CN117418425A - Intelligent rail fastener bolt operation robot and operation method thereof - Google Patents

Abstract

The invention provides a track intelligent fastener bolt operation robot and an operation method thereof, belonging to the technical field of railway track accessories and machines for paving various railways, comprising the following steps: the device comprises a frame, a travelling mechanism integrated on the frame, a fastening bolt tightening mechanism, a lifting mechanism, a fastening position identification module, a torque sensor, a control module and a battery module. The invention provides an intelligent rail fastener bolt operation robot which can automatically walk on a steel rail, automatically identify the position of a fastener bolt, accurately control fixed torque and control gap between elastic strips and gaps to finish the re-tightening operation of the fastener bolt; not only greatly reduced working strength, promoted the efficiency of examining and repairing tight operation, the tight operation of the rethread of all fastener bolts is accurate unanimous moreover, can effectively promote the safety guarantee degree.

Description

Intelligent rail fastener bolt operation robot and operation method thereof

Technical Field

The invention belongs to the technical field of railway track accessories and machines for paving various railways, and particularly relates to an intelligent track fastener bolt operation robot and an operation method thereof.

Background

The railway track fastener system is an important component of a track foundation component, and plays an important role in ensuring the elasticity of the track besides a certain fastening force which can bear the vertical force, the transverse force and the longitudinal force from the steel rail. In particular ballastless track lines, the elasticity of the track comes almost entirely from the rail fastening system, by means of which the geometry of the ballastless track is also maintained and adjusted. The elasticity of the ballastless track is maintained, so that the interference factors endangering the safe running of the train, such as wheel load change, rail wave grinding, high-frequency vibration, environmental influence and the like, of the high-speed train can be effectively reduced. The standard implementation elastic strip fastener is installed by taking the gap as a standard, and is an optimal scheme for ensuring the rail fastening pressure and the rail elasticity.

The standard installation operation of railway track fasteners is the fundamental guarantee for maintaining the correct fastening pressure of the steel rail and the elasticity of the track, and directly relates to the safety and comfort of the high-speed running of the train. Developing specialized intelligent elastic strip fastener installation and gap detection integrated equipment is a direction of future development.

Along with the rapid development of high-speed railway construction, the line mileage is rapidly increased, and the buckling pressure of the steel rail buckle is influenced by the vibration of train operation and the elastic change of the buckle, so that the steel rail buckle needs to be checked and replaced regularly. The existing method for checking the gap between the elastic strip fasteners basically relies on manual detection, is quite labor-consuming, low in efficiency and unstable in torque value, and affects the safety of train operation due to inconsistent gap between the elastic strip fasteners. The fast-growing line requires a large amount of manpower and material resources, so that the workload of daily inspection and maintenance of the engineering department is heavy, and the post-construction joint trial fine adjustment of the new line of the engineering department also requires a large amount of manual operation.

At present, no equipment for controlling the compression degree of the elastic strip by taking the gap between the gaps of the elastic strip of the fastener as a target is available at home and abroad.

Disclosure of Invention

The embodiment of the invention provides an intelligent rail fastener bolt operation robot, which aims to solve the problems of high working strength, large re-tightening error and inconsistent gap between elastic strip fasteners in railway fastener bolt maintenance operation.

In order to achieve the above object, the present invention adopts the following technical scheme: the utility model provides a track intelligence fastener bolt work robot, include: the device comprises a frame, a travelling mechanism, a fastener bolt tightening mechanism, a lifting mechanism, a fastener position identification module, a torque sensor, a control module and a battery module, wherein the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module, the torque sensor, the control module and the battery module are integrated on the frame;

the fastener bolt tightening mechanism comprises a tightening driving motor and a tightening sleeve in driving connection with the tightening driving motor; the torque sensor is arranged on the fastener bolt tightening mechanism;

the lifting mechanism comprises a sleeve lifting motor and a lifting sliding table module connected with the sleeve lifting motor, and the tightening sleeve is connected with the lifting sliding table module through a lifting plate to realize lifting movement;

the fastener position recognition module comprises laser detection sensors symmetrically and fixedly arranged at the front and rear sides of the tightening sleeve;

the control module is in signal connection with the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module and the torque sensor;

the battery module is used for supplying power required by the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module, the torque sensor and the control module.

With reference to the first aspect, in an achievable manner, the travelling mechanism comprises a track travelling sub-mechanism for travelling along a track and a land leveling pushing mechanism for driving the land leveling, the track travelling sub-mechanism comprises a driving wheel and a measuring wheel which are arranged at the bottom of the frame, and an encoder for measuring the rotating speed of the measuring wheel is arranged on a wheel shaft of the measuring wheel; the land leveling pushing mechanism comprises four traveling wheels which are respectively arranged at four corners of the frame.

In combination with the first aspect, in an implementation manner, the tightening sleeve includes a spline housing and a sleeve connected with the spline housing in a key manner, a spring is arranged between the spline housing and the sleeve, a guide hole is further arranged on the spline housing, and the sleeve penetrates through a pin shaft of the guide hole and is in sliding connection with the spline housing in the axial direction.

In combination with the first aspect, in an implementation manner, the device further comprises an oil injection mechanism fixed on the frame and an oil injection nozzle communicated with the oil injection mechanism, wherein the oil injection nozzle is connected to the lower end of the lifting mechanism by a connecting piece, and the oil injection nozzle injects oil towards the tightening sleeve direction.

With reference to the first aspect, in one implementation manner, the vehicle further includes a wheel leaning mechanism fixed at the bottom of the vehicle frame, where the wheel leaning mechanism includes a plurality of leaning wheels, and the leaning wheels lean against two side surfaces and a top surface of the rail respectively.

With reference to the first aspect, in one implementation manner, the rail support device further includes a side rail support mechanism, where the side rail support mechanism includes a side rail connected with the frame and a support wheel connected with an end of the side rail, and the support wheel is used for supporting on a rail parallel to the rail to be tested.

With reference to the first aspect, in an implementation manner, the side rod is a telescopic rod with telescopic length.

With reference to the first aspect, in one implementation manner, the frame includes a chassis and a carriage fixed on the chassis, and the tightening driving motor, the sleeve lifting motor, the control module and the battery module are all disposed in the carriage; the front side of the carriage is provided with a front illuminating lamp, the rear side of the carriage is provided with a rear illuminating lamp, and the top of the carriage is provided with an emergency button, a signal receiving antenna and an alarm indicating lamp.

In combination with the first aspect, in an implementation manner, a tablet computer display screen is further disposed at the top of the carriage, and the display screen is in signal connection with the control module and is electrically connected with the battery module.

In a second aspect, the embodiment of the invention also provides a working method of the track intelligent fastener bolt working robot, and the track intelligent fastener bolt working robot is adopted; the method comprises the following steps:

the control module acquires the fastener bolt position information of the fastener position identification module, judges whether the travelling mechanism stops according to the fastener bolt position information, and judges whether the lifting mechanism lifts or not; the control module further obtains an actual measurement torque value of the torque sensor, and judges whether the fastener bolt tightening mechanism is driven to tighten the fastener bolt according to the actual measurement torque value;

when the control module instructs the travelling mechanism to stop, a descending instruction is sent to the lifting mechanism, and the fastener bolt tightening mechanism is instructed to tighten the fastener bolt;

if the actual measured torque value obtained by the control module is smaller than a preset torque value, the control module instructs the lifting mechanism to continuously descend and instructs the fastener bolt tightening mechanism to continuously tighten;

when the value of the increase of the actually measured torque value obtained by the control module is larger than the value of the increase of the torque value of the normal tightening of the fastener bolt tightening mechanism, the control module instructs the fastener bolt tightening mechanism to stop acting, then the sleeve automatically rotates by a preset angle under the action of the spring, and the pressure of the elastic strip at the fastener bolt is released, so that the gap between the elastic strip and the gap reaches a preset target value.

Compared with the prior art, the intelligent track fastener bolt operation robot provided by the invention has the beneficial effects that: the device can automatically walk on the steel rail, automatically identify the position of the fastener bolt, accurately control the fixed torque and control the gap between the elastic strip and the gap, and complete the re-tightening operation of the fastener bolt. The operation robot can complete interval continuous running on the track based on the running mechanism; based on the fastener position recognition module, the fastener bolt tightening mechanism, the lifting mechanism, the torque sensor and the control module, the accurate position of each fastener bolt is automatically recognized, and the unscrewing or screwing actions of the fastener bolts which are 'point by point' or 'non-point by point' are completed according to a preset operation program; in the process of screwing the bolts, the mechanical properties of the elastic strips of the fastener are used as the basis, so that the gap between the elastic strips and the gap between the gaps can be effectively controlled, and the gap between the elastic strips and the gap between the gaps can automatically reach a specified range after the bolts are re-tightened. By adopting the operation robot provided by the invention, the track fastener bolts can be automatically overhauled, the working intensity is greatly reduced, the efficiency of detection and repair of tightening operation is improved, the tightening operation of all the fastener bolts is accurate and consistent, and the safety guarantee degree can be effectively improved.

The railway intelligent fastener bolt operation robot provided by the invention has the characteristics of compactness, and convenience and rapidness in assembly, disassembly and transportation.

Drawings

Fig. 1 is a schematic perspective view (front view) of a track intelligent fastener bolt working robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view (rear view) of a track intelligent fastener bolt working robot according to an embodiment of the present invention;

fig. 3 is a schematic perspective view (right view) of a track intelligent fastener bolt working robot according to an embodiment of the present invention;

fig. 4 is a schematic perspective view (left view) of a track intelligent fastener bolt working robot according to an embodiment of the present invention;

fig. 5 is a schematic diagram of an internal structure of a track intelligent fastener bolt working robot according to an embodiment of the invention;

fig. 6 is a schematic diagram of a front view structure of a track intelligent fastener bolt working robot according to an embodiment of the invention;

fig. 7 is a schematic diagram of a rear view structure of a track intelligent fastener bolt working robot according to an embodiment of the invention;

fig. 8 is a schematic left-view structural diagram of a track intelligent fastener bolt operation robot according to an embodiment of the invention;

fig. 9 is a schematic bottom view of a track intelligent fastener bolt working robot according to an embodiment of the present invention;

FIG. 10 is a schematic view showing an exploded state structure of a tightening sleeve according to an embodiment of the present invention;

reference numerals illustrate:

1. a signal receiving antenna; 2. an alarm indicator light; 3. an oil injection mechanism; 4. a front lighting lamp; 5. a front lighting lamp switch; 6. a battery module; 7. a fastener position identification module; 701. a laser detection sensor; 8. a land leveling pushing mechanism; 9. a side rail support mechanism; 901. a side bar; 902. a support wheel; 903. a limit retainer ring; 904. a connecting plate; 905. an adjustment aperture; 10. a parking brake switch; 11. a sleeve lifting motor; 12. a flat panel power switch; 13. a control module; 14. a tablet computer display screen; 15. an emergency button; 16. a lifting slipway module; 17. a driving wheel; 18. an abutment wheel; 19. a lifting plate; 20. an oil nozzle; 21. a parking brake mechanism; 22. an encoder; 23. a measuring wheel; 24. a rear lighting lamp; 25. tightening the driving motor; 26. a planetary speed reducer assembly; 27. a torque sensor; 28. a spline housing; 281. an upper limit baffle disc; 282. a lower limit baffle disc; 293. a guide hole; 29. a sleeve; 30. a spring; 31. a pin shaft; 32. a presentation button; 33. a carriage; 34. a vehicle bottom plate; 35. and a rear lighting lamp switch.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that, if terms indicating an azimuth or a positional relationship such as "front", "rear", "left", "right", etc., are presented, they are based on the azimuth or the positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.

Referring to fig. 1 to 10, an intelligent rail fastener bolt working robot according to the present invention will now be described. Track intelligence fastener bolt work robot includes: the device comprises a frame, a running mechanism integrated on the frame, a fastening bolt tightening mechanism, a lifting mechanism, a fastening position identification module 7, a torque sensor 27, a control module 13 and a battery module 6.

The fastener bolt tightening mechanism comprises a tightening driving motor 25 and a tightening sleeve in driving connection with the tightening driving motor 25; a torque sensor 27 is arranged on the fastener bolt tightening mechanism; the lifting mechanism comprises a sleeve lifting motor 11 and a lifting sliding table module 16 connected with the sleeve lifting motor 11, and the tightening sleeve is connected with the lifting sliding table module 16 through a lifting plate 19 to realize lifting movement; the fastener position recognition module 7 comprises laser detection sensors 701 (shown in fig. 4 and 9) symmetrically fixed at the front and rear of the tightening sleeve; the control module 13 is in signal connection with the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module 7 and the torque sensor; the battery module 6 is used for supplying power required by the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module 7, the torque sensor and the control module 13.

Compared with the prior art, the intelligent track fastener bolt operation robot provided by the invention has the beneficial effects that: the device can automatically walk on the steel rail, automatically identify the position of the fastener bolt, accurately control the fixed torque and control the gap between the elastic strip and the gap, and complete the re-tightening operation of the fastener bolt. The operation robot can complete interval continuous running on the track based on the running mechanism; based on the fastener position recognition module 7, the fastener bolt tightening mechanism, the lifting mechanism, the torque sensor 27 and the control module 13, the accurate position of each fastener bolt is automatically recognized, and the loosening or screwing actions of the fastener bolts are finished in a 'point-by-point' (the position of each fastener bolt is recognized one by one) or in a 'non-point-by-point' (the position of the fastener bolt is discontinuously recognized) mode according to a preset operation program; in the process of screwing the bolts, the mechanical properties of the elastic strips of the fastener are used as the basis, so that the gap between the elastic strips and the gap between the gaps can be effectively controlled, and the gap between the elastic strips and the gap between the gaps can automatically reach a specified range after the bolts are re-tightened. Specifically, when the jaw at the front end of the middle part of the elastic strip of the fastener contacts with the steel rail, the sleeve 29 immediately stops screwing, and then automatically reversely rotates by a preset angle (the screw is 3-5, the bolt is 5-10), and finally the aim that the gap between the elastic strip and the gap is within 0.5mm is achieved.

By adopting the operation robot provided by the invention, the track fastener bolts can be automatically overhauled, the working intensity is greatly reduced, the efficiency of detection and repair of tightening operation is improved, the tightening operation of all the fastener bolts is accurate and consistent, and the safety guarantee degree can be effectively improved.

The intelligent rail fastener bolt operation robot provided by the invention can realize autonomous numerical control forward and reverse walking on a railway line and intelligent recognition of the positions of fastener bolts in railway line maintenance operation construction based on the digital intelligent design of technologies commonly used at present, and can automatically and accurately complete screwing and re-tightening operation of fastener bolts according to a high-precision fixed torque mode or an intelligent elastic strip gap judging mode. The railway intelligent fastener bolt operation robot provided by the invention has the characteristics of compactness, and convenience and rapidness in assembly, disassembly and transportation.

In some embodiments, as shown in fig. 1 to 9, the travelling mechanism comprises a track travelling sub-mechanism for travelling along a track and a land leveling pushing mechanism 8 for driving the land leveling, the track travelling sub-mechanism comprises a driving wheel 17 and a measuring wheel 23 which are arranged at the bottom of the frame, and an encoder 22 (shown in fig. 4) for measuring the rotating speed of the measuring wheel 23 is arranged on the wheel shaft of the measuring wheel 23; the land leveling mechanism 8 comprises four traveling wheels which are respectively arranged at four corners of the frame.

In order to meet the requirement of local movement of an operation line, the host machine can move back and forth in a remote control operation mode after being on line, the automatic return capability is realized after the operation, a hub type electric wheel is selected as a driving wheel 17, and the driving wheel 17 has sensitive speed reduction and braking capability; the front wheel is equipped with an encoder 22 (the driving wheel 17 is a rear wheel and the measuring wheel 23 is a front wheel) to enable accurate measurement of the distance of movement. To meet the braking requirement, the measuring wheel 23 is assisted by the parking brake mechanism 21, and plays a role in assisting braking during interval running.

The travelling mechanism can move forwards or backwards along the track, and the driving wheel 17 and the measuring wheel 23 move along the top of the steel rail; the land leveling mechanism 8 allows the robot to move through the road wheels while on the ground.

Encoder 22 is a rotary transducer that converts rotational displacement into a series of digital pulse signals that can be used to control angular displacement. The encoder 22 generates an electrical signal and processes the signal by a numerical control CNC, a programmable logic controller PLC, a control system, or the like.

In some embodiments, as shown in fig. 3 and 10, the tightening sleeve includes a spline housing 28 and a sleeve 29 connected with the spline housing 28 in a key manner, a spring 30 is disposed between the spline housing 28 and the sleeve 29, a guide hole 293 is further disposed on the spline housing 28, and a pin shaft 31 penetrating through the guide hole 293 of the sleeve 29 is slidably connected with the spline housing 28 in the axial direction. The tightening drive motor 25 is provided with a planetary reducer assembly 26.

Specifically, the lifting sliding table module 16 drives the lifting plate 19 and the sleeve 29 to descend, and the sleeve 29 and the main shaft of the tightening driving motor 25 are circumferentially limited through splines, and cannot rotate with each other, but can move along the axial direction. When the bolt needs to be screwed down, the lifting sliding table module 16 drives the lifting plate 19 to move downwards, the lifting plate 19 is clamped on the lower limit stop plate 282 of the spline housing 28, the sleeve 29 is pressed downwards, and the spring 30 is compressed, so that the sleeve 29 has a certain buffering function when being contacted with the bolt, and damage caused by hard collision of the sleeve 29 and the bolt is prevented. When the sleeve 29 is lifted, the lifting plate 19 pushes the upper limit blocking disc 281 on the spline housing 28 upwards to drive the sleeve 29 to move upwards, and the resilience force of the spring 30 also binds the sleeve 29 to move upwards.

The invention provides a track intelligent fastener bolt operation robot, which is shown in fig. 1 to 9, and further comprises an oil injection mechanism 3 fixedly arranged on a frame and an oil injection nozzle 20 communicated with the oil injection mechanism 3, wherein the oil injection nozzle 20 is connected to the lower end of a lifting mechanism by a connecting piece, and the oil injection nozzle 20 injects oil towards the direction of a tightening sleeve. In the screwing and re-tightening operation of the bolt, the oil nozzle 20 descends along with the lifting mechanism, and simultaneously the oiling operation of the bolt is completed.

Specifically, two sets of tightening sleeves are integrated on the frame, and two sets of oil injection mechanisms 3 for oiling the bolts are respectively arranged on two sides of the frame.

When the screw nut is in operation, the oil nozzle 20 of the oil coating mechanism is lifted along with the sleeve 29, after the sleeve 29 is unscrewed, the oil nozzle 20 rapidly sprays lubricating grease to the exposed screw thread section, then the sleeve 29 is used for tightening the screw nut, and the grease sprayed to the screw thread section completely enters the screw thread matching pair, so that the effective bolt oil coating operation is completed.

The intelligent rail fastener bolt operation robot provided by the invention, as shown in fig. 1 to 9, further comprises a wheel leaning mechanism fixedly arranged at the bottom of the frame, wherein the wheel leaning mechanism comprises a plurality of wheel leaning wheels 18, and the wheel leaning wheels 18 respectively lean against the two side surfaces and the top surface of the rail. When the robot walks, the leaning wheel 18 leans against the two side surfaces and the top surface of the rail tightly, which has a limiting function on the walking route of the robot and can prevent the robot from deviating when working.

The invention provides an intelligent rail fastener bolt operation robot, which is as shown in fig. 1 to 2, 4, 6, 7 and 9, and further comprises a side rail supporting mechanism 9, wherein the side rail supporting mechanism 9 comprises a side rod 901 connected with a frame and a supporting wheel 902 connected with the end part of the side rod 901, and the supporting wheel 902 is used for supporting a rail parallel to the rail to be tested. In order to maintain the lateral stability of the robot, a side rail supporting mechanism 9 is provided, and supporting wheels 902 at the end parts of the side rails 901 are placed on the adjacent rail surfaces and move along the adjacent rail surfaces along with the main machine.

As shown in fig. 1 and 2, the supporting wheel 902 is further provided with a limit collar 903, and when the length of the side bar 901 is adjusted in place, the limit collar 903 can abut against the side surface of the rail to prevent the supporting wheel 902 from deviating.

In some embodiments, as shown in fig. 1-2, the sidebar 901 is a telescoping rod that is telescoping in length. Specifically, a connecting plate 904 is arranged on one of the telescopic rods, an adjusting hole 905 is arranged on the connecting plate 904, and the two telescopic rods which are mutually matched and spliced are fastened through bolts and the total length is adjusted.

In some embodiments, as shown in fig. 1 to 2, the frame includes a chassis 34 and a carriage 33 fixed on the chassis 34, and the tightening driving motor 25, the sleeve lifting motor 11, the control module 13 and the battery module 6 are all disposed in the carriage 33; the front side of the carriage 33 is provided with a front illuminating lamp 4, the rear side of the carriage 33 is provided with a rear illuminating lamp 24, and the top of the carriage 33 is provided with an emergency button 15, a signal receiving antenna 1 and an alarm indicating lamp 2; each illuminating lamp is an LED lamp, and a front illuminating lamp switch 3 and a rear illuminating lamp switch 35 are also arranged.

In some embodiments, as shown in fig. 1 to 2, a tablet computer display screen 14 is further disposed on the top of the carriage 33, the tablet computer display screen 14 is in signal connection with the control module 13, and the tablet computer display screen 14 is electrically connected with the battery module 6. The top of the carriage 33 is also provided with a flat power switch 12, a demonstration button 32, an obstacle avoidance scanning sensor and a parking brake switch 10.

Action of the scram button: when the robot is in operation or running, and needs to stop immediately in case of emergency, the button can be pressed, the power supply of the whole robot can be cut off immediately, and the robot can resume work after reset.

The tablet computer display 14 displays the job data stored by the system during and after the job is completed.

The tablet power switch 12 is used to turn on or off the power of the tablet computer.

The demonstration button 32 is used for starting a group of operation modes in the control module 13, and after the demonstration button 32 is pressed, a preset operation action is automatically started. This function is merely a basic function for demonstrating the robot.

The alarm indicator lamp 2 has a light flashing and audible alarm due to an alarm or an operation program prompt.

The obstacle avoidance scanning sensor is used for scanning and sampling obstacles on a front track when the robot automatically returns to walk in a non-working state and after the working is completed. When the robot is started up by the main power supply, the operation program is set and the robot automatically returns to meet the front obstacle after running and operation in a non-operation state are completed, and an alarm device at the top of the equipment is required to send out alarm light and alarm sound.

The signal receiving antenna 1 is a wireless antenna and is used for wireless communication of a remote controller. Each robot is provided with a remote controller, the remote control distance is 100m, and all action instructions of the robots are set in advance. Such as: setting of operation properties (section running or operation running), setting of running direction and speed, setting of operation mode (operation by operation or not operation by operation), selecting of fastener bolt properties (bolt type or screw type), setting of operation length (number of fastener nodes is taken as a gauge unit), selecting of operation properties (gap management or torque management), setting of spring strip gap, setting of screwing torque value, and the like.

The battery module 6 is a lithium battery pack and is provided with a USB socket and can be charged; the lithium battery pack adopts a 48V power supply. The invention can be powered by three groups of lithium battery packs respectively: the two sets of batteries respectively supply power to the two sets of tightening drive motors 25; a set of batteries power the travel and sleeve 29 up and down, the control module 13 and the sensors and switch buttons. The three groups of battery power supply routes are not intersected with each other, so that mutual interference is avoided.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Based on the same conception, the embodiment of the application also provides an operation method of the track intelligent fastener bolt operation robot, wherein the track intelligent fastener bolt operation robot is adopted; the method comprises the following steps:

the control module 13 acquires the position information of the fastening bolt of the fastening position identification module 7, and judges whether the travelling mechanism stops or not according to the position information of the fastening bolt, and whether the lifting mechanism lifts or not; the control module 13 also obtains an actual measurement torque value of the torque sensor 27, and judges whether to drive the fastening bolt tightening mechanism to tighten the fastening bolt according to the actual measurement torque value;

when the control module 13 instructs the traveling mechanism to stop, a descending instruction is sent to the lifting mechanism, and the fastener bolt tightening mechanism is instructed to tighten the fastener bolt;

if the measured torque value obtained by the control module 13 is smaller than the preset torque value, the control module 13 instructs the lifting mechanism to continuously descend and instructs the fastener bolt tightening mechanism to continuously tighten;

when the value of the increase of the actually measured torque value obtained by the control module 13 is larger than the value of the torque value increased by normal tightening of the fastening bolt tightening mechanism, the control module 13 instructs the fastening bolt tightening mechanism to stop acting, then the sleeve 29 automatically reverses a preset angle under the drive of the reset of the spring 30, and the pressure of the elastic strip at the fastening bolt is released, so that the gap between the elastic strip and the gap reaches a preset target value; the control module 13 integrates a processing module, a communication module, a signal acquisition module and a storage module.

The operation method provided by the invention also has fault tolerance function: when the position of the fastener bolt or the spring strip is abnormal or missing and the operation action can not be realized, the trial and error is allowed, and the robot moves forward and searches for the next set of correct targets.

The running mechanism of the invention ensures interval continuous running capability and operation running capability, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module 7, the torque sensor 27 and the control module 13 ensure automatic identification and accurate locking capability of the position of the fastener bolt during forward movement of the robot, real-time judgment and control capability of the elastic strip gap, the capability of the sleeve 29 to align and accurately enter the working state, the capability of the bolt tightening torque and the like.

The interval continuous running function of the robot comprises the following steps:

in order to meet the requirement of local movement of an operation line, the host machine can move back and forth in a remote control operation mode after being on line; the automatic return capability is realized after the operation; the hub type electric wheel is selected as a driving wheel, and the driving wheel has sensitive speed reduction braking capability; the front wheel is equipped with an encoder, which can satisfy accurate measurement of the moving distance. The requirement of braking is met, the measuring wheel is assisted by a mechanical braking mechanism, and the auxiliary braking function is achieved when the measuring wheel runs in intervals.

Aiming at the working function of the sleeve of the walking machine: after the operation mode is set, the equipment automatically works forwards. In the forward moving process, the intelligent fastener position recognition system locks the position of the bolt, a working sleeve of the host is moved to the position of the fastener bolt for stopping, the sleeve descends and is accurately sleeved into the bolt head, and in the screwing process, the sleeve is controlled to realize the specified action; after the work is completed, the sleeve is lifted and reset, the device starts to move forward again, searches for the next group of fastener bolts, and repeats the previous actions. The operation mechanisms and the measurement and control systems on the left side and the right side are independent of each other and work simultaneously without interference. Different modes of operation may be set, such as: loosening bolts one by one, tightening bolts one by one, loosening bolts one by one first and then tightening bolts one by one, loosening bolts one by one or tightening bolts one by one, and the like.

The invention provides a main machine moving bolt alignment and a real-time sampling judgment and control of a spring strip gap.

The intelligent recognition process of the positions of the fastening bolts is as follows:

in order to adapt to the use of lines with different structures, the automatic recognition function of the positions of the fastening bolts is designed to take left and right branches of the elastic strip as targets for searching the positions of the fastening bolts. And 2 laser detection sensors are symmetrically arranged in front and back of the sleeve by taking the sleeve as the center, when the 1 st beam of laser point falls on the left branch of the elastic strip, the robot host immediately decelerates and slowly moves forwards until the 2 nd beam of laser point irradiates on the left branch of the elastic strip, and the host stops moving, so that the sleeve is just above the bolt. The sleeve can be accurately sleeved into the bolt head to start working after descending.

The invention uses the elastic strip as the identification target and adopts the method of laser sensor detection. The laser sensor is used for detecting left branches and right branches of the elastic strip, the detection distance is accurately adjusted, and particularly when water or an oil film exists on the surface of the elastic strip, the identification effect is not affected. The laser beam falling point is arranged on the outer side of the left branch and the right branch of the bullet strip, and the laser beam is vertical to the bullet strip as much as possible. In the forward moving process of the main machine, when the 1 st laser point falls on the left branch of the elastic strip, the main machine immediately decelerates and slowly moves forward until the 2 nd laser point irradiates on the left branch of the elastic strip, the main machine stops moving, the working sleeve descends to be just sleeved into the bolt head, and the position locking is completed.

The elastic strips with different specifications can be set and selected before operation.

The control process of the gap between the elastic strips of the fastener is as follows:

based on the precise measurement technology of the torque of the fastener bolt, the mechanical characteristics of the elastic strip in the compression deformation process are monitored in real time in the whole process, and the turning point of the torque curve at the moment when the jaw at the front end of the middle part of the elastic strip is contacted with the steel rail is accurately searched, so that the turning point is used as the basis for accurately controlling the screwing action of the bolt sleeve. When the jaw at the front end of the middle part of the spring strip contacts with the steel rail, the sleeve immediately stops screwing, and then automatically reversely rotates by a preset angle (screw 3-5 ℃ and bolt 5-10 ℃ to finally realize the aim that the gap between the spring strip and the gap is within 0.5 mm.

The invention is based on the torque sensor, in the process of screwing the bolt by the sleeve, the torque sensor monitors the change value of the torque received by the bolt in real time, once the set torque value is reached, the sleeve immediately stops screwing, the operation is finished, and the final torque value is displayed and recorded.

The torque sensor allows the target torque value to be set arbitrarily in the range of 80-300 Nm, the sleeve automatically screws the bolt to the set torque, and the maximum actual deviation is not more than +/-5% of the set value.

The working principle of the spring strip gap control is as follows: through repeated experiments, the internal relation between the mechanical property of the deformation of the elastic strip and the change of the torque of the bolt is found, so that the elastic strip gap sampling judging and controlling system is developed, and the change of the bearing torque of the sleeve can be accurately perceived in the process of screwing the bolt. When the bolt is screwed until the front end of the spring strip touches a steel rail (or a gauge stop block), the system senses that the change rate of torque suddenly increases, immediately stops the motor action at the moment, then instructs the sleeve to reverse a preset angle or the sleeve to self-reverse a preset angle, eliminates the phenomenon that the sleeve is excessively screwed on the bolt due to the inertia of the motor, and obtains a state that the front end of the spring strip just contacts the steel rail or a gap is within 0.5mm when the sleeve finishes working, so as to meet the target requirement of the gap of the spring strip.

The design concept of the lifting mechanism of the sleeve is as follows:

the sleeve is automatically lifted by a lifting mechanism according to the designed stroke. The sleeve is internally provided with a compression spring which is suitable for the requirement of the change of the height of the bolt and the nut withdrawal.

Because of the structural difference between the screw fastener and the bolt fastener, the height difference between the fully unscrewed screw and the screw in the screwed state is more than 80mm for the screw fastener, so that the sleeve needs to be lifted to a high position after the operation according to the screw mode.

The control module of the invention is used as an electric general control system of the robot, and has the following characteristics:

running and control technology thereof:

the driving wheel adopts the DC 48V/300W large-torque servo hub motor, can be started and stopped rapidly on a steel rail, and is provided with an electric brake, so that the braking problem is simplified.

By adopting CAN bus communication, the CIA301 and CIA402 sub-protocols supporting the CANopen protocol CAN be used for mounting 127 devices; the CAN bus communication baud rate defaults to 500Kbps.

Adopting RS485 bus communication to support modbus-RTU protocol, and mounting 127 devices at most; the communication baud rate of the RS485 bus defaults to 115200bps; supporting working modes such as position control, speed control, torque control and the like; the start and stop of the motor can be controlled through the bus, and the real-time running state of the motor can be inquired; input voltage: 24-48 VDC; the device is provided with an isolation signal input port and is programmable, so that the functions of starting and stopping, stopping suddenly, limiting, outputting the state of the driver, controlling signals and the like of the driver are realized; meanwhile, the protection device has overvoltage and overcurrent protection.

And (II) controlling lifting mechanisms at two sides:

the lifting mechanisms on two sides adopt a low-voltage servo direct current system, the system is developed by adopting a high-performance processor, and the system is a high-cost-performance servo control system, and on the premise of ensuring stability and reliability, the function and performance closest to the application are pursued. Compared with a stepping motor, the motor has low noise, small heating, high rotating speed, constant moment output and no lost rotation; compared with a stepping servo motor, the novel stepping motor completely eliminates the inherent disadvantages of stepping products, and has better functions, performance and reliability; compared with the foreign known high-pressure servo system, the high-pressure servo system has the advantages of close performance, low price and easy use.

Torque control unit for tightening driving motor

The tightening drive motors on both sides of the invention are high performance BLDC motors, and the controller is a dedicated custom BLDC drive. The system has the advantages of intelligent control, low power consumption, long service life and the like.

ARM high-speed chip control is adopted; the device can be applied to PWM (pulse-width modulation), frequency or analog quantity speed regulation of an upper computer (PLC, singlechip and the like); a manual speed regulation mode (a self-charging potentiometer or an external potentiometer can be used for manual speed regulation); the device has the functions of overcurrent, overvoltage, undervoltage, locked rotor, illegal Hall signal, temperature protection, abnormal signal alarm output and the like; the high-speed torque is stable in output and rotation speed.

Positioning and locking control system of fastener position recognition module

The working object of the invention is a fastener bolt, and because the sleeve occupies the space position above the bolt, only an indirect positioning method can be adopted. Through various scheme comparisons, the left branch and the right branch of the elastic strip are determined to be used as positioning targets, and a laser sensor is adopted to collect signals. The sleeve is used as a center, two laser detection sensors are symmetrically arranged front and back, the distance is equal to the width of the left branch and the right branch of the elastic strip, and when the two laser detection sensors detect the left branch and the right branch of the elastic strip simultaneously, the two laser detection sensors are equal to the positions of the detected bolts, so that quick and accurate positioning is realized.

(IV) CPU unit taking ARM as core:

the invention selects STM32F103ZET6 with strong functions in ARM series as a central processing unit, and peripheral functional circuit designs matched with the central processing unit are as follows:

the photoelectric coupler is used for isolating the processor from peripheral equipment, so that a circuit system is effectively protected;

the host computer of the control module and the tablet personal computer are communicated by using a serial port, a user can quickly and conveniently set information such as working parameters through the tablet personal computer, the host computer performs preset work according to the received information, effective data are transmitted to the tablet personal computer after each work is completed, and the tablet personal computer can automatically store the data into a corresponding database according to the current date, so that convenience is brought to the user to realize big data management and intelligent detection in the future.

And the serial port technology is used for communicating with an obstacle avoidance system, and the obstacle avoidance system is independently provided with a set of complete CPU for real-time acquisition.

And a mature CAN communication technology is adopted to effectively connect the main control CPU with the torque CPU and the gap CPU, so that a large amount of data interaction is easily realized.

And carrying out information interaction with the remote control box by adopting an NRF wireless communication technology.

The design of the power supply part of the core circuit board of the control module:

when the main control circuit board power supply part is designed, the power supply positive and negative poles are reversely connected by taking the misoperation of a user into consideration, and the reverse connection prevention circuit design is adopted, so that the problem of reverse connection of the power supply positive and negative poles is solved fundamentally; meanwhile, in order to enable the STM32 to work more stably, the invention selects the WRB2403CS power supply voltage stabilizing module to supply power to the STM32 system, so that the ripple coefficient of the isolated VCC voltage is very low, and the stability of the STM32 system is greatly improved.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (10)

1. Track intelligence fastener bolt work robot, its characterized in that includes: the device comprises a frame, a travelling mechanism, a fastener bolt tightening mechanism, a lifting mechanism, a fastener position identification module (7), a torque sensor (27), a control module (13) and a battery module (6), wherein the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism and the fastener position identification module are integrated on the frame;

the fastener bolt tightening mechanism comprises a tightening driving motor (25) and a tightening sleeve in driving connection with the tightening driving motor (25); the torque sensor (27) is arranged on the fastener bolt tightening mechanism;

the lifting mechanism comprises a sleeve lifting motor (11) and a lifting sliding table module (16) connected with the sleeve lifting motor (11), and the tightening sleeve is connected with the lifting sliding table module (16) through a lifting plate (19) to realize lifting movement;

the fastener position recognition module (7) comprises laser detection sensors (701) symmetrically and fixedly arranged at the front and rear sides of the tightening sleeve;

the control module (13) is in signal connection with the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module (7) and the torque sensor (27);

the battery module (6) is used for supplying power required by the travelling mechanism, the fastener bolt tightening mechanism, the lifting mechanism, the fastener position identification module (7), the torque sensor and the control module (13).

2. The track intelligent fastener bolt work robot as claimed in claim 1, wherein the running mechanism comprises a track running sub-mechanism for running along a track and a land leveling pushing mechanism (8) for driving the land leveling, the track running sub-mechanism comprises a driving wheel (17) and a measuring wheel (23) which are arranged at the bottom of the frame, and an encoder (22) for measuring the rotating speed of the measuring wheel (23) is arranged on a wheel shaft of the measuring wheel (23); the land leveling pushing mechanism (8) comprises four traveling wheels which are respectively arranged at four corners of the frame.

3. The track intelligent fastener bolt work robot of claim 1, wherein the tightening sleeve comprises a spline sleeve (28) and a sleeve (29) connected with the spline sleeve (28) in a key manner, a spring (30) is arranged between the spline sleeve (28) and the sleeve (29), a guide hole (293) is further formed in the spline sleeve (28), and the sleeve (29) penetrates through a pin shaft (31) of the guide hole (293) and is in sliding connection with the spline sleeve (28) in the axial direction.

4. The track intelligent fastener bolt operation robot of claim 1, further comprising an oil injection mechanism (3) fixedly arranged on the frame and an oil injection nozzle (20) communicated with the oil injection mechanism (3), wherein the oil injection nozzle (20) is connected to the lower end of the lifting mechanism by means of a connecting piece, and the oil injection nozzle (20) injects oil towards the tightening sleeve direction.

5. The intelligent rail fastener bolt working robot of claim 1, further comprising a wheel leaning mechanism fixedly arranged at the bottom of the frame, wherein the wheel leaning mechanism comprises a plurality of wheel leaning wheels (18), and the wheel leaning wheels (18) lean against two side surfaces and the top surface of the rail respectively.

6. The track intelligent fastener bolt work robot of claim 1, further comprising a side rail support mechanism (9), the side rail support mechanism (9) comprising a side bar (901) connected to the carriage and a support wheel (902) connected to an end of the side bar (901), the support wheel (902) being for supporting on a rail parallel to the rail to be tested.

7. The track intelligence fastener stud work robot of claim 6, wherein the side bars (901) are telescoping bars of telescoping length.

8. The track intelligent fastener bolt working robot according to claim 1, wherein the frame comprises a vehicle bottom plate (34) and a vehicle box (33) fixedly arranged on the vehicle bottom plate (34), and the tightening driving motor (25), the sleeve lifting motor (11), the control module (13) and the battery module (6) are all arranged in the vehicle box (33); the front side of the carriage (33) is provided with a front illuminating lamp (4), the rear side of the carriage (33) is provided with a rear illuminating lamp (24), and the top of the carriage (33) is provided with an emergency button (15), a signal receiving antenna (1) and an alarm indicating lamp (2).

9. The track intelligent fastener bolt work robot of claim 8, wherein a tablet computer display screen (14) is further arranged on the top of the carriage (33), and the tablet computer display screen (14) is in signal connection with the control module (13) and is electrically connected with the battery module (6).

10. A method of operating a track intelligent fastener bolt operating robot, characterized in that the track intelligent fastener bolt operating robot of any one of claims 1-9 is employed; the method comprises the following steps:

the control module (13) acquires the fastener bolt position information of the fastener position identification module (7), and judges whether the travelling mechanism stops or not according to the fastener bolt position information, and whether the lifting mechanism lifts or not; the control module (13) also obtains an actual measurement torque value of the torque sensor (27) and judges whether to drive the fastener bolt tightening mechanism to tighten the fastener bolt according to the actual measurement torque value;

when the control module (13) instructs the travelling mechanism to stop, a descending instruction is sent to the lifting mechanism, and the fastening bolt tightening mechanism is instructed to tighten the fastening bolt;

if the actual measured torque value obtained by the control module (13) is smaller than a preset torque value, the control module (13) instructs the lifting mechanism to continuously descend and instructs the fastener bolt tightening mechanism to continuously tighten;

when the value of the increase of the actually measured torque value obtained by the control module (13) is larger than the value of the increase of the normal tightening torque of the fastener bolt tightening mechanism, the control module (13) instructs the fastener bolt tightening mechanism to stop acting and then instructs the fastener bolt tightening mechanism to reverse a preset angle, or the sleeve (29) automatically reverses the preset angle under the action of the spring (30), and the pressure of the elastic strip at the fastener bolt is released, so that the gap of the elastic strip reaches a preset target value.