CN109590148B - Robot for rust removal and maintenance of track fasteners and working method - Google Patents
Robot for rust removal and maintenance of track fasteners and working method Download PDFInfo
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- CN109590148B CN109590148B CN201910064797.4A CN201910064797A CN109590148B CN 109590148 B CN109590148 B CN 109590148B CN 201910064797 A CN201910064797 A CN 201910064797A CN 109590148 B CN109590148 B CN 109590148B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention provides a robot for rust removal and maintenance of a track fastener, which comprises a detection device, a mechanical arm device, a rust removal device, a supply device and a travelling device. The detection device comprises a mechanical arm limit detection module and a fastener detection module, and the working mode of the mechanical arm is determined according to the detection result. The mechanical arm device drives the sleeve to vertically move and simultaneously drives the pulse fiber laser to rotate to cooperate with the rust removing device to work; the rust removing device reflects the rust removing laser emitted by the laser emitting end to the spiral surface. When the tail end of the bolt extends out of the nut, the pulse fiber laser performs laser rust removal on the bolt, and then cleaning and spraying an antirust agent. When the tail end of the bolt does not extend out of the nut, rust of the connecting part is removed. According to the invention, the position of the mechanical arm, the position of the bolt and the posture of the bolt are detected in real time by the detection device, and the rust inhibitor or the rust inhibitor is sprayed according to the state of the bolt, so that the rust and rust can be removed from the bolt and the connection part of the bolt and the nut quickly.
Description
Technical Field
The invention relates to the technical field of track maintenance, and particularly provides a robot for rust removal maintenance of a track fastener and a working method.
Background
Along with the rapid development of high-speed rails, railways and inter-city light rails, the development scale is continuously enlarged, the number of the rails is continuously increased, and the method is very important for the maintenance of the rails, particularly the maintenance of fasteners. When the fastener is replaced, the long-term wind and rain can cause the fastener to rust easily due to the influence of the open air environment. After the fastener is rusted, the nut is difficult to detach from the bolt with the rusted surface. Therefore, rust removal of the rust part of the fastener is very important, and in the process of steel rail construction and maintenance, rust removal of the track fastener is a key process and the workload is quite large.
At present, when the rust removal operation is manually performed by means of a grinding wheel or an angle grinder, the labor intensity of workers is high, the efficiency is low, the quality is difficult to guarantee, the damage to the fastener is easily caused by manual grinding by using the grinding wheel, and the rust removal operation of the track fastener in the domestic track traffic field still is mainly realized by means of traditional technological means such as a rust removal grinder.
Disclosure of Invention
Aiming at the defects, the embodiment of the invention provides a robot for rust removal and maintenance of a track fastener and a working method thereof, and the rust removal and rust prevention treatment is carried out on bolts and nuts in the fastener, so that the nuts can be replaced conveniently during track maintenance, meanwhile, the steel rail cannot be damaged, and the rust removal efficiency is improved.
A robot for rust removal and maintenance of rail fasteners, comprising: the device comprises a detection device, a mechanical arm device, a rust removing device, a supply device and a travelling device;
the detection device comprises a mechanical arm limit detection module and a fastener detection module; the mechanical arm limit detection module detects the position of the mechanical arm in real time by adopting a displacement sensor; the fastener detection module adopts a visual detection algorithm to realize the detection of the position and the posture of the bolt;
the mechanical arm device drives the sleeve 2 to move vertically through a sliding mechanism fixed on the horizontal direction by a mechanical arm connecting mechanism according to the position of the mechanical arm detected by the mechanical arm position detecting module, and simultaneously drives the pulse fiber laser 1 to rotate through a rotating mechanism driving motor so as to cooperate with the rust removing operation of the rust removing device;
the rust removing device is arranged inside the sleeve 2; the rust removing device comprises a pulse fiber laser 1 and a laser reflector 3; the pulsed fiber laser 1 emits a laser beam to irradiate the mirror surface of the laser mirror 3; the mirror surface of the laser mirror 3 reflects the laser beam onto the surface of the fastener;
the supply device comprises a stock tank for storing rust remover and rust inhibitor; the feeding device is positioned on the travelling device base;
wheels matched with the rails are arranged below the base of the travelling device; the upper part of the base is provided with a detection device, a mechanical arm device, a rust removing device and a supply device.
Further, the laser reflector comprises a moving plate, wherein the moving plate is positioned below the laser reflector 3, is in sliding connection with the lower surface of the bottom of the sleeve 2, and horizontally slides on the lower surface of the bottom of the sleeve 2; the moving plate moves out of the sleeve 2 before the rust removing work starts, and moves into the sleeve 2 after the rust removing work is completed.
Further, the method that the mechanical arm limit detection module detects the position of the mechanical arm in real time by adopting the displacement sensor is that when the displacement sensor contacts the bolt to be detected, a high-level signal is triggered to be sent to the CPU, and the CPU controls the motor to stop according to the received high-level signal.
Further, the method for detecting the position of the bolt comprises the following steps:
s1: when the proximity switch detects a bolt, triggering the visual sensor to vertically photograph the detected bolt from top to bottom, and adding an auxiliary light source when the light is insufficient; the visual sensor is positioned in parallel with the proximity switch;
s2: the CPU sequentially carries out equalization processing, binarization, noise removal, edge contour extraction, candidate region determination or edge shape matching on the shot pictures to realize accurate positioning of the bolt positions.
Further, the method for detecting the posture of the bolt comprises the steps of firstly collecting an image of the bolt, then extracting the outline according to the collected image, and finally judging the shape of the bolt.
Further, the mechanical arm device comprises a mechanical arm connecting rod 10, a sliding rail 8 and a rotating shaft 9;
the mechanical arm connecting rod 10 is fixed on the sliding rail 8 in the horizontal direction; one end of the rotating shaft 9 is fixed on the mechanical arm connecting rod 10; the other end of the rotating shaft 9 is connected with the pulse fiber laser 1; the rotating shaft 9 drives the pulse fiber laser 1 to rotate through a motor.
Further, one end of the pulse fiber laser 1 passes through a rotatable cover plate on the upper surface of the sleeve 2 and is connected with the pulse fiber laser fixing device 11; the openings of the rotatable cover plate are attached to the tail end contours of the pulse fiber laser 1 and the mechanical arm; the other end of the pulse fiber laser 1 is a laser emitting end; the laser beam emitted from the laser emitting end is irradiated onto the mirror surface of the laser mirror 3 so that the mirror surface of the laser mirror 3 reflects the laser beam onto the surface of the fastener when the pulse fiber laser 1 is rotated.
Further, the supply device comprises an antirust spray gun set 4 and a rust remover spray gun set 6; after the rust removal work is finished, the rust inhibitor spray gun group 4 sprays rust inhibitors on the parts, extending out of the nuts, of the bolts of the fasteners; before the rust removing work starts, the rust remover spray gun group 6 sprays rust remover on the joint of the bolt of the fastener, which does not extend out of the nut.
Further, the rust inhibitor spray gun group 4 comprises 3 rust inhibitor spray guns, the horizontal space positions of the 3 rust inhibitor spray guns are positions of 3 rust inhibitor spray guns respectively, wherein the three vertexes of an equilateral triangle are taken as the center by taking a bolt; the nozzle of the antirust spray gun is inclined towards the lower part of the horizontal plane;
the rust remover spray gun group 6 comprises 3 rust remover spray guns, wherein the horizontal space positions of the 3 rust remover spray guns are the positions of the 3 rust remover spray guns, and the symmetrical points of the 3 rust remover spray guns and the bolts are the centers; the nozzle of the rust remover spray gun is inclined towards the lower part of the horizontal plane.
The working method of the robot for rust removal and maintenance of the track fastener is realized based on the robot for rust removal and maintenance of the track fastener, and comprises the following steps of:
s1: the motor drives the robot to move, and meanwhile visual detection is started to detect the position and the gesture of the bolt of the track fastener;
s2: controlling the mechanical arm to run to the center of the sleeve 2 to be aligned with the target bolt 5 through the detected bolt position;
s3: if the tail end of the bolt extends out of the nut, opening the pulse fiber laser 1, controlling the pulse fiber laser 1 to rotate around the bolt and the nut as the shaft to remove rust on the surface of the bolt, cleaning and rust-preventing treatment are sequentially carried out after the rust removal is completed, and then circulating from S1;
s4: if the tail end of the bolt does not extend out of the nut, the rust remover spray gun group 6 sprays the rust remover on the nut, and after the rust removal is finished, the sleeve 2 is moved back to the initial position and then circulates from S1.
The effects provided in the summary of the invention are merely effects of embodiments, not all effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
the embodiment of the invention provides a robot for rust removal and maintenance of a track fastener, which comprises a detection device, a mechanical arm device, a rust removal device, a supply device and a travelling device. The detection device comprises a mechanical arm limit detection module and a fastener detection module, when the displacement sensor contacts a bolt to be detected, a high-level signal is triggered to be sent to the CPU, and the CPU controls the motor to stop mechanical arm limit detection according to the received high-level signal. A visual detection algorithm is employed to determine the bolt position and the bolt attitude. And determining the working mode of the mechanical arm device according to the detection result of the detection device. The mechanical arm device drives the sleeve 2 to move in the vertical direction and simultaneously drives the pulse fiber laser 1 to rotate so as to cooperate with the rust removing operation of the rust removing device; the rust removing device is arranged in the sleeve 2 and comprises a pulse fiber laser 1 and a laser reflector 3, wherein the pulse fiber laser 1 emits laser beams to irradiate on the mirror surface of the laser reflector 3; the mirror surface of the laser mirror 3 reflects the laser beam onto the surface of the fastener. When the tail end of a bolt in the fastener stretches out of the nut, the pulse fiber laser 1 is used for carrying out laser rust removal on the bolt, waste residues generated after the rust removal are treated by a dust removal air gun device, and rust inhibitor is sprayed on the rust removed part, so that automatic rust removal maintenance on the bolt is realized. When the tail end of the bolt does not extend out of the nut, rust on the connecting part of the nut and the bolt is removed by spraying an anti-rust agent, so that the obstruction during the nut disassembly is reduced. According to the invention, the position of the mechanical arm, the position of the bolt and the posture of the bolt are detected in real time by the detection device, and the rust inhibitor or the rust inhibitor is sprayed according to the state of the bolt, so that the rust and rust can be removed from the bolt and the connection part of the bolt and the nut quickly. The advancing device comprises a T-shaped wheel and a base which are matched with the track, and the movement of the robot is controlled by a motor. The bolts and nuts in the fasteners are subjected to rust removal and rust prevention, so that the nuts can be replaced conveniently during track maintenance.
Drawings
Fig. 1 is a schematic diagram of a robot structure for rust removal and maintenance of a track fastener according to embodiment 1 of the present invention;
FIG. 2 is a schematic view showing the spatial distribution of a rust inhibitor spray gun and a rust inhibitor spray gun of a robot for rust removal maintenance of a track fastener in example 1 of the present invention;
FIG. 3 is a comparative model of a sample extracted by a detection module in a robot for rust removal and maintenance of rail fasteners according to embodiment 1 of the present invention;
FIG. 4 is a flowchart of a working method of a robot for rust removal and maintenance of rail fasteners according to embodiment 1 of the present invention;
the device comprises a 1-pulse fiber laser, a 2-sleeve, a 3-laser reflector, a 4-rust inhibitor spray gun set, a 5-target bolt, a 6-rust inhibitor spray gun set, a 7-traveling vehicle body, an 8-sliding rail, a 9-rotating shaft, a 10-mechanical arm connecting rod and an 11-pulse fiber laser fixing device.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted so as to not unnecessarily obscure the present invention.
Example 1
The embodiment 1 of the invention provides a robot for rust removal and maintenance of a track fastener, and as shown in fig. 1, the robot for rust removal and maintenance of the track fastener in the embodiment 1 of the invention is a schematic diagram;
the robot includes: the device comprises a detection device, a mechanical arm device, a rust removing device, a supply device and a travelling device.
The detection device comprises a mechanical arm limit detection module and a fastener detection module.
The mechanical arm limit detection module detects the position of the mechanical arm in real time by adopting a displacement sensor, the mechanical arm is provided with a proximity switch, the proximity switch is a switch manufactured by utilizing the sensitive characteristic of the displacement sensor to the approaching object, the displacement sensor does not need to contact the detected object, when the detected object moves to the displacement sensor and approaches to a certain distance, the displacement sensor senses, and the CPU monitors the occurrence of sensing signals. The robot adopts an inductive LJ12A3-4-Z/BX direct current 6-36v three-wire NPN normally open M12 sensor. When the sensor detects a bolt or a metal mechanical arm, the signal wire of the sensor outputs a high level, and the signal wire is normally a low level. By connecting the signal line to the DI port of the PLC, the proximity switch is indicated to detect metal, namely the track fastener, when a rising edge signal appears, and the signal is used as a correspondingly controlled switch.
And detecting the position and the posture of the bolt by adopting a visual detection algorithm, wherein the posture of the bolt comprises that the tail end of the bolt extends out of the nut and the tail end of the bolt does not extend out of the nut.
The detection of the bolt position adopts a method of combining a proximity switch and visual detection, when the proximity switch detects the bolt, the visual sensor is triggered to vertically photograph the bolt at the corresponding position from top to bottom, an auxiliary light source is required to be added if necessary, and external light interference is reduced by adopting methods such as an external light shield and the like. And (3) carrying out equalization treatment, binarization, noise removal, edge contour extraction, candidate region determination and edge shape matching on the pictures in sequence after photographing to realize accurate positioning of the bolt positions.
The detection of the bolt posture includes two detection methods. Firstly, a camera shoots vertically from top to bottom, and the shooting methods are respectively two or more than two shooting methods of right above a bolt, left side and right side, wherein the right above is used as a reference image, an inner edge profile image and an outer edge profile image of a nut on the bolt are obtained by adopting a method similar to the bolt position positioning method, if the inner edge of the nut in the deviation image is not shielded or reduced, the tail end of the bolt is judged to retract into the nut, otherwise, the tail end of the bolt is judged to extend out of the nut, and the confidence of a detection result can be improved by adopting multi-angle deviation.
Secondly, the camera shoots from the side face of the bolt, firstly positions the upper surface of the bolt, then judges whether a shooting image has bolt protrusions, namely whether the bolt stretches out, and if the upper surface of the nut is flat and has no protrusions, judges that the bolt does not stretch out of the nut. The specific judging process is as follows: firstly, image acquisition is carried out, then threshold segmentation or contour extraction is carried out on the acquired image, and finally whether the shape of the image is square or convex is judged. The specific judgment method is that a large number of sample photos for threshold segmentation or contour extraction are utilized, and as shown in fig. 3, a comparison model of samples extracted by a detection module in a robot for rust removal and maintenance of track fasteners in embodiment 1 of the invention is shown. After the profile of the acquired image is extracted, the nut part is subjected to transverse dimension normalization under the condition of locking the longitudinal and transverse proportions, the background of the blank area is filled or the redundant part is deleted on the longitudinal dimension, the adjusted image and the model 1 are added, whether the residual part is blank or square is judged, and if the residual part is square, the size of the square is judged. And dividing according to the degree of the convex shape. For example, the laser rust removal is carried out on the protruding part exceeding 5mm by taking 5mm as a limit, then the rust remover is sprayed, and the rust removal treatment is carried out on the protruding part not exceeding 5 mm.
For the detection of the posture of the bolt, the distance from the lowest part of the fastener to the upper surface of the nut is fixed, and a proximity switch is arranged at the same height, so that the proximity switch can detect if the bolt extends out of the nut. For detection of the bolt position, a proximity switch is provided in the vertical bolt column direction, and the detected bolt is stopped immediately.
The mechanical arm device drives the sleeve 2 to move in the vertical direction through a sliding mechanism fixed in the horizontal direction by the mechanical arm connecting mechanism according to the position of the mechanical arm detected by the mechanical arm position detecting module, and simultaneously drives the pulse fiber laser 1 to rotate through a rotating mechanism driving motor so as to cooperate with the rust removing operation of the rust removing device.
The mechanical arm device is a mechanical arm which is matched with the rust removing device to work and has two degrees of freedom. The mechanical arm device comprises a mechanical arm connecting rod 10, a sliding rail 8 and a rotating shaft 9. Wherein the mechanical arm connecting rod 10 is fixed on the sliding rail 8 in the horizontal direction; one end of a rotating shaft 9 is fixed on a mechanical arm connecting rod 10, the other end of the rotating shaft 9 is connected with the pulse fiber laser 1, and the rotating shaft 9 drives the pulse fiber laser 1 to rotate through a motor. The fixed posture of the pulse fiber laser 1 can be adjusted by itself.
The rust removing device comprises a pulse fiber laser 1, a laser reflector 3 and related equipment, and is arranged in a sleeve 2. The upper surface of the sleeve 2 is provided with a rotatable cover plate with holes for fitting the outlines of the tail ends of the pulse fiber laser 1 and the mechanical arm. One end of the pulse fiber laser 1 passes through the rotatable cover plate and is connected with the pulse fiber laser fixing device 11, and the other end of the pulse fiber laser 1 is a laser emitting end; the laser emission end emits laser beams to irradiate the mirror surface of the laser reflector 3; the mirror surface of the laser mirror 3 reflects the laser beam onto the surface of the fastener.
Below the pulsed fiber laser 1 is a laser mirror 3 for changing the path of the laser light. The laser reflector 3 can be annular, and can reflect laser on the bolt surface of the fastener no matter how the pulse fiber laser 1 rotates; the laser reflector 3 may also be a plane mirror fixed at the end of the two-dimensional movable support, and by moving and adjusting its position, the laser can be accurately beaten on the bolt surface of the fastener by matching with the pulse fiber laser 1, and the shape of the laser reflector can be used is not limited to the above mentioned two types.
The supply device comprises an antirust spray gun set 4 and a rust remover spray gun set 6. After the rust removing work is finished, the rust inhibitor spray gun group 4 sprays rust inhibitors on the parts, extending out of the nuts, of the bolts of the fasteners; before the rust remover spray gun group 6 starts the rust removing work, the rust remover is sprayed on the nuts of the bolts of the fasteners, which do not extend out of the nuts. The supply device also comprises power supply equipment to provide stable power supply for the robot. The feeding devices are distributed on the base of the travelling device, and the feeding devices are based on the space paths which do not influence the mechanical arm during working.
Wheels matched with the tracks are arranged below the base of the travelling device, and the detection device, the mechanical arm device, the rust removing device and the feeding device are carried above the base and controlled by the driving motor to move.
The robot also comprises a moving plate which is positioned below the laser reflector 3 and can enter and exit the side wall of the sleeve 2. Is connected with the lower surface of the bottom of the sleeve 2 in a sliding way, and slides horizontally on the lower surface of the bottom of the sleeve 2; the moving plate moves out of the sleeve 2 before the rust removing work starts and moves into the sleeve 2 after the rust removing work is completed, so as to prevent the rust inhibitor and the rust remover provided by the supply device from polluting the mirror surface of the laser reflector 3.
The lower part of the moving plate is provided with an antirust spray gun group 4 and a rust remover spray gun group 6, wherein the antirust spray gun group 4 is provided with 3 antirust spray guns, and the rust remover spray gun group 6 is provided with 3 rust remover spray guns. Fig. 2 shows a schematic view of the spatial distribution of the rust inhibitor spray gun and the rust inhibitor spray gun of the robot for rust removal maintenance of the track fastener in embodiment 1 of the present invention. Taking the bolt as the center, taking three vertexes of an equilateral triangle as the positions of the antirust spray gun, and taking the triangle size as the standard that the bolt is not blocked. The positions of the rust remover spray guns are symmetrically distributed with the rust remover spray guns by taking the bolts as the centers. The nozzle of the rust remover spray gun and the nozzle of the rust remover spray gun are inclined towards the lower part of the horizontal plane.
The pulse fiber laser 1 will generate some waste residue after rust removal, so a dust removal air gun device is also needed to process the waste residue. The position of the air gun device is based on that the working paths of other devices are not influenced. The dust removing link is between the laser rust removing link and the rust inhibitor spraying link.
The robot for rust removal and maintenance of the track fastener provided by the invention is suitable for matching the laser power, the defocusing amount and the scanning speed, and can ensure the laser energy density and the heat input, thereby achieving the purpose of sufficiently removing rust layers without damaging a base material and ensuring the ideal effect of laser rust removal.
The working method of the robot for rust removal and maintenance of the track fastener provided by the invention is shown in fig. 4, which is a flow chart of the working method of the robot for rust removal and maintenance of the track fastener in the embodiment 1 of the invention:
in step S401, the flow starts to be processed;
in step S402, the motor drives the robot to move while the visual inspection is turned on, and the rail fastener bolt position and the bolt posture are detected.
In step S403, the control arm is operated to align the center of the sleeve with the target bolt by the detected bolt position.
In step S404, it is determined whether the bolt posture, the bolt end, or not, extends out of the nut, and if the bolt end extends out of the nut, step S405 is performed; if the bolt tip does not protrude from the nut, step S408 is performed.
In step S405, the pulse fiber laser is turned on, and the pulse fiber laser is controlled to rotate around the bolt and nut as the axis to remove rust on the surface of the bolt.
In step S406, the air gun device is turned on to clean the derusted waste residue.
In step S407, the surface of the cleaned bolt is sprayed with an anti-rust agent, and the process returns to step S402 after the anti-rust agent is sprayed.
In step S408, the bolt and nut connection portion is sprayed with the rust remover by the rust remover spray gun group.
After the rust removal is completed in step S409, the sleeve is moved back to the initial position, and then returns to step S402.
In step S410, the entire flow ends.
While the specification and drawings and examples have been described in detail, it will be understood by those skilled in the art that the invention may be modified or equivalents; all technical solutions and modifications thereof which do not depart from the spirit and scope of the invention are included in the protection scope of the invention.
Claims (3)
1. The working method of the robot for rust removal and maintenance of the track fastener is characterized by comprising the following steps of:
s1: the motor drives the robot to move, and meanwhile visual detection is started to detect the position and the gesture of the bolt of the track fastener; the method for detecting the position of the bolt comprises the following steps: when the proximity switch detects a bolt, triggering the visual sensor to vertically photograph the detected bolt from top to bottom, and adding an auxiliary light source when the light is insufficient; the visual sensor is positioned in parallel with the proximity switch; the CPU sequentially carries out equalization treatment, binarization, noise removal, edge contour extraction, candidate region determination or edge shape matching on the shot pictures to realize accurate positioning of the bolt positions; firstly, acquiring an image of a bolt, then extracting a contour according to the acquired image, and finally judging the shape of the bolt;
wherein the structure of robot includes: the device comprises a detection device, a mechanical arm device, a rust removing device, a supply device and a travelling device;
the detection device comprises a mechanical arm limit detection module and a fastener detection module; the mechanical arm limit detection module detects the position of the mechanical arm in real time by adopting a displacement sensor; the fastener detection module adopts a visual detection algorithm to realize the detection of the position and the posture of the bolt; the method for detecting the position of the mechanical arm in real time by the mechanical arm limit detection module by adopting the displacement sensor is that when the displacement sensor contacts a bolt to be detected, a high-level signal is triggered to be sent to a CPU, and the CPU controls a motor to stop according to the received high-level signal;
the mechanical arm device drives the sleeve (2) to move vertically through a sliding mechanism fixed on the horizontal direction by a mechanical arm connecting mechanism according to the position of the mechanical arm detected by the mechanical arm limit detection module, and simultaneously drives the pulse fiber laser (1) to rotate through a rotating mechanism driving motor so as to cooperate with the rust removal work of the rust removal device; the mechanical arm device comprises a mechanical arm connecting rod (10), a sliding rail (8) and a rotating shaft (9); the mechanical arm connecting rod (10) is fixed on a sliding rail (8) in the horizontal direction; one end of the rotating shaft (9) is fixed on the mechanical arm connecting rod (10); the other end of the rotating shaft (9) is connected with the pulse fiber laser (1); the rotating shaft (9) drives the pulse fiber laser (1) to rotate through a motor; one end of the pulse fiber laser (1) penetrates through a rotatable cover plate on the upper surface of the sleeve (2) and is connected with the pulse fiber laser fixing device (11); the opening of the rotatable cover plate is attached to the contours of the tail ends of the pulse fiber laser (1) and the mechanical arm; the other end of the pulse fiber laser (1) is a laser emitting end; the laser beam emitted by the laser emission end irradiates onto the mirror surface of the laser reflector (3), so that the mirror surface of the laser reflector (3) reflects the laser beam onto the surface of the fastener when the pulse fiber laser (1) rotates;
the rust removing device is arranged inside the sleeve (2); the rust removing device comprises a pulse fiber laser (1) and a laser reflector (3); the pulsed fiber laser (1) emits laser beams to irradiate on the mirror surface of the laser reflector (3); the mirror surface of the laser reflector (3) reflects the laser beam onto the surface of the fastener;
the supply device comprises a stock tank for storing rust remover and rust inhibitor; the feeding device is positioned on the travelling device base; the supply device comprises an antirust spray gun group (4) and a rust remover spray gun group (6); after the rust removal work is finished, the rust inhibitor spray gun group (4) sprays rust inhibitors on the parts, extending out of the nuts, of the bolts of the fasteners; before the rust removing work starts, the rust remover spray gun group (6) sprays rust remover on the joint of the bolt of the fastener, which does not extend out of the nut;
wheels matched with the rails are arranged below the base of the travelling device; the upper part of the base is provided with a detection device, a mechanical arm device, a rust removing device and a supply device;
s2: controlling the mechanical arm to run to the center of the sleeve (2) to be aligned with the target bolt (5) through the detected bolt position;
s3: if the tail end of the bolt extends out of the nut, the pulse fiber laser (1) is turned on, the pulse fiber laser (1) is controlled to rotate around the bolt and the nut as an axis to remove rust on the surface of the bolt, and after the rust removal is finished, cleaning and rust prevention treatment are sequentially carried out, and then S1 circulation is carried out;
s4: if the tail end of the bolt does not extend out of the nut, spraying a rust remover on the nut through the rust remover spray gun group (6), and after the rust removal is finished, moving the sleeve (2) back to the initial position, and then circulating from S1.
2. The working method of the robot for rust removal and maintenance of the track fastener according to claim 1, wherein the robot further comprises a moving plate, the moving plate is positioned below the laser reflector (3) and is in sliding connection with the lower surface of the bottom of the sleeve (2), and the moving plate horizontally slides on the lower surface of the bottom of the sleeve (2); the moving plate moves out of the sleeve (2) before the derusting work starts, and moves into the sleeve (2) after the derusting work is completed.
3. The working method of the robot for rust removal and maintenance of the track fastener according to claim 1, wherein the robot further comprises a rust inhibitor spray gun group (4) comprising 3 rust inhibitor spray guns, the horizontal space positions of the 3 rust inhibitor spray guns are positions of 3 rust inhibitor spray guns respectively taking three vertexes of an equilateral triangle as a center by taking a bolt as a center; the nozzle of the antirust spray gun is inclined towards the lower part of the horizontal plane;
the rust remover spray gun group (6) comprises 3 rust remover spray guns, wherein the horizontal space positions of the 3 rust remover spray guns are positions of the 3 rust remover spray guns, and the symmetrical points of the 3 rust remover spray guns and the bolts are used as centers; the nozzle of the rust remover spray gun is inclined towards the lower part of the horizontal plane.
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