the guide wheel fixing plate 145, and the guide wheel shaft fixing plate 145 is fixed on the robot frame 110; the guide adjustment block 144 and the guide module adjustment bolt 143 are used to adjust the guide wheel shaft spacing;

[0122] Embodiment 4

[0123] See also Figure 1 As shown, Figure 1 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0124] See also Figure 5 As shown, Figure 5 is a schematic diagram of the hardware topology of the robot system in an embodiment of the present invention;

[0125] like Figure 1 and Figure 5 As shown, the lifting module 150 is arranged on the upper end surface of the robot frame 110, and a robot arm 170 is installed on the lifting module;

[0126] There are two lifting modules 150 , one arranged in front and one in the back, which are used to adjust the height of the robot arm 170 and expand the coverage of the robot arm 170 .

[0127] The visual module includes a line scanning module 162 and a fine scanning module 161. The line scanning module 162 is fixed on the robot frame 110 and is used to collect parts that are close to the bottom of the vehicle.

[0128] The precision scanning module 161 is fixed at the end of the robot arm 170 and is used to collect parts that are far away from the bottom of the vehicle.

[0129] Through the cooperation of the driving module 120, the driven module 130, and the guiding module 140, the robot frame 110 is driven to move under the locomotive. During the movement, the visual module on the robot arm 170 takes pictures and collects data.

[0130] The setting of the lifting module 150 can drive the robot arm 170 to rise and fall, thereby expanding the coverage of the robot arm 170 and increasing the number of maintenance points covered by the robot in one image acquisition.

[0131] Embodiment 5

[0132] See also Figure 5 As shown, Figure 5 is a schematic diagram of the hardware topology of the robot system in an embodiment of the present invention;

[0133] like Figure 5 As shown, the inspection control system uses an industrial computer as the master control unit, with built-in whole machine inspection process control program, robot arm 170 control program, line scanning module 162, fine scanning module 161 image acquisition, image processing, image transmission program, to control the coordinated work of each module;

[0134] Embodiment 6

[0135] See also Figure 5 As shown, Figure 5 is a schematic diagram of the hardware topology of the robot system in an embodiment of the present invention;

[0136] The image acquisition and transmission system collects image information through the line scanning module 162 and the precision scanning module 161 at the end of the robot arm 170, and transmits it to the industrial computer. The industrial computer locally recognizes the collected image and generates high-definition images and fault information. The industrial computer transmits it to the image processing server and the maintenance management platform server through the trackside network transmission system, including switches, directional APs, and trackside directional APs, and performs image fault classification, fault judgment, and platform display on the server side;

[0137] Embodiment 7

[0138] See also Figure 1 As shown, Figure 1 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0139] like Figure 1 As described above, the lifting module 150 adds a fine scanning module 161 to collect item points;

[0140] The robot arm 170 is equipped with a precision scanning module for image acquisition; the dual robot arm mode greatly improves the robot maintenance efficiency;

[0141] The robot is equipped with two obstacle avoidance sensors installed at both ends of the vehicle body for non-contact anti-collision detection. The dual sensors can cover all corners of the robot. When an obstacle enters the detection area, the system automatically controls the vehicle to slow down or brake. When the obstacle is in the deceleration zone, the robot slows down slowly and gives an audible and visual alarm. When the obstacle is in the braking zone, the robot brakes urgently and gives an alarm, which can effectively reduce the risk of damage or loss to equipment or personnel.

[0142] Embodiment 8

[0143] See also Figure 5 As shown, Figure 5 is a schematic diagram of the hardware topology of the robot system in an embodiment of the present invention;

[0144] like Figure 5 As shown, the inspection control system uses an industrial computer as the master control unit, and the industrial computer controls the robot arm 170, the visual module, the PLC controller and the line laser sensor 181 through Ethernet communication;

[0145] The PLC controller controls the motor of the lifting module 150 and the driving module motor 122 through the PROFINET protocol.

[0146] The analog quantity acquisition module is used to obtain the information obtained by the laser distance sensor 182.

[0147] All electrical components of the machine are powered by 72V lithium iron phosphate batteries.

[0148] Embodiment 9

[0149] See also Figure 1 As shown, Figure 1 is a schematic diagram of the robot body structure in an embodiment of the present invention;

[0150] See also Figure 2 As shown, Figure 2 is a schematic diagram of the structure of a drive module in an embodiment of the present invention;

[0151] The inspection control system is used to control the overall inspection process and communicate with the server and platform; the overall inspection process is as follows: the robot is turned on, the industrial computer, PLC and other electrical equipment are started, and the drive module 120, the lifting module 150, the robotic arm 170, and the visual module are in standby mode.

[0152] The locomotive model is input through the hand operator, and the operation instructions are issued. The robot moves forward at a constant speed. When the laser distance sensor 182 is positioned at the fixed position of the front of the vehicle, the line scanning module 162 starts to collect the image of the bottom of the vehicle. At the same time, the line laser sensor 181 scans the contour of the positioning component under the vehicle to obtain its characteristic information; near the rear of the vehicle, according to the characteristic information of the positioning component obtained before, the lifting module 150 adjusts the height of the mechanical arm 170 to better collect the components at a deeper position under the vehicle. At the same time, in conjunction with the encoder of the drive module motor 122, the robot runs to the specified image acquisition position.

[0153] The robot arm 170 starts to move along the previously taught path, and the precision scanning module 161 at the end starts to collect high-definition images of the bottom of the bogie and key positions of the bottom of the vehicle; in this way, the robot moves from the rear of the vehicle to the front of the vehicle to complete the operation.

[0154] The image acquisition and transmission system collects image information through the line scanning module 162 and the precision scanning module 161 at the end of the robotic arm 170, and transmits it to the industrial computer. The industrial computer locally recognizes the collected image and generates high-definition images and fault information. The industrial computer transmits it to the image processing server and the maintenance management platform server through the trackside network transmission system (including switches, directional APs, and track-side directional APs), and performs image fault classification, fault judgment, and platform display on the server side.

[0155] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. The locomotive underbody intelligent preparation robot system is characterized by: include: The robot body is composed of a robot frame, a driving module, a driven module, a guide module, and a lifting module. The driving module is installed at the bottom center of the robot frame and is used to drive the robot frame. The driven module is arranged at a position corresponding to the driving module at the bottom of the robot frame to assist the movement of the robot frame. The guide module is arranged on one side of the driven module. The lifting module is arranged on the upper end surface of the robot frame, and a mechanical arm is installed on the lifting module. The visual module includes a line scanning module and a fine scanning module. The line scanning module is fixed on the robot frame and is used to collect parts close to the bottom of the vehicle. The fine scanning module is fixed at the end of the robot arm and is used to collect parts far from the bottom of the vehicle. Inspection control system, with industrial computer as the master control unit, built-in whole machine inspection process control program; The image acquisition and transmission system transmits the acquired image information to the industrial computer.

2. The locomotive underbody intelligent preparation robot system according to claim 1, characterized in that: The robot frame is installed with a line laser sensor and a laser distance sensor, and the line laser sensor and the laser distance sensor are located at a position of the robot frame close to the line scanning module.

3. The locomotive underbody intelligent maintenance robot system according to claim 1 or 2, characterized in that: The driving module comprises a driving module base, a driving module motor is arranged on the driving module base, and an output end of the driving module motor passes through the driving module base and is fixedly connected with a matching gear shaft.

4. The locomotive underbody intelligent maintenance robot system according to claim 3, characterized in that: The lower end surface of the driving module motor is fixedly connected with a matching slide seat, the lower surface of the slide seat is fixedly provided with a matching slider, and the slider sliding sleeve is provided with a matching slide rail.

5. The locomotive underbody intelligent maintenance robot system according to claim 4, characterized in that: The slide rail is fixedly arranged on the upper surface of the driving module base, and the driving module motor slides on the driving module base through the cooperation between the slider and the slide rail; A matching driving adjustment block is fixedly arranged on the driving module base, a matching driving module adjustment bolt is fixedly arranged at a position corresponding to the driving adjustment block on the side wall of the driving module motor, and a matching flexible element is sleeved on the outer surface of the driving module adjustment bolt.

6. The locomotive underbody intelligent maintenance robot system according to claim 1 or 2, characterized in that: The driven module comprises two groups of symmetrically distributed driven module housings, and the two groups of driven module housings are connected to each other; A matched driven wheel shaft is rotatably arranged between the two sets of driven module housings, and a matched driven wheel is sleeved on the outer surface of the driven wheel shaft; A matching tapered roller bearing is sleeved between the driven wheel and the driven wheel shaft, and the driven wheel is rotationally connected to the driven wheel shaft through the tapered roller bearing.

7. The locomotive underbody intelligent maintenance robot system according to claim 6, characterized in that: A matching shaft sleeve is sleeved on the outer surface of the driven wheel shaft at a position corresponding to the position between the two groups of tapered roller bearings, and a matching stop ring is sleeved on the outer surface of the driven wheel shaft at a position corresponding to the other side of the tapered roller bearings; The two groups of tapered roller bearings are both connected with matching oil injection nozzles, and the oil injection nozzles are communicated with the interior of the tapered roller bearings.

8. The locomotive underbody intelligent maintenance robot system according to claim 7, characterized in that: A matching outer frame upper mounting plate is fixedly provided on the side wall of one group of the driven module housings, and the upper end surface of the outer frame upper mounting plate is in contact with the bottom of the robot frame.

9. The locomotive underbody intelligent maintenance robot system according to claim 2, characterized in that: The guide module comprises a guide wheel fixing plate, and the guide wheel fixing plate is fixed on the robot frame; A matching second guide wheel is fixedly disposed on one side of the upper end surface of the guide wheel fixing plate, and a matching first guide wheel is slidably disposed on a side of the upper end surface of the guide wheel fixing plate away from the second guide wheel; A matching one is slidably provided on the lower end surface of the guide wheel fixing plate at a position corresponding to the first guide wheel, and the first guide wheel is connected to the guide adjustment block; A matching guide module adjusting bolt is threadedly provided on the guide adjusting block, and one end of the guide module adjusting bolt passes through the guide adjusting block and is threadedly connected into the interior of the guide wheel fixing plate.

10. The locomotive underbody intelligent maintenance robot system according to claim 2, characterized in that: There are two lifting modules in total, and the two lifting modules are distributed around the center of the robot frame, and the robot arm is lifted and lowered by the cooperation of the lifting modules; Inspection control system, with built-in whole machine inspection process control program, used to drive the robot to move as a whole, robotic arm control program, used to drive the robotic arm, and control the line scanning module and fine scanning module to collect images, and set the image processing program and image transmission program; The image acquisition and transmission system is remotely connected to the industrial computer, and the industrial computer is connected to the image processing server and the maintenance management platform server through the trackside network transmission system.

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