Multifunctional working device for mounting tunnel contact network masts

Abstract

The utility model provides a kind of multifunctional operation equipment of tunnel contact net suspension column installation, it is related to tunnel contact net construction equipment technical field, including chassis, first mechanical arm, second mechanical arm, inductor, control device;Wherein, chassis can walk and move;First mechanical arm is set on chassis, and its end is provided with manned platform;Second mechanical arm is set on chassis, and its end is provided with gripper;Gripper can grab contact net suspension column;Inductor is arranged on first mechanical arm, and position induction can be carried out to second mechanical arm based on the position;Control device is used to control the action of first mechanical arm and second mechanical arm;Control device is connected with inductor by data line, and first mechanical arm and second mechanical arm do not occur collision according to the sensing information of inductor.Control device is used to control the action of first mechanical arm and second mechanical arm;Control device is connected with inductor by data line, and first mechanical arm and second mechanical arm do not occur collision according to the sensing information of inductor.First mechanical arm and second mechanical arm can be cooperated to install contact net suspension column, it is convenient and efficient, and the required manual operation is less.

Description

Technical Field

[0001] This application relates to the field of tunnel contact network construction equipment technology, and in particular to a multi-functional operating device for installing tunnel contact network suspension columns. Background Technology

[0002] The overhead contact system is the main framework of railway electrification engineering. It is a special type of power transmission line erected along the railway line to supply power to electric locomotives. The overhead contact system plays a vital role in directly transmitting electrical energy obtained from traction substations to electric locomotives. Therefore, the quality and working condition of the overhead contact system directly affect the transport capacity of electrified railways.

[0003] In tunnel railway transportation, overhead contact line supports and hangers are crucial components of the electrical equipment within the tunnel. The installation of overhead contact line hangers in tunnels primarily relies on manual labor. The hangers are manually transported to their installation positions at the tunnel ceiling and then installed manually. Currently, the auxiliary tools used for installing overhead contact line hangers are relatively simple, and manual labor remains the main method, requiring significant manpower and resulting in low efficiency. Furthermore, existing engineering vehicles equipped with booms are not well-suited for installing overhead contact line hangers in tunnels. Since the hangers are installed at the curved top of the tunnel, they require fasteners for fixation, and ordinary robotic arms cannot simultaneously grasp the hangers and install the fasteners. Utility Model Content

[0004] The technical problem to be solved by this application is to provide a multi-functional operating device for installing tunnel contact wire suspension columns, addressing the aforementioned shortcomings of the prior art.

[0005] A multi-functional work device for installing overhead contact line supports in tunnels, the multi-functional work device comprising:

[0006] The chassis enables it to move and travel.

[0007] The first robotic arm is mounted on the chassis, and a manned platform is mounted at its end.

[0008] The second robotic arm is mounted on the chassis and has a gripper at its end; the gripper is capable of grasping the overhead contact line column.

[0009] A sensor, arranged on the first robotic arm, can sense the position of the second robotic arm based on its location.

[0010] A control device is used to manipulate the movements of the first robotic arm and the second robotic arm; the control device is connected to the sensor via a data cable and controls the first robotic arm and the second robotic arm to prevent collision based on the sensor's sensing information.

[0011] Optionally, the first robotic arm includes:

[0012] A rotating base is mounted on the chassis;

[0013] The lifting arm is capable of vertical extension and retraction adjustment; the lower end of the lifting arm is mounted on the rotating base and is capable of horizontal rotation adjustment relative to the rotating base.

[0014] The parallel swing arm, which can be rotated and adjusted relative to the lifting arm, includes a first connecting arm and a second connecting arm; the two ends of the first connecting arm are respectively hinged to the upper end of the lifting arm and the manned platform; the two ends of the second connecting arm are respectively hinged to the upper end of the lifting arm and the manned platform; and the first connecting arm and the second connecting arm are parallel to each other, so that the manned platform can remain horizontal during the rotation of the first connecting arm and the second connecting arm.

[0015] Optionally, the parallel swing arm is driven by a hydraulic cylinder; the lower end of the lifting arm is mounted on the rotating base through a worm gear mechanism and is driven to rotate by the worm gear mechanism.

[0016] Optionally, the second robotic arm includes:

[0017] The first arm section, with its first end mounted on the chassis;

[0018] The second arm has a first end connected to the second end of the first arm and can be rotated and adjusted relative to the first arm.

[0019] The third arm is a telescopic arm; the first end of the third arm is connected to the second end of the second arm and can be rotated and adjusted relative to the second arm; the gripper is arranged on the second end of the third arm.

[0020] Optionally, sensors are arranged at multiple different locations on the first robotic arm.

[0021] Optionally, the sensor is a radar or a vision sensor.

[0022] Optionally, the multi-functional work equipment further includes: a pair of hydraulic telescopic outriggers arranged on the first side of the chassis, and a pair of hydraulic telescopic outriggers arranged on the second side of the chassis; the hydraulic telescopic outriggers are used to support the chassis during operation.

[0023] Optionally, the chassis is provided with a first traveling component and a second traveling component; the first traveling component is used to travel in a first direction, for traveling on the ground; the second traveling component is used to travel in a second direction, for traveling on a track; wherein the first direction and the second direction are perpendicular to each other.

[0024] Optionally, the first walking assembly includes a first type of wheel, with a pair of first type wheels arranged on each side of the chassis along a first direction; the first type of wheel is capable of traveling on the ground.

[0025] The second traveling assembly includes a second type of wheel, with a pair of second type wheels arranged on each side of the chassis along a second direction; the second type of wheel is capable of traveling on a track.

[0026] Optionally, the second walking assembly includes a first wheel frame and a second wheel frame; each of the first wheel frame and the second wheel frame is equipped with a pair of second type wheels;

[0027] The first wheel frame and the second wheel frame are respectively arranged on both sides of the chassis along the second direction, and can be folded to the side of the chassis.

[0028] In this application, a multi-functional work equipment is equipped with a first robotic arm and a second robotic arm on a chassis. The first robotic arm is equipped with a personnel platform, and the second robotic arm is used to grasp the overhead contact line suspension column. Sensors are installed on the first robotic arm to detect the position of the second robotic arm based on its own location. On one hand, the second robotic arm moves the overhead contact line suspension column to a predetermined installation position at the top of the tunnel, and the workers on the personnel platform of the first robotic arm can install fasteners to secure the column. Thus, the first and second robotic arms can work together to install the overhead contact line suspension column, which is convenient, efficient, and requires minimal manual labor. On the other hand, the sensors on the first robotic arm can detect the position of the second robotic arm based on its own location, and the control device can control the first and second robotic arms to prevent collisions based on the sensor readings, ensuring operational safety. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the multi-functional operating equipment for installing the tunnel contact wire suspension column in the embodiments of this application.

[0030] Figure 2 This is a schematic diagram of the structure of the first robotic arm in the embodiments of this application.

[0031] Figure 3 This is a schematic diagram of the structure of the second robotic arm in the embodiments of this application.

[0032] Figure 4 This is a schematic diagram of the chassis structure in an embodiment of this application.

[0033] Figure 5 This is another structural schematic diagram of the chassis in an embodiment of this application.

[0034] Figure 6This is another structural schematic diagram of the chassis in an embodiment of this application.

[0035] Figure 7 This is a schematic block diagram of a multi-functional operating device for installing tunnel contact wire suspension columns in an embodiment of this application.

[0036] Reference numerals: chassis 100, hydraulic telescopic outriggers 101, first walking assembly 102, first type of wheel 1021, second walking assembly 103, second type of wheel 1031, first wheel frame 1032, second wheel frame 1033, first robotic arm 200, manned platform 201, rotating base 202, lifting arm 203, parallel swing arm 204, first connecting arm 2041, second connecting arm 2042, worm gear mechanism 205, sensor 206, second robotic arm 300, gripper 301, first section arm 302, second section arm 303, third section arm 304, control device 400. Detailed Implementation

[0037] The following are specific embodiments of this application, described in conjunction with the accompanying drawings, to further illustrate the technical solutions of this application. However, this application is not limited to these embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0039] The overhead contact line supports are installed at the curved top of the tunnel and require fasteners for secure installation. Ordinary robotic arms cannot simultaneously grasp the supports and install the fasteners. This application provides a multi-functional work device for installing overhead contact line supports in tunnels, enabling efficient installation while ensuring safety.

[0040] The multifunctional work equipment provided in this application includes a chassis, a first robotic arm, a second robotic arm, sensors, and a control device. The chassis is capable of movement. The first robotic arm is mounted on the chassis, with a manned platform at its end. The second robotic arm is mounted on the chassis, with a gripper at its end. The gripper can grasp overhead contact line columns. Sensors are arranged on the first robotic arm and can sense the position of the second robotic arm based on its location. The control device is used to control the movements of the first and second robotic arms. The control device is connected to the sensors via a data cable and controls the first and second robotic arms to prevent collisions based on the sensor information.

[0041] During operation, the multi-functional work equipment controls both the first and second robotic arms via a control device. Workers stand on the platform of the first robotic arm. The second robotic arm, using its end gripper, picks up the overhead contact line support pole placed on the ground and moves it to the predetermined installation position at the tunnel ceiling. Simultaneously, the first robotic arm moves the worker from the platform closer to the installation position, allowing the worker to install fasteners to secure the overhead contact line support pole to the tunnel ceiling. In this way, the first and second robotic arms can work together to install the overhead contact line support pole, making the installation convenient, efficient, and requiring minimal manual labor.

[0042] In addition, during the operation of the first and second robotic arms, the sensors on the first robotic arm can sense the position of the second robotic arm based on its location, and transmit the sensing information to the control device through a data cable. The control device can control the first and second robotic arms to prevent them from colliding based on the sensing information from the sensors, thus ensuring the safety of the operation.

[0043] refer to Figures 1-3 The multi-functional work equipment includes a chassis 100, a first robotic arm 200, a second robotic arm 300, a sensor 206, and a control device 400. The chassis 100 is capable of movement; the first robotic arm 200 is mounted on the chassis 100, with a manned platform 201 at its end; the second robotic arm 300 is mounted on the chassis 100, with a gripper 301 at its end; the gripper 301 can grasp overhead contact line suspension columns; the sensor 206 is located on the first robotic arm 200 and can sense the position of the second robotic arm 300 based on its location; the control device 400 is used to control the movements of the first robotic arm 200 and the second robotic arm 300; the control device 400 is connected to the sensor 206 via a data cable and controls the first robotic arm 200 and the second robotic arm 300 to prevent collisions based on the sensor 206's readings.

[0044] exist Figure 1 In the structure shown, a first robotic arm 200 and a second robotic arm 300 are mounted on the chassis 100. Both the first robotic arm 200 and the second robotic arm 300 are multi-segment structures, allowing for multiple degrees of freedom to change the position of their ends. The first robotic arm 200 and the second robotic arm 300 can work together to install the overhead contact line support column P.

[0045] For details, please refer to the following: Figure 2In one embodiment of this application, the first robotic arm 200 includes a rotating base 202, a lifting arm 203, and a parallel swing arm 204. The rotating base 202 is mounted on the chassis 100. The lifting arm 203 is vertically adjustable. The lower end of the lifting arm 203 is mounted on the rotating base 202 and is horizontally adjustable relative to the rotating base 202. The parallel swing arm 204 is rotatably adjustable relative to the lifting arm 203 and includes a first connecting arm 2041 and a second connecting arm 2042. The two ends of the first connecting arm 2041 are hinged to the upper end of the lifting arm 203 and the manned platform 201, respectively. The two ends of the second connecting arm 2042 are hinged to the upper end of the lifting arm 203 and the manned platform 201, respectively. Furthermore, the first connecting arm 2041 and the second connecting arm 2042 are parallel, allowing the manned platform 201 to remain horizontal during the rotation of the first connecting arm 2041 and the second connecting arm 2042. Furthermore, the parallel swing arm 204 is driven by a hydraulic cylinder; the lower end of the lifting arm 203 is mounted on the rotating base 202 through a worm gear mechanism 205 and is driven to rotate by the worm gear mechanism 205.

[0046] Specifically, the first robotic arm 200 is used to transport workers to a suitable position for installing fasteners on the overhead contact line support columns to secure them to the tunnel roof. The rotating base 202 is mounted on the chassis 100 and is a fixed structure. The lower end of the lifting arm 203 is mounted on the rotating base 202, and the control device 400 can control the horizontal rotation of the lifting arm 203 relative to the rotating base 202. Furthermore, the control device 400 can also control the vertical extension and retraction of the lifting arm 203 to change the height of its upper end. A parallel swing arm 204 is connected to the upper end of the lifting arm 203 and can rise and fall with the upper end of the lifting arm 203.

[0047] Further reference Figure 2 The parallel swing arm 204 includes a first connecting arm 2041 and a second connecting arm 2042. The two ends of the first connecting arm 2041 are hinged to the upper end of the lifting arm 203 and the personnel platform 201, respectively. The two ends of the second connecting arm 2042 are also hinged to the upper end of the lifting arm 203 and the personnel platform 201, respectively. Furthermore, the first connecting arm 2041 and the second connecting arm 2042 are parallel. Therefore, during the rotation of the first connecting arm 2041 and the second connecting arm 2042, the personnel platform 201 can maintain its angle without changing. Here, setting the personnel platform 201 to be horizontal facilitates operation by the worker standing upright.

[0048] Therefore, under the control of the control device 400, the lifting arm 203 can be adjusted for horizontal rotation and extension, and the parallel swing arm 204 can be adjusted for rotation relative to the lifting arm 203. Through the adjustment of the above multiple actions, the position and angle of the manned platform 201 can be flexibly changed and kept horizontal.

[0049] refer to Figure 3 In one embodiment of this application, the second robotic arm 300 includes a first arm section 302, a second arm section 303, and a third arm section 304. The first end of the first arm section 302 is mounted on the chassis 100. The first end of the second arm section 303 is connected to the second end of the first arm section 302 and is rotatable relative to the first arm section 302. The third arm section 304 is a telescopic arm; the first end of the third arm section 304 is connected to the second end of the second arm section 303 and is rotatable relative to the second arm section 303. A gripper 301 is disposed on the second end of the third arm section 304. Additionally, the first arm section 302 can be mounted on a turntable of the chassis 100 and is rotatable.

[0050] Specifically, under the control of the control device 400, the first arm 302 can be rotated, the second arm 303 can be rotated relative to the first arm 302, the third arm 304 can be rotated relative to the second arm 303, and the third arm 304 can be extended or retracted. Through the adjustment of the above multiple actions, the position and angle of the gripper 301 can be flexibly changed.

[0051] refer to Figure 7 In this embodiment, during the movement of the first robotic arm 200 and the second robotic arm 300, the sensor 206 on the first robotic arm 200 can sense the position of the second robotic arm 300 based on its own location, and transmit the sensing information to the control device 400 via a data cable. The control device 400 can control the first robotic arm 200 and the second robotic arm 300 to prevent collision based on the sensing data from the sensor 206. In another embodiment, sensors are arranged at multiple different positions on the first robotic arm 200, allowing for position sensing of the second robotic arm 300 based on these multiple positions. This enables sufficient anti-collision control of the first robotic arm 200 and the second robotic arm 300, avoiding sensing blind spots.

[0052] Specifically, the sensor can be configured as various types of sensors as needed. In one embodiment of this application, the sensor is a radar or a vision sensor. It should be noted that when the sensor is a radar, the radar can avoid collisions by detecting changes in distance; when the sensor is a vision sensor, the vision sensor can avoid collisions by image detection and recognition.

[0053] In one embodiment of this application, the multi-functional work equipment further includes: a pair of hydraulic telescopic outriggers 101 arranged on a first side of the chassis 100, and a pair of hydraulic telescopic outriggers arranged on a second side of the chassis 100; the hydraulic telescopic outriggers are used to support the chassis 100 during operation. Figure 1 In the structure shown, the hydraulic telescopic outriggers can extend and retract vertically. Figure 6 The positions of the four hydraulically telescopic outriggers are shown. When the first robotic arm 200 and the second robotic arm 300 are operating, the hydraulically telescopic outriggers can extend to support the chassis 100 on the ground. When not operating, the hydraulically telescopic outriggers can be retracted.

[0054] refer to Figures 4-6 In one embodiment of this application, a first traveling component 102 and a second traveling component 103 are provided on the chassis 100; the first traveling component 102 is used to travel along a first direction y, for traveling on the ground; the second traveling component 103 is used to travel in a second direction x, for traveling on a track; wherein the first direction y and the second direction x are perpendicular to each other. Designing two sets of traveling components on the chassis 100 allows the chassis 100 to more flexibly select its traveling mode.

[0055] Furthermore, the first walking assembly 102 includes a first type of wheel 1021, with a pair of first type of wheels 1021 arranged on each side of the chassis 100 along a first direction; the first type of wheels 1021 are capable of traveling on the ground; the second walking assembly 103 includes a second type of wheel 1031, with a pair of second type of wheels 1031 arranged on each side of the chassis 100 along a second direction; the second type of wheels 1031 are capable of traveling on a track.

[0056] Furthermore, the second walking assembly 103 includes a first wheel frame 1032 and a second wheel frame 1033; a pair of second type wheels 1031 are installed on each of the first wheel frame 1032 and the second wheel frame 1033; the first wheel frame 1032 and the second wheel frame 1033 are respectively arranged on both sides of the chassis 100 along the second direction, and can be folded to the side of the chassis 100.

[0057] Specifically, the first type of wheel 1021 is suitable for travel on the ground and can be configured as an inflatable rubber tire. The second type of wheel 1031 is suitable for travel on rails and can be configured as an iron wheel. Furthermore, both the first wheel frame 1032 and the second wheel frame 1033 can be folded. When traveling using the first travel assembly 102, the first wheel frame 1032 and the second wheel frame 1033 are folded to the side of the chassis 100. When traveling using the second travel assembly 103, the first wheel frame 1032 and the second wheel frame 1033 can extend to support the chassis. Further, both the first wheel frame 1032 and the second wheel frame 1033 can be hinged to the chassis structure and can be rotated and extended by a hydraulic cylinder.

[0058] In this application, a multi-functional work equipment is equipped with a first robotic arm and a second robotic arm on a chassis. The first robotic arm is equipped with a personnel platform, and the second robotic arm is used to grasp the overhead contact line suspension column. Sensors are installed on the first robotic arm to detect the position of the second robotic arm based on its own location. On one hand, the second robotic arm moves the overhead contact line suspension column to a predetermined installation position at the top of the tunnel, and the workers on the personnel platform of the first robotic arm can install fasteners to secure the column. Thus, the first and second robotic arms can work together to install the overhead contact line suspension column, which is convenient, efficient, and requires minimal manual labor. On the other hand, the sensors on the first robotic arm can detect the position of the second robotic arm based on its own location, and the control device can control the first and second robotic arms to prevent collisions based on the sensor readings, ensuring operational safety.

[0059] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0061] The specific embodiments described herein are merely illustrative examples of the technical solutions of this application. Those skilled in the art to which this application pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, but without departing from the scope defined by the claims of this application.

Claims

1. A multi-functional operating device for installing overhead contact line suspension columns in tunnels, characterized in that, The multi-functional operating equipment includes: The chassis enables it to move and travel. The first robotic arm is mounted on the chassis, and a manned platform is mounted at its end. The second robotic arm is mounted on the chassis and has a gripper at its end; the gripper is capable of grasping the overhead contact line column. A sensor, arranged on the first robotic arm, can sense the position of the second robotic arm based on its location. A control device is used to manipulate the movements of the first robotic arm and the second robotic arm; the control device is connected to the sensor via a data cable and controls the first robotic arm and the second robotic arm to prevent collision based on the sensor's sensing information.

2. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to claim 1, characterized in that, The first robotic arm includes: A rotating base is mounted on the chassis; The lifting arm is capable of vertical extension and retraction adjustment; the lower end of the lifting arm is mounted on the rotating base and is capable of horizontal rotation adjustment relative to the rotating base. The parallel swing arm, which can be rotated and adjusted relative to the lifting arm, includes a first connecting arm and a second connecting arm; the two ends of the first connecting arm are respectively hinged to the upper end of the lifting arm and the manned platform; the two ends of the second connecting arm are respectively hinged to the upper end of the lifting arm and the manned platform; and the first connecting arm and the second connecting arm are parallel to each other, so that the manned platform can remain horizontal during the rotation of the first connecting arm and the second connecting arm.

3. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to claim 2, characterized in that, The parallel swing arm is driven by a hydraulic cylinder; the lower end of the lifting arm is mounted on the rotating base through a worm gear mechanism and is driven to rotate by the worm gear mechanism.

4. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to claim 2, characterized in that, The second robotic arm includes: The first arm section, with its first end mounted on the chassis; The second arm has a first end connected to the second end of the first arm and can be rotated and adjusted relative to the first arm. The third arm is a telescopic arm; the first end of the third arm is connected to the second end of the second arm and can be rotated and adjusted relative to the second arm; the gripper is arranged on the second end of the third arm.

5. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to claim 1, characterized in that, Sensors are arranged at multiple different locations on the first robotic arm.

6. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to claim 1, characterized in that, The sensor is either a radar or a vision sensor.

7. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to any one of claims 1-6, characterized in that, The multi-functional work equipment further includes: a pair of hydraulic telescopic outriggers arranged on the first side of the chassis, and a pair of hydraulic telescopic outriggers arranged on the second side of the chassis; the hydraulic telescopic outriggers are used to support the chassis during operation.

8. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to any one of claims 1-6, characterized in that, The chassis is provided with a first traveling component and a second traveling component; the first traveling component is used to travel in a first direction and to travel on the ground; the second traveling component is used to travel in a second direction and to travel on a track; wherein the first direction and the second direction are perpendicular to each other.

9. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to claim 8, characterized in that, The first walking assembly includes a first type of wheel, with a pair of first type wheels arranged on each side of the chassis along a first direction; the first type of wheel is capable of traveling on the ground; The second traveling assembly includes a second type of wheel, with a pair of second type wheels arranged on each side of the chassis along a second direction; the second type of wheel is capable of traveling on a track.

10. The multi-functional operating equipment for installing tunnel contact wire suspension columns according to claim 9, characterized in that, The second walking assembly includes a first wheel frame and a second wheel frame; each of the first wheel frame and the second wheel frame is equipped with a pair of second type wheels; The first wheel frame and the second wheel frame are respectively arranged on both sides of the chassis along the second direction, and can be folded to the side of the chassis.

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