Train maintenance robot convenient for channel-crossing operation

Abstract

The utility model provides a train maintenance robot convenient for channel crossing operation. The train maintenance robot comprises an intelligent walking robot; the two groups of symmetrical main mounting blocks are respectively connected with a vehicle body of the intelligent walking robot, and the two groups of symmetrical main mounting blocks are respectively connected with guide rods; the four main electric push rods are respectively connected with the corresponding main mounting blocks, and a push rod of each main electric push rod is respectively connected with a wheel seat of an electric wheel; the symmetrical secondary mounting blocks are respectively connected with the corresponding guide rods; and the symmetrical auxiliary electric push rods are respectively connected with the corresponding secondary mounting blocks. The utility model relates to the technical field of train maintenance, in particular to a train maintenance robot convenient for channel crossing operation. Aiming at the defects in the prior art, the train maintenance robot convenient for channel-crossing operation is developed, the channel-crossing operation is conveniently realized, and particularly, when the train maintenance robot moves downwards along a step, the gravity center is moved backwards, and the train maintenance robot is prevented from inclining forwards.

Description

Technical Field

[0001] The utility model relates to the technical field of train maintenance, in particular to a train maintenance robot convenient for cross-channel operation. Background Technique

[0002] During daily train maintenance, due to the complex terrain in the station, train maintenance robots often need to move across channels with steps. However, the currently commonly used train maintenance robots do not have the ability to drive along steps and are generally more suitable for driving on flat roads. Therefore, it is necessary for workers to assist the robots to pass through such terrains, which is very inconvenient.

[0003] In the prior art, for example, the utility model with the authorization publication number of CN217918182U. The structure is reasonably designed, and the robot can smoothly drive out or into the train maintenance channel.

[0004] Currently, there is still a lack of a train maintenance robot that can conveniently realize cross-channel operation, especially when driving down steps, it can shift the center of gravity backward to prevent the train maintenance robot from tipping forward.

[0005] Therefore, in view of the above problems, a train maintenance robot convenient for cross-channel operation is proposed to solve the above problems. Content of the Utility Model

[0006] Aiming at the deficiencies of the prior art, the utility model develops a train maintenance robot convenient for cross-channel operation. The utility model can conveniently realize cross-channel operation, especially when driving down steps, it can shift the center of gravity backward to prevent the train maintenance robot from tipping forward.

[0007] The technical solution for the utility model to solve the technical problems is as follows: The utility model provides a train maintenance robot convenient for cross-channel operation, including: an intelligent walking robot; two groups of symmetric main mounting blocks, which are respectively connected to the body of the intelligent walking robot, and two groups of symmetric main mounting blocks are respectively connected to guide rods; four main electric push rods, which are respectively connected to the corresponding main mounting blocks, and the push rods of each main electric push rod are respectively connected to the wheel seats of electric wheels; symmetric secondary mounting blocks, which are respectively connected to the corresponding guide rods; symmetric auxiliary electric push rods, which are respectively connected to the corresponding secondary mounting blocks, and the push rods of the symmetric auxiliary electric push rods are respectively connected to the wheel seats of auxiliary wheels. By adopting the main electric push rods and the auxiliary electric push rods, it is convenient to realize the movement of the device along the steps of the channel.

[0008] As an optimization, the symmetric guide rods respectively pass through the symmetric first vertical rods, and each first vertical rod is respectively connected to a downstairs counterweight block. By setting the downstairs counterweight block, when the device goes down the steps, the center of gravity moves backward to prevent the device from tipping forward.

[0009] As an optimization, each of the guiding rods is rotatably connected to the centers of two upper connecting rods respectively. Each of the upper connecting rods is connected to a first round block respectively. Each of the first vertical rods is provided with a lower vertical groove, and each of the first round blocks is arranged in the corresponding lower vertical groove. By adopting the upper connecting rods, when they swing, the first round blocks drive the first vertical rods to move, realizing the movement of the downstairs counterweight block.

[0010] As an optimization, the wheel seats of each of the electric wheels are rotatably connected to one ends of the lower connecting rods respectively. The symmetrical guiding rods pass through two second vertical rods respectively. The other ends of each of the lower connecting rods are rotatably connected to the corresponding second vertical rods respectively. Each of the second vertical rods is provided with an upper vertical groove, and each of the upper connecting rods is connected to a second round block respectively. Each of the second round blocks is arranged in the corresponding upper vertical groove. By adopting the lower connecting rods to rotatably connect the wheel seats of the electric wheels and the second vertical rods, and arranging the second round blocks in the upper vertical grooves, when the electric wheels move in the height direction, the movement of the downstairs counterweight block is realized.

[0011] As an optimization, distance measuring sensor groups are connected to the front and rear ends of the intelligent walking robot respectively. It includes at least one laser distance measuring sensor vertically downward, two laser distance measuring sensors vertically along the length direction of the intelligent walking robot, and one laser distance measuring sensor parallel to the length direction, realizing the distance measurement of steps and obstacles, assisting the robot to move along the steps, and realizing the operation of crossing channels.

[0012] As an optimization, an antenna is installed at the rear part of the intelligent walking robot.

[0013] As an optimization, a controller is installed inside the intelligent walking robot. The distance measuring sensor groups, the antenna, the main electric push rod, the electric wheels and the auxiliary electric push rod are electrically connected to the controller respectively. The controller is wirelessly connected to the upper computer. The upper computer includes but is not limited to a computer, a PC, a tablet, a mobile phone, a liquid crystal display, etc.

[0014] The effects provided in the description of the utility model are only the effects of the embodiments, rather than all the effects of the utility model. The above technical solutions have the following advantages or beneficial effects:

[0015] (1) By arranging the downstairs counterweight block in this device, when the device goes down the steps, the center of gravity moves backward, preventing the device from tilting forward.

[0016] (2) By adopting the auxiliary wheels in this device, when the front and rear electric wheels of the device cross multiple steps, they contact the step surface, enhancing the stability of the device.

[0017] (3) By adopting the distance measuring sensor groups in this device, the height and width of the steps are measured, assisting in controlling the main electric push rod and the auxiliary electric push rod. Description of the Drawings

[0018] The accompanying drawings are used to provide a further understanding of the present utility model and form a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model.

[0019] Figure 1 It is a schematic diagram of the planar motion of the present utility model.

[0020] Figure 2 It is a schematic diagram of the partial three-dimensional structure of the present utility model Figure 1 。

[0021] Figure 3 It is a schematic diagram of the partial three-dimensional structure of the present utility model Figure 2 。

[0022] Figure 4 It is a schematic diagram of the preparation for going upstairs of the present utility model.

[0023] Figure 5 It is a schematic diagram of the state of going downstairs of the present utility model.

[0024] In the figure: 1. Intelligent walking robot, 2. Distance measuring sensor group, 3. Lower connecting rod, 4. Antenna, 5. Main electric push rod, 6. Main mounting block, 7. Guide rod, 8. Electric wheel, 9. Secondary mounting block, 10. Auxiliary electric push rod, 11. Auxiliary wheel, 12. Second vertical rod, 13. Upper vertical groove, 14. Upper connecting rod, 15. Downstairs counterweight, 16. First vertical rod, 17. Lower vertical groove, 18. First round block, 19. Second round block. Detailed implementation manners

[0025] In order to clearly illustrate the technical features of the present solution, the present utility model will be described in detail below through specific embodiments and in conjunction with its accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present utility model. To simplify the disclosure of the present utility model, the components and settings of specific examples are described below. In addition, the present utility model may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. The present utility model omits the description of well-known components and processing techniques and processes to avoid unnecessarily limiting the present utility model. The orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] As Figures 1 to 5 shown, Embodiment 1: A train maintenance robot facilitating cross-channel operation, comprising: an intelligent walking robot 1; two groups of symmetric main mounting blocks 6, respectively connected to the body of the intelligent walking robot 1, and two groups of symmetric main mounting blocks 6 are respectively connected to guide rods 7; four main electric push rods 5, respectively connected to the corresponding main mounting blocks 6, and the push rods of each main electric push rod 5 are respectively connected to the wheel seats of electric wheels 8; symmetric secondary mounting blocks 9, respectively connected to the corresponding guide rods 7; symmetric auxiliary electric push rods 10, respectively connected to the corresponding secondary mounting blocks 9, and the push rods of the symmetric auxiliary electric push rods 10 are respectively connected to the wheel seats of auxiliary wheels 11. By adopting the main electric push rods 5 and the auxiliary electric push rods 10, it is convenient to realize the step movement of the device along the channel.

[0027] The front and rear ends of the intelligent walking robot 1 are respectively connected to a ranging sensor group 2. It includes at least one laser ranging sensor that is vertically downward, two that are perpendicular to the length direction of the intelligent walking robot 1, and one that is parallel to the length direction, to measure the distance to steps and obstacles, assist the robot in moving along the steps, and achieve cross-channel operation.

[0028] The model of the laser ranging sensor is GJD-06.

[0029] An antenna 4 is installed at the rear of the intelligent walking robot 1.

[0030] A controller is installed inside the intelligent walking robot 1. The ranging sensor group 2, antenna 4, main electric push rod 5, electric wheel 8, and auxiliary electric push rod 10 are respectively electrically connected to the controller. The controller is wirelessly connected to a host computer. The host computer includes but is not limited to a computer, PC, tablet, mobile phone, and liquid crystal display, etc.

[0031] The model of the controller is STM32WB55CGU6.

[0032] The models of the main electric push rod 5 and the auxiliary electric push rod 10 are BMXL.

[0033] The working process of this embodiment is as follows:

[0034] The position, width, and height of the steps are measured by the ranging sensor group 2.

[0035] Before going upstairs, control the main electric push rod 5 and the auxiliary electric push rod 10 to fully extend, so that the electric wheel 8 and the auxiliary wheel 11 contact the ground, raise the intelligent walking robot 1, control the electric wheel 8 to work, and move this device forward. When the intelligent walking robot 1 approaches the steps, control the front main electric push rod 5 to contract, so that the front electric wheel 8 is flush with the upper step surface. After the front electric wheel 8 contacts the upper step surface, control the auxiliary electric push rod 10 to contract, so that the auxiliary wheel 11 is flush with the upper step surface. When the rear electric wheel 8 approaches the vertical surface of the upper step, control the rear main electric push rod 5 to contract, so that the rear electric wheel 8 is flush with the upper step surface. Repeat this process to achieve climbing the stairs.

[0036] When going downstairs, control the main electric push rod 5 and the auxiliary electric push rod 10 to extend halfway, so that the intelligent walking robot 1 is away from the step surface. After the front electric wheel 8 leaves the step surface, control the front main electric push rod 5 to extend, so that the front electric wheel 8 contacts the plane of the lower step, and so on, to achieve going downstairs.

[0037] Embodiment 2: This embodiment further elaborates on the basis of Embodiment 1. The symmetric guide rods 7 respectively pass through the symmetric first vertical rods 16, and each first vertical rod 16 is respectively connected to a downstairs counterweight 15. By setting the downstairs counterweight 15, when this device goes down the steps, the center of gravity moves backward to prevent this device from tipping forward.

[0038] Each of the guide rods 7 is rotatably connected to the centers of two upper connecting rods 14. Each of the upper connecting rods 14 is respectively connected to a first circular block 18. Each of the first vertical rods 16 is respectively provided with a lower vertical groove 17. Each of the first circular blocks 18 is respectively arranged in the corresponding lower vertical groove 17. By adopting the upper connecting rod 14, when it swings, the first circular block 18 drives the first vertical rod 16 to move, realizing the movement of the downstairs counterweight 15.

[0039] The wheel seat of each electric wheel 8 is respectively rotatably connected to one end of a lower connecting rod 3. The symmetric guide rods 7 respectively pass through two second vertical rods 12. The other end of each lower connecting rod 3 is respectively rotatably connected to the corresponding second vertical rod 12. Each of the second vertical rods 12 is respectively provided with an upper vertical groove 13. Each of the upper connecting rods 14 is respectively connected to a second circular block 19. Each of the second circular blocks 19 is respectively arranged in the corresponding upper vertical groove 13. By adopting the lower connecting rod 3 to rotatably connect the wheel seat of the electric wheel 8 and the second vertical rod 12, and arranging the second circular block 19 in the upper vertical groove 13, when the electric wheel 8 moves in the height direction, the downstairs counterweight 15 moves. When going downstairs, as Figure 5 shown, the rear downstairs counterweight 15 moves backward, shifting the center of gravity of the robot backward, making it more stable when going down the steps.

[0040] The working process of this embodiment is as follows:

[0041] When the electric wheel 8 moves in the height direction, it drives the lower connecting rod 3 to swing. The lower connecting rod 3 drives the second vertical rod 12 to move along the guide rod 7. The second vertical rod 12 drives the second circular block 19 to move along the upper vertical groove 13. The second circular block 19 drives the upper connecting rod 14 to swing. The upper connecting rod 14 drives the first circular block 18 to move in the lower vertical groove 17. The first circular block 18 drives the first vertical rod 16 to move along the guide rod 7. The first vertical rod 16 drives the downstairs counterweight 15 to move.

[0042] Although the specific implementation manners of the utility model are described above in conjunction with the drawings, it is not a limitation to the protection scope of the utility model. Based on the technical solution of the utility model, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the utility model.

Claims

1. A train maintenance robot that is convenient for cross-channel operation, characterized in that: include: Intelligent walking robot (1); Two groups of symmetrical main mounting blocks (6) are respectively connected to the body of the intelligent walking robot (1); the two groups of symmetrical main mounting blocks (6) are respectively connected to guide rods (7); Four main electric push rods (5) are respectively connected to the corresponding main mounting blocks (6), and each push rod of the main electric push rod (5) is respectively connected to the wheel seat of the electric wheel (8); Symmetrical secondary mounting blocks (9), respectively connected to corresponding guide rods (7); The symmetrical auxiliary electric push rods (10) are respectively connected to the corresponding secondary mounting blocks (9), and the push rods of the symmetrical auxiliary electric push rods (10) are respectively connected to the wheel seats of the auxiliary wheels (11).

2. A train maintenance robot that is convenient for cross-channel operation according to claim 1, characterized in that: The symmetrical guide rods (7) respectively pass through the symmetrical first vertical rods (16), and each of the first vertical rods (16) is respectively connected to a downstairs counterweight block (15).

3. A train maintenance robot that is convenient for cross-channel operation according to claim 2, characterized in that: Each of the guide rods (7) is rotatably connected to the center of two upper connecting rods (14), each of the upper connecting rods (14) is connected to a first round block (18), each of the first vertical rods (16) is provided with a lower vertical groove (17), and each of the first round blocks (18) is arranged in a corresponding lower vertical groove (17).

4. A train maintenance robot that is convenient for cross-channel operation according to claim 3, characterized in that: The wheel seat of each electric wheel (8) is rotatably connected to one end of a lower connecting rod (3), the symmetrical guide rods (7) pass through two second vertical rods (12), the other end of each lower connecting rod (3) is rotatably connected to a corresponding second vertical rod (12), each second vertical rod (12) is provided with an upper vertical groove (13), each upper connecting rod (14) is connected to a second round block (19), and each second round block (19) is arranged in a corresponding upper vertical groove (13).

5. The train maintenance robot that is convenient for cross-channel operation according to claim 1 is characterized in that: The front and rear ends of the intelligent walking robot (1) are respectively connected to a distance measuring sensor group (2).

6. The train maintenance robot for cross-channel operation according to claim 1 is characterized in that: An antenna (4) is installed at the rear of the intelligent walking robot (1).

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