Transfer equipment suitable for robot in rail train maintenance warehouse
By combining the lifting mechanism and the transition plate, the construction difficulties and high costs of the robotic transfer equipment in the railcar maintenance depot were solved, achieving a convenient and safe transfer effect without affecting the use of the original site.
Patent Information
- Application Number
- CN202520399154.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-07
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2035-03-07
AI Technical Summary
Existing technologies for robotic transfer equipment within railcar maintenance depots present challenges such as construction difficulties, high costs, significant safety hazards, and reduced inspection coverage.
The design employs a combination of a lifting mechanism, a trench transition plate, and a ground transition plate. The lifting mechanism is installed inside the trench, allowing the platform to be raised and lowered. The trench transition plate and the ground transition plate are used for the transfer of the robot between the trench and the ground without occupying the original site space.
It enables convenient transfer of robots within the railcar maintenance depot, reduces infrastructure renovation costs, improves safety and inspection coverage, and features a simple structure and low cost.
Smart Images
Figure CN223950659U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to subway vehicle overhauling equipment technical field, more particularly to a kind of transfer equipment suitable for track train overhauling in-plant robot. BACKGROUND
[0002] High-speed rail, subway and other track trains have become an important part of public transportation in large and medium-sized cities. For example, the subway, the number of subway vehicles in operation is increasing, and the maintenance of subway vehicles is an important work to ensure normal operation. Subway vehicles need daily inspection and maintenance in vehicle depot every day. In recent years, the very time-consuming and labor-intensive inspection work in daily inspection is gradually taken over by automatic inspection robots.
[0003] The maintenance depot generally has multiple parallel distribution of maintenance tracks, and the rails on the tracks are supported by columns, and the trench below is lower than the ground on both sides. The robot needs to enter the trench to inspect the vehicle bottom components, or cross the tracks to inspect the vehicles parked on multiple tracks. Generally, it is selected to enter the trench and cross the track between the columns at both ends of the track or both sides of the trench.
[0004] There are many methods for transferring robots in and out of the trench at present:
[0005] The first method is to build a smooth transition slope between the trench end or both sides of the trench and the ground, so that the robot can directly enter and exit the trench along the slope, but this method requires a large amount of construction work and high cost, and it is more difficult to construct for existing maintenance depots.
[0006] The second method is to lift the robot with hoisting equipment and then put it into the trench, but this method is time-consuming and labor-intensive, and the procedure is complicated, and there are safety hazards.
[0007] The third method is to build a slope platform in the trench, which is easy to implement and low in cost, but this platform needs to occupy the trench range, so that the robot cannot work at this position, affecting the inspection point coverage.
[0008] The fourth method is to install lifting equipment in the trench, which can be linked with the robot to automatically transfer the robot, but such lifting equipment is usually complex in structure and high in cost, and still needs some infrastructure reconstruction. UTILITY MODEL CONTENT
[0009] Therefore, the utility model provides a transfer equipment suitable for track train overhauling in-plant robot, aiming to reduce the impact of the transfer equipment for deploying robot on the original site.
[0010] To solve the above technical problems, the utility model adopts the following technical scheme:
[0011] The application discloses a transfer equipment for a robot in a rail train maintenance depot, which comprises a lifting mechanism, a ditch transition plate and a ground transition plate; the lifting mechanism is installed in a ditch; the lifting mechanism has a liftable platform; the ditch transition plate is installed on at least one side of the lifting mechanism along the length direction of the ditch; the top of the ditch transition plate has an inclined surface, the low end of the inclined surface is flush with the bottom of the ditch, and the high end of the inclined surface is flush with the top of the platform in the low position; the ground transition plate is installed on the ground; the ground transition plate is installed on at least one side of the lifting mechanism perpendicular to the length direction of the ditch; and the ground transition plate is used for filling the gap between the ground and the top of the platform in the high position.
[0012] In some optional embodiments, a limiting component is further included; the limiting component comprises a vertical column, a proximity switch and a sensing sheet; the vertical column is installed in the ditch and vertically arranged; one of the proximity switch and the sensing sheet is installed on the vertical column, and the other is installed on the edge of the platform.
[0013] In some optional embodiments, when the sensing sheet is installed on the vertical column, a plurality of sensing sheets are installed on the vertical column.
[0014] In some optional embodiments, the sensing sheet is adjustably installed on the vertical column.
[0015] In some optional embodiments, a safety component is further included; the safety component is installed on at least one side edge of the top of the platform; the safety component comprises a laser transceiver device and a reflecting plate which are separately arranged at two ends of the edge of the platform; the laser transceiver device comprises a laser emitting unit and a laser receiving unit; and the laser emitted by the laser emitting unit can be received by the laser receiving unit after being reflected by the reflecting plate.
[0016] In some optional embodiments, the lifting mechanism further comprises a base, a scissor support and an extension mechanism; the base is installed in the ditch; the platform is installed above the base through the scissor support; and the extension mechanism is installed between the base and the scissor support and is used for driving the lifting movement of the platform.
[0017] Compared with the prior art, the platform in the utility model can be raised or lowered in the ditch, the platform is in the high position when the platform is raised, the robot can enter or exit the ditch through the ground transition plate on the platform, the platform is in the low position when the platform is lowered, and the robot can transfer between the ditch and the platform through the ditch transition plate on the platform. Therefore, the robot can be transferred between the ditch and the ground through the transfer equipment described in the embodiment of the application. The lifting mechanism is installed in the ditch, but the overall height is contracted to a small size after the platform is lowered, so that the robot can normally work at the position. The transfer equipment described in the utility model does not need to reconstruct the original site, is simple to install, is convenient to deploy, almost does not affect the original site after installation, has simple structure, low cost and reliable performance. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 Fig. 1 is a perspective structural schematic view of the transfer equipment in the utility model.
[0019] Figure 2 Fig. 2 is a top view structural schematic view of the structure shown in Fig. 1. Figure 1
[0020] Figure 3 Fig. 3 is a perspective structural schematic view of the transfer equipment in the utility model, Figure 3 Fig. 4 is a front view structural schematic view of the transfer equipment in the utility model,
[0021] Figure 4 Fig. 5 is a top view structural schematic view of the structure shown in Fig. 4. Figure 4 Fig. 6 is a front view structural schematic view of the structure shown in Fig. 5.
[0022] The explanations of the reference numerals in the drawings are as follows: ground 1, ditch 2, track 3, robot 4, transfer equipment 5, lifting mechanism 51, ditch transition plate 52, ground transition plate 53, base 511, scissor type support 512, platform 513, telescopic mechanism 514, stand column 541, proximity switch 542, inductive sheet 543, laser transceiver device 551, and light-reflecting plate 552. DETAILED DESCRIPTION
[0023] In order for those skilled in the art to better understand the technical scheme of the utility model, the utility model will be further described in detail in combination with the specific implementation manners.
[0024] In the description of the utility model, need understanding is, if the direction description, for example, the direction or positional relation of indication such as upper, lower, front, rear, left, right is based on the direction or positional relation shown in drawing, only for the convenience of describing the utility model and simplifying description, and not indicate or imply that the device or element indicated must have a particular orientation, a particular orientation configuration and operation, therefore it can not be understood as the limitation of the utility model.
[0025] In the description of the utility model, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, more than and the like are understood as not including the number, above, below, within and the like are understood as including the number.If there is a description to the first, second and the like similar language is only used for distinguishing technical features for the purpose, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.
[0026] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.
[0027] As shown in Figures 1-2 The transfer equipment 5 suitable for the robot in the rail train maintenance warehouse described in the embodiment of the application mainly comprises a lifting mechanism 51, a ditch transition plate 52 and a ground transition plate 53.
[0028] The lifting mechanism 51 is installed in the ditch 2, and the lifting mechanism 51 has a liftable platform 513, which is used for carrying the robot 4.
[0029] The ditch transition plate 52 can be installed in the ditch 2 by, for example, bolts. The ditch transition plate 52 is installed on at least one side of the lifting mechanism 51 along the length direction of the ditch 2, for the convenience of distinction, here it can be said that the ditch transition plate 52 is located on the front side and / or rear side of the lifting mechanism 51, and preferably the ditch transition plate 52 is installed on both sides of the lifting mechanism 51. The top of the ditch transition plate 52 has a smooth transition slope from high to low, the low end of the slope is flush with the bottom surface of the ditch 2, and the high end of the slope is flush with the top surface of the platform 513 in the low position.
[0030] The ground transition plate 53 can also be installed on the ground 1 below the track 3 by, for example, bolts. The ground transition plate 53 is installed on at least one side of the lifting mechanism 51 perpendicular to the length direction of the ditch 2, here it can be said that the ground transition plate 53 is located on the left side and / or right side of the lifting mechanism 51, and preferably the ground transition plate 53 is installed on both sides of the lifting mechanism 51. The ground transition plate 53 is used to fill the gap between the platform 513 and the ground 1.
[0031] The platform 513 can be raised or lowered in the trench 2. When the platform 513 is raised, it is in a high position, and the robot 4 can enter or exit the trench 2 through the ground transition plate 53 on the platform 513. When the platform 513 is lowered, it is in a low position, and the robot 4 can transfer between the trench 2 and the platform 513 through the trench transition plate 52 on the platform 513. Therefore, the robot 4 can be transferred between the trench 2 and the ground 1 by the transfer device 5 described in the embodiments of the present application. The lifting mechanism 51 is installed in the trench 2, but after the platform 513 is lowered, the overall height is contracted to a smaller size, which does not affect the normal work of the robot 4 at this position. The transfer device 5 described in the embodiments of the present application does not require civil engineering reconstruction of the original site, is easy to install and deploy, and almost does not affect the original site after installation. At the same time, it has a simple structure, low cost, and reliable performance.
[0032] As an optional embodiment, as shown in Figure 4 The lifting mechanism 51 can include a base 511, a scissor support 512, and a telescopic mechanism 514 in addition to the platform 513.
[0033] The base 511 can be installed in the trench 2 by, for example, bolts. The platform 513 is installed above the base 511 by the scissor support 512. The middle points of the fork arms of the scissor support 512 are hingedly connected to each other. The upper and lower ends of one side of the fork arms are hingedly connected to the base 511 and the platform 513, respectively. The upper and lower ends of the other side of the fork arms are slidingly connected to the base 511 and the platform 513, respectively. The telescopic mechanism 514 is installed between the base 511 and the scissor support 512. The telescopic mechanism 514 can be, for example, an oil cylinder. Through the telescopic movement of the telescopic mechanism 514, the platform 513 can perform lifting movement.
[0034] As shown in Figure 3 The transfer device 5 described in the embodiments of the present application can also include a limiting assembly. The limiting assembly can include a stand 541, a proximity switch 542, and a sensing sheet 543.
[0035] The stand 541 is vertically arranged. The lower end of the stand 541 can be installed in the trench 2, and is preferably arranged close to the side wall of the trench 2 to avoid interfering with other mechanisms. The lower end of the stand 541 can also be connected to the base 511 by, for example, welding, and is preferably arranged close to the edge of the base 511 to avoid interfering with other mechanisms. Since the base 511 is installed in the trench 2 by, for example, bolts, the lower end of the stand 541 connected to the base 511 is actually installed in the trench 2.
[0036] The proximity switch 542 and the sensing plate 543 work together. One of them is installed on the column 541, and the other is installed on the edge of the platform 513 and can move up and down with the platform 513.
[0037] Limiting components can be used to obtain position information of platform 513. For example, when proximity switch 542 approaches sensing plate 543, it can provide a feedback signal, which can be used to control platform 513 to stop rising. At this time, the position of platform 513 can be designed to be exactly at the high position.
[0038] As an optional implementation, the proximity switch 542 can be installed on the edge of the platform 513, and multiple sensing elements 543, such as three sensing elements 543, can be installed on the column 541, spaced apart from top to bottom. The sensing element 543 at the lowest position corresponds to the position of the platform 513 when it is lowered to its lowest position. Considering infrastructure errors, there may be a height difference between the ground 1 on both sides of the trench 2. Therefore, the two sensing elements 543 at the highest and second highest positions correspond to the positions of the platform 513 when it is raised to its highest position and corresponds to the left or right side of the ground 1, respectively. If the height difference between the ground 1 on both sides of the trench 2 is negligible, only one sensing element 543 can be used to provide the high-position information.
[0039] The position of the sensor 543 on the column 541 can also be designed to be adjustable up and down, so as to adjust for trenches 2 of different depths.
[0040] To further improve accuracy, a limit component can be installed at each of the four corners of platform 513. Integrating information from multiple limit components helps to more accurately determine the position of platform 513.
[0041] like Figure 3 As shown in the embodiments of this application, the transfer device 5 may further include a safety component. The safety component is installed on at least one edge of the top of the platform 513, and the safety component includes a laser transceiver 551 and a reflector 552 respectively disposed at both ends of the edge of the platform 513.
[0042] The laser transceiver 551 includes a laser emitting unit and a laser receiving unit. The laser emitting unit emits laser light, and the laser receiving unit receives the reflected laser light. The laser light emitted by the laser emitting unit is reflected by a reflector 552 and received by the laser receiving unit, thus forming a laser fence between the laser transceiver 551 and the reflector 552. When the laser fence is blocked by the robot 4 moving in and out of the platform 513, the laser receiving unit cannot receive the reflected laser light, and at this time, it can transmit signals outward.
[0043] The safety assembly can be installed on the four side edges of the top of the platform 513, that is, four laser fences can be formed on the four sides of the platform 513 to completely surround the top plane of the platform 513. When the robot 4 enters or exits the platform 513, the motion information of the robot 4 can be obtained, and the lifting action can be performed only when the robot 4 completely enters or exits the platform 513, so as to ensure the safety of the robot 4. Since the safety assembly moves with the platform 513, the platform 513 can obtain the alarm information of the robot 4 accidentally crossing the boundary on the platform 513 at any position.
[0044] A plurality of transfer devices 5 described in the embodiments of the present application can be installed in a plurality of trenches of the maintenance library, and can be controlled in linkage with the robot 4 to realize the function of the robot 4 working on any lane.
[0045] The technical features of the above-described embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.
[0046] The above-mentioned preferred embodiments should not be regarded as a limitation of the present application, and the protection scope of the present application should be defined by the scope of the claims. For ordinary skilled in the art, several improvements and refinements can be made without departing from the spirit and scope of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.
Claims
1. A transfer device for robots used in railcar maintenance depots, characterized in that: The lifting mechanism (51), the ditch transition plate (52) and the ground transition plate (53) are included. The lifting mechanism (51) is installed in the ditch (2). The ditch transition plate (52) is installed on at least one side of the lifting mechanism (51) along the length direction of the ditch (2). The ground transition plate (53) is installed on the ground (1).
2. The transfer device for a robot in a railcar service depot of claim 1, wherein: The ground transition plate (53) is installed on at least one side of the lifting mechanism (51) along the vertical direction of the ditch (2). The ground transition plate (53) is used to fill the gap between the ground (1) and the top of the platform (513) in the high position. The limiting assembly is further included.
3. The transfer device for a robot in a railcar service depot of claim 2, wherein: The limiting assembly includes the stand (541), the proximity switch (542) and the induction sheet (543).
4. The transfer device for a robot in a railcar service depot of claim 3, wherein: The stand (541) is installed in the ditch (2) and vertically arranged.
5. The transfer device for a robot in a railcar service depot of claim 1, wherein: One of the proximity switch (542) and the induction sheet (543) is installed on the stand (541), and the other is installed on the edge of the platform (513). When the induction sheet (543) is installed on the stand (541), a plurality of induction sheets (543) are installed on the stand (541).
6. A transfer device for a robot in a railcar service depot according to claim 1, wherein: The induction sheet (543) is adjustably installed on the stand (541). The safety assembly is further included. The safety assembly is installed on at least one side edge of the top of the platform (513). The safety assembly includes the laser transceiver device (551) and the reflective plate (552) arranged at both ends of the edge of the platform (513). The laser transceiver device (551) includes the laser emitting unit and the laser receiving unit. The laser emitted by the laser emitting unit can be received by the laser receiving unit after being reflected by the reflective plate (552). The lifting mechanism (51) further includes the base (511), the scissor support (512) and the telescopic mechanism (514). The base (511) is installed in the ditch (2). The platform (513) is installed above the base (511) through the scissor support (512). The telescopic mechanism (514) is installed between the base (511) and the scissor support (512) and is used to drive the lifting movement of the platform (513).