Railway roof foreign matter clamping mechanism

Abstract

The utility model discloses a railway roof foreign matter clamping mechanism and belongs to the technical field of train maintenance. The automatic picking mechanical arm solves the technical problems that due to the structure of an existing automatic picking mechanical arm, the freedom degree is small, swinging is rigid, the structure is complex, and the maintenance cost is high, the electric push rod is installed at the upper end of the electromagnet base, and the rotating mechanism is rotatably installed at the upper end of the electric push rod in the horizontal direction. The large arm is installed at the upper end of the horizontal rotating mechanism in the horizontal direction, the quick release mechanism is arranged at the joint of the large arm and the horizontal rotating mechanism, one end of the small arm is hinged to one end of the large arm in the vertical direction, one end of the electric cylinder push rod is installed on the large arm, and the other end of the electric cylinder push rod is installed on the small arm so that the small arm can rotate in the vertical circumferential direction. The other end of the small arm is hinged to the upper end of the root joint mechanism, and a clamping jaw is installed at the lower end of the root joint mechanism. The degree of freedom is multiple, and the transportation difficulty of the manipulator in the transportation process is reduced. The car roof foreign matter clamping device is used for clamping car roof foreign matters.

Description

Technical Field

[0001] The utility model relates to a foreign body clamping mechanism on a railway roof, belonging to the technical field of train maintenance. Background Art

[0002] During train operation and maintenance, foreign objects around the train need to be cleaned up to facilitate train maintenance and maintain the stability of the equipment. Cleaning foreign objects from the roof of a railway car sometimes needs to be done manually, which poses a safety risk.

[0003] At present, the existing roof foreign body grabbing robot arm can already grab most of the foreign bodies that need to be grabbed, and the use of the robot arm instead of manual work can greatly reduce the safety issues caused by manual work. Through the roof foreign body grabbing robot project, it is possible to reduce the number of train maintenance personnel, shorten the train maintenance time, and quickly deal with problems.

[0004] The existing automatic picking robot arm still has technical problems such as few degrees of freedom, rigid swing, complex structure and high maintenance cost due to its own structure. Utility Model Content

[0005] The utility model aims to solve the technical problems that the existing automatic picking mechanical arm still has few degrees of freedom, rigid swing, complex structure and high maintenance cost due to its own structure, and further provides a railway roof foreign body clamping mechanism.

[0006] The technical scheme of the utility model is a foreign body clamping mechanism on the roof of a railway car, comprising an electromagnet base, an electric push rod, a rotating mechanism, a quick release mechanism, a large arm, an electric cylinder push rod, a small arm, a root joint mechanism and a clamping claw, the electric push rod is mounted on the upper end of the electromagnet base, the rotating mechanism is rotatably mounted on the upper end of the electric push rod along the horizontal direction, the large arm is mounted on the upper end of the horizontal rotating mechanism along the horizontal direction, a quick release mechanism is arranged at the connection between the large arm and the horizontal rotating mechanism, one end of the small arm is hinged with one end of the large arm along the vertical direction, one end of the electric cylinder push rod is mounted on the large arm, the other end of the electric cylinder push rod is mounted on the small arm to realize the rotation of the small arm along the vertical circumferential direction, the other end of the small arm is hinged with the upper end of the root joint mechanism, and a clamping claw is arranged at the lower end of the root joint mechanism;

[0007] The rotating mechanism includes a base plate, a first rotating shaft, a mounting plate and a first motor. The base plate is fixedly mounted on the first rotating shaft. The mounting plate is mounted on the upper end of the electric push rod. The base plate is mounted on the upper end of the mounting plate. The first motor is arranged in the middle of the mounting plate. The output end of the first motor is transmission-connected with the first rotating shaft to realize the rotation of the base plate along the horizontal circumferential direction.

[0008] The quick-release mechanism includes a long bolt and a short bolt. The bottom plate is provided with a threaded hole. The long bolt and the short bolt both pass through the upper arm in a vertical direction and are threadedly connected to the bottom plate.

[0009] The root joint mechanism includes an upper connecting frame, a frame and a pin. The upper end of the upper connecting frame is hinged to the forearm through a pin. The frame is installed at the lower end of the upper connecting frame. A telescopic rod is arranged inside the frame in the vertical direction. The upper end of the telescopic rod is connected to the top of the frame, and a clamp is installed at the lower end of the telescopic rod.

[0010] As another improvement of the utility model, a second rotating shaft is installed at the lower end of the telescopic rod, the lower end of the second rotating shaft is fixedly connected to the clamping claw, a second motor is arranged in the middle of the frame, and the output end of the second motor is transmission-connected to the second rotating shaft to realize the rotation of the clamping claw along the horizontal circumferential direction.

[0011] As another improvement of the utility model, a push rod flange is provided at the upper end of the electric push rod, and the upper end of the electric push rod is fixedly connected to the mounting plate through the push rod flange.

[0012] As another improvement of the present invention, there are two small arms, and the two small arms are arranged in parallel along the vertical direction.

[0013] As another improvement of the present invention, the rotation angle range of the bottom plate along the horizontal circumferential direction relative to the initial installation direction of the upper arm is 0 degrees to 180 degrees.

[0014] As another improvement of the utility model, the rotation angle range of the small arm along the vertical circumferential direction relative to the initial installation direction of the large arm is 40 degrees to 140 degrees.

[0015] As another improvement of the utility model, the clamping jaws include a left claw and a right claw, both of which are configured in an arc shape, and the external foreign objects are grasped by the synchronous opposite movements of the left claw and the right claw.

[0016] As another improvement of the utility model, a plurality of protrusions are provided on the inner side of the arc-shaped clamping jaw, and the plurality of protrusions are evenly arranged adjacent to each other.

[0017] As another improvement of the present invention, the tip of the clamping jaw is configured to be conical.

[0018] As another improvement of the utility model, a roller is detachably mounted on the bottom surface of the electromagnet base.

[0019] Beneficial effects of the utility model:

[0020] 1. The utility model can replace manual labor to complete a large number of operations, improve production efficiency and production benefits. It has many degrees of freedom, flexible operation, simple structure and low maintenance cost.

[0021] 2. The utility model of a railway roof foreign body clamping mechanism can complete the operation independently, so people can focus more on other important tasks and achieve more efficient human-machine collaboration. This device is portable. Since construction workers need to work in groups of 1-2, the device needs to be easy to carry. This product shortens the length of the manipulator through a retractable electric push rod, and disassembles the manipulator arm through a quick-release part, thereby reducing the difficulty of transporting the manipulator during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The utility model is a structural schematic diagram of a foreign body clamping mechanism on a railway roof.

[0023] Figure 2 It is a structural schematic diagram of a rotating mechanism, a quick-release mechanism and their connections.

[0024] Figure 3 It is a structural schematic diagram of the root joint mechanism, the clamping claws and their connections. DETAILED DESCRIPTION

[0025] Specific implementation method 1: Combination Figures 1 to 3 The present embodiment is described. The present embodiment is a foreign body clamping mechanism for a railway car roof, comprising an electromagnet base 1, an electric push rod 2, a rotating mechanism 3, a quick release mechanism 4, a large arm 5, an electric cylinder push rod 6, a small arm 7, a root joint mechanism 8 and a clamping claw 9. The electric push rod 2 is mounted on the upper end of the electromagnet base 1, the rotating mechanism 3 is rotatably mounted on the upper end of the electric push rod 2 in the horizontal direction, the large arm 5 is mounted on the upper end of the horizontal rotating mechanism 3 in the horizontal direction, the quick release mechanism 4 is arranged at the connection between the large arm 5 and the horizontal rotating mechanism 3, one end of the small arm 7 is hinged with one end of the large arm 5 in the vertical direction, one end of the electric cylinder push rod 6 is mounted on the large arm 5, the other end of the electric cylinder push rod 6 is mounted on the small arm 7 to realize the rotation of the small arm 7 in the vertical circumferential direction, the other end of the small arm 7 is hinged with the upper end of the root joint mechanism 8, and the lower end of the root joint mechanism 8 is mounted with a clamping claw 9;

[0026] The rotating mechanism 3 includes a base plate 31, a first rotating shaft 32, a mounting plate 33 and a first motor. The base plate 31 is fixedly mounted on the first rotating shaft 32. The mounting plate 33 is mounted on the upper end of the electric push rod 2. The base plate 31 is mounted on the upper end of the mounting plate 33. The first motor is arranged in the middle of the mounting plate 33. The output end of the first motor is connected to the first rotating shaft 32 in a transmission manner to realize the rotation of the base plate 31 in a horizontal circumferential direction. The transmission connection adopts a gear transmission mode. The output torque of the first motor is transmitted to the base plate through the first rotating shaft through the gear transmission, thereby driving the base plate to rotate in a horizontal circumferential direction.

[0027] The quick release mechanism 4 includes a long bolt 41 and a short bolt 42. The bottom plate 31 is provided with a threaded hole. The long bolt 41 and the short bolt 42 both pass through the upper arm 5 in the vertical direction and are threadedly connected to the bottom plate 31.

[0028] The root joint mechanism 8 includes an upper connecting frame 81, a frame 82 and a pin 83. The upper end of the upper connecting frame 81 is hinged to the forearm 7 through the pin 83. The frame 82 is installed at the lower end of the upper connecting frame 81. A telescopic rod 84 is arranged inside the frame 82 in the vertical direction. The upper end of the telescopic rod 84 is connected to the top of the frame 82, and the lower end of the telescopic rod 84 is installed with a clamp 9.

[0029] The fixed electromagnet is an electromagnetic device adsorbed on the train carriage, usually used to adsorb, fix or manipulate magnetic materials. It consists of an electromagnetic coil and an iron core, which generates a magnetic field by energizing to attract nearby magnetic materials. The arm of this device is connected to the rotating mechanism by a quick release mechanism, which can be quickly released. When using the quick release function, you need to check whether the arm is installed and tightened after installing the robot arm assembly. If not, you need to disassemble it and reinstall it and tighten it. There are engravings on the quick release bolts. You need to install the short bolts first and then the long bolts. The mechanical gripper uses two motors to control the opening and closing action of the clamp and the rotation action of the clamp, respectively, and has multiple degrees of freedom. This device is portable. Since the construction workers need to work in groups of 1-2 people, the device needs to be easy to carry. This product shortens the length of the manipulator through a retractable electric push rod, and disassembles the arm of the manipulator through the quick release part, thereby reducing the difficulty of transporting the manipulator during transportation. When the gripper grabs foreign objects, the telescopic rod is used to push it, making the picking action of the gripper finger easier. In the design of foreign body gripping mechanism, each component can be split into fixed unit and movable unit for specific analysis and planning, so as to realize the compactness, portability, flexibility and safety and reliability of the flexible unit joint structure. In order to save space and ensure flexibility, the designed foreign body gripping mechanism adopts an integrated structure, integrating the driving components into the foreign body gripping mechanism of this equipment, guiding the gripper to pick up and improving flexibility. The rotation axis of the overall mechanism is consistent with the rotation axis of the mechanical gripper to avoid the problem of misalignment.

[0030] This implementation adopts remote control signal for control, and the frequency band is 2.4GHz, which is the signal propagation frequency band of the remote control and the controlled device. This transmission signal is a long wavelength signal. The advantage of this signal is its fast speed, which greatly improves the sensitivity of the equipment. The control system host computer adopts Delta PLC-PS02 and is equipped with a control expansion module to realize the overall control of the arm, arm, cleaning machine, servo motor, and pneumatic components, realize various functions and feedback the execution status of each component. Add a camera to the network connection: first plug in the network cable, and the network cable must be connected to the router connected to the mobile phone wifi. Power on the camera: add the camera on the mobile phone APP, select the local area network to search UID in the Camhi software, and add the camhipro software by selecting - network camera - connected devices - scan the QR code or search for nearby devices.

[0031] Further, the mobile phone wirelessly configures the camera: the camera is powered on; open the mobile phone wifi settings, search for IPCAM_XXXX hotspot, the hotspot password defaults to 01234567; open the APP, click "Add Camera", click LAN Search UID Search Device; select the camera UID number SSAM-380434-BAFAA, the initial password is admin, click to confirm, and the camera password must be changed before the first opening. How to use the remote control: Battery installation: Open the battery compartment cover, put 4 fully charged No. 5 batteries into the battery compartment, make sure the metal terminals on the battery are connected to the metal terminals in the battery compartment, and cover the battery compartment cover. Power on: Check the system status to make sure the battery is charged, and the receiver is not turned on and installed correctly. Make sure all switches and joysticks are in a safe position. Press and hold the two power buttons of the transmitter at the same time. When the transmitter display lights up, it means it is turned on. Connect the power supply to the receiver.

[0032] Further, binding: This transmitter and receiver have been successfully bound before leaving the factory. If you want to use other transmitters or receivers, bind them first. Turn on the transmitter power, select binding, the transmitter displays "binding", connect the binding line to the BIND / VCC interface on the receiver, and connect the power cord to any other interface on the receiver. After the binding is successful, the transmitter displays "Binding successful!" and automatically exits the binding interface. Remote control movement control method: The left joystick controls the jaws to open upward, controls the jaws to tighten downward, controls the device to lower to the left, and controls the device to raise to the right. The right joystick controls the jaws to move outward upward, controls the jaws to move inward downward, controls the arm to turn left to the left, controls the arm to turn right to the right, and controls the speed by the amplitude of the joystick.

[0033] Furthermore, when the gripper is opened and tightened, the sound of the motor changes, indicating that resistance is encountered when the gripper is opened or tightened. The power supply to the motor should be stopped in time, otherwise the motor will be damaged. Customized experimental components for cargo inspection auxiliary manipulators: wireless HDMI high-definition transmission technology is used to provide real-time feedback on the internal working conditions of the carriage, and a high-definition display screen is equipped to facilitate employees to better identify, analyze and make specific treatment measures. Intelligent high-end precision cameras and transmission equipment are developed, which integrate low power consumption, high stability and high on-site flexibility. The visual distance error compensation function is developed to ensure that the deviation is within an error range of 30mm or even lower. The self-developed wireless remote control multi-channel output control system greatly reduces the equipment failure rate, improves the flexibility of the equipment, and facilitates more efficient on-site construction for personnel. The control module with low power consumption and high integrated circuits is used to improve the reliability and convenience of the equipment.

[0034] Specific implementation method 2: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the first embodiment is that a second rotating shaft 10 is installed at the lower end of the telescopic rod 84, and the lower end of the second rotating shaft 10 is fixedly connected to the clamping claw 9. A second motor is arranged in the middle of the frame 82, and the output end of the second motor is connected to the second rotating shaft 10 to realize the rotation of the clamping claw 9 along the horizontal circumferential direction. The function is to grab foreign objects from the best angle and improve work efficiency. Other components and connection methods are the same as those of the first embodiment.

[0035] Specific implementation method three: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the first embodiment is that a push rod flange 21 is provided at the upper end of the electric push rod 2, and the upper end of the electric push rod 2 is fixedly connected to the mounting plate 33 through the push rod flange 21. The function is to facilitate the connection and improve the stability of the device. The other components and connection methods are the same as those of the first or second embodiment.

[0036] Specific implementation method four: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the first embodiment is that there are two small arms 7, and the two small arms 7 are arranged in parallel along the vertical direction. Other components and connection methods are the same as any one of the first to third embodiments.

[0037] Specific implementation method five: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the first embodiment is that the rotation angle range of the bottom plate 31 along the horizontal circumferential direction relative to the initial installation direction of the boom 5 is 0 to 180 degrees. The function is to increase the range of motion of the boom, meet the needs of work and reliability requirements, and make the equipment more flexible when used. Other components and connection methods are the same as any one of the first to fourth embodiments.

[0038] Specific implementation method six: Combination Figures 1 to 3This embodiment is described. The difference between this embodiment and the first embodiment is that the rotation angle range of the small arm 7 along the vertical circumferential direction relative to the initial installation direction of the large arm 5 is 40 degrees to 140 degrees. The function is to increase the range of motion of the small arm, meet the needs of work and reliability requirements, and make the equipment more flexible when used. Other components and connection methods are the same as any one of the first to fifth embodiments.

[0039] Specific implementation method seven: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the first embodiment is that the clamping jaw 9 includes a left jaw and a right jaw, both of which are configured in an arc shape, and the left jaw and the right jaw move synchronously toward each other to grasp the external foreign object. The other components and connection methods are the same as any one of the first to sixth embodiments.

[0040] Specific implementation method eight: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the specific embodiment 1 is that a plurality of protrusions 91 are provided on the inner side of the arc-shaped clamping claw 9, and the plurality of protrusions 91 are evenly arranged adjacent to each other. Because foreign objects on the roof may be placed on the roof in any form, and some are difficult to grasp. For some foreign objects that are difficult to grasp, it is necessary to customize the mechanical claw according to special needs, and the claw part has protrusions to increase friction. Make the clamped object not easy to fall off during the clamping process. Other components and connection methods are the same as any one of the specific embodiments 1 to 7.

[0041] Specific implementation method nine: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the first embodiment is that the tip of the clamping claw 9 is set to be conical. The tip of the claw is made into a relatively sharp shape to facilitate the clamping of foreign objects close to the roof of the train. This makes it difficult for the clamped object to fall off during the clamping process. The other components and connection methods are the same as any one of the first to eighth embodiments.

[0042] Specific implementation method ten: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the first embodiment is that the bottom surface of the electromagnet base 1 is detachably mounted with a roller. The function is to facilitate application in different working scenes and improve the utilization rate. The other components and connection methods are the same as any one of the first to eighth embodiments.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A foreign body clamping mechanism for railway roof, characterized in that It comprises an electromagnet base (1), an electric push rod (2), a rotating mechanism (3), a quick-release mechanism (4), a large arm (5), an electric cylinder push rod (6), a small arm (7), a root joint mechanism (8) and a clamping claw (9). The electric push rod (2) is mounted on the upper end of the electromagnet base (1). The rotating mechanism (3) is mounted on the upper end of the electric push rod (2) rotatably in the horizontal direction. The large arm (5) is mounted on the upper end of the horizontal rotating mechanism (3) in the horizontal direction. The quick-release mechanism (4) is arranged at the connection between the large arm (5) and the horizontal rotating mechanism (3). One end of the small arm (7) is hinged to one end of the large arm (5). One end of the electric cylinder push rod (6) is mounted on the large arm (5). The other end of the electric cylinder push rod (6) is mounted on the small arm (7) to realize the rotation of the small arm (7) in the vertical circumferential direction. The other end of the small arm (7) is hinged to the upper end of the root joint mechanism (8). The lower end of the root joint mechanism (8) is mounted with a clamping claw (9). The rotating mechanism (3) comprises a base plate (31), a first rotating shaft (32), a mounting plate (33) and a first motor. The base plate (31) is fixedly mounted on the first rotating shaft (32). The mounting plate (33) is mounted on the upper end of the electric push rod (2). The base plate (31) is mounted on the upper end of the mounting plate (33). The first motor is arranged in the middle of the mounting plate (33). The output end of the first motor is transmission-connected to the first rotating shaft (32) so as to realize the rotation of the base plate (31) along the horizontal circumferential direction. The quick-release mechanism (4) comprises a long bolt (41) and a short bolt (42); the bottom plate (31) is provided with a threaded hole; the long bolt (41) and the short bolt (42) both pass through the upper arm (5) in a vertical direction and are threadedly connected to the bottom plate (31); The root joint mechanism (8) comprises an upper connecting frame (81), a frame (82) and a pin (83); the upper end of the upper connecting frame (81) is hinged to the forearm (7) via the pin (83); the frame (82) is mounted on the lower end of the upper connecting frame (81); a telescopic rod (84) is arranged inside the frame (82) in a vertical direction; the upper end of the telescopic rod (84) is connected to the top of the frame (82); and a clamp (9) is mounted on the lower end of the telescopic rod (84).

2. A railway roof foreign body clamping mechanism according to claim 1, characterized in that: A second rotating shaft (10) is installed at the lower end of the telescopic rod (84), and the lower end of the second rotating shaft (10) is fixedly connected to the clamping claw (9). A second motor is arranged in the middle of the frame (82), and the output end of the second motor is transmission-connected to the second rotating shaft (10) to realize the rotation of the clamping claw (9) along the horizontal circumferential direction.

3. The foreign body clamping mechanism for railway roof according to claim 1, characterized in that: The upper end of the electric push rod (2) is provided with a push rod flange (21), and the upper end of the electric push rod (2) is fixedly connected to the mounting plate (33) via the push rod flange (21).

4. The foreign body clamping mechanism for railway roof according to claim 1, characterized in that: The number of the small arms (7) is two, and the two small arms (7) are arranged in parallel along the vertical direction.

5. The foreign body clamping mechanism for railway roof according to claim 1, characterized in that: The rotation angle range of the bottom plate (31) along the horizontal circumferential direction relative to the initial installation direction of the upper arm (5) is 0 degrees to 180 degrees.

6. The foreign body clamping mechanism for railway roof according to claim 1, characterized in that: The rotation angle range of the small arm (7) along the vertical circumferential direction relative to the initial installation direction of the large arm (5) is 40 degrees to 140 degrees.

7. The foreign body clamping mechanism for railway roof according to claim 1, characterized in that: The clamping claw (9) comprises a left claw and a right claw, and both the left claw and the right claw are arranged in an arc shape, and the external foreign matter is grasped by the synchronous movement of the left claw and the right claw towards each other.

8. The foreign body clamping mechanism for railway roof according to claim 7, characterized in that: A plurality of protrusions (91) are arranged on the inner side of the arc-shaped clamping jaw (9), and the plurality of protrusions (91) are evenly and adjacently arranged.

9. A railway roof foreign body clamping mechanism according to claim 8, characterized in that: The tip of the clamping jaw (9) is configured to be conical.

10. A foreign body clamping mechanism for railway roof according to any one of claims 1 to 9, characterized in that: A roller is detachably mounted on the bottom surface of the electromagnet base (1).

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