CN108468256A - A kind of railway intelligence fastener installation mechanical arm and its fastener installation method - Google Patents
A kind of railway intelligence fastener installation mechanical arm and its fastener installation method Download PDFInfo
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- CN108468256A CN108468256A CN201810119720.8A CN201810119720A CN108468256A CN 108468256 A CN108468256 A CN 108468256A CN 201810119720 A CN201810119720 A CN 201810119720A CN 108468256 A CN108468256 A CN 108468256A
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- China
- Prior art keywords
- fastener
- installation
- missing
- location information
- mechanical arm
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/24—Fixing or removing detachable fastening means or accessories thereof; Pre-assembling track components by detachable fastening means
- E01B29/28—Fixing or removing detachable fastening means or accessories thereof; Pre-assembling track components by detachable fastening means the fastening means being of screw-and-nut type; Apparatus therefor, adapted to additionally drilling holes
Abstract
The present invention relates to railway engineering technology field more particularly to a kind of railway intelligence fastener installation mechanical arms and its fastener installation method.The fastener installation method of railway intelligence fastener installation mechanical arm provided by the invention, including：The location information of fastener missing is calculated according to the image information of the railroad track of acquisition for location position step；Installation steps, according to fastener missing location information, successively by fastener and fastener be placed into fastener missing position at；Fastener is fixedly mounted on the railroad track by torque wrench tightening fastener parts, can realize the automation Fast Installation of rail clip by fixing step.By using the installation method of above-mentioned fastener, high degree of automation, one side installation effectiveness is high and can effectively ensure that the installation quality of fastener, substantially increases the efficiency of urban rail transit construction, is also conducive to ensure the safety of urban rail transit construction；On the other hand artificial input is substantially reduced, effectively reduces installation cost, good economy performance.
Description
Technical field
The present invention relates to railway engineering technology field more particularly to a kind of railway intelligence fastener installation mechanical arms and its fastener
Installation method.
Background technology
2015 end of the year Chinese Railway revenue kilometres have reached 120,000 kilometers, and by 2025, planned railway network was up to
17.5 ten thousand kilometers.The city that China has obtained metro project reply has 44, is sought by 2015 end of the year urban rail transit in China
Industry mileage is more than 3500 kilometers, it is contemplated that more than 6000 kilometers is risen to by double to the year two thousand twenty, with the quickening of the urbanization of population,
The growth of the construction plan of urban rail will also continue 10 years or more, it is contemplated that the year two thousand thirty will be more than 10000 kilometers.
With the accelerated development of world's railway, the automation installation of contacting piece bolt and in railway operation in railway construction
In the automation supplement of fastener missing seem and be even more important.
Existing fastener installation mostly uses man-hour manually hand-held torque wrench and installs one by one, or pacifies in the railcar of use hand propelled
It fills torque wrench and realizes semi-automatic operation, also need human assistance, artificial input is big, and bad environments, poor quality ensures and efficiency
Lowly.And on the circuit of operation has been put into, the bad control of supplement fastening quality of contacting piece missing is also unfavorable for ensureing
The safety of urban rail transit construction.
Invention content
(1) technical problems to be solved
The first object of the present invention is：The easy to operate, high degree of automation of one kind is provided and rail clip can be effectively improved
The railway intelligence fastener of installation effectiveness and installation quality installs the fastener installation method of mechanical arm, the installation lacked with existing fastener
Mode has that input cost is high, efficiency is low and poor quality ensures.
The second object of the present invention is：A kind of simple structure and reasonable design, high degree of automation are provided and can be effectively improved
The railway intelligence fastener of rail clip installation effectiveness and installation quality installs mechanical arm, to solve the installation side of existing fastener missing
Formula has that input cost is high, efficiency is low and poor quality ensures.
(2) technical solution
In order to solve the above-mentioned technical problem, on the one hand, the present invention provides a kind of railway intelligence fasteners to install mechanical arm
Fastener installation method, including：
The location information of fastener missing and/or fastener loosening is calculated according to the image information of the railroad track of acquisition；
The first installation steps are executed according to the location information that the fastener lacks, and/or are loosened according to the fastener
Location information execute the second installation steps；
First installation steps include：According to the location information that the fastener lacks, successively by fastener and fastener
It is placed at the position of the fastener missing；And the fastener is tightened by torque wrench, the fastener is fixedly mounted
On the railroad track；
Second installation steps include：According to the location information that the fastener loosens, by torque wrench to being set to
Fastener on the fastener of the loosening is fastened.
According to the preferred of above-mentioned technical proposal, the image information of the railroad track according to acquisition is calculated fastener and lacks
The location information that mistake and fastener loosen, including：
The image information of the railroad track of the acquisition is converted into cloud information；
The point cloud information being converted to is compared with pre-stored railroad track point cloud information, obtains fastener missing
And the point cloud information that fastener loosens；
The location information of the fastener missing is obtained according to the point cloud information of fastener missing, and according to fastener pine
Dynamic point cloud information obtains the location information of the fastener missing.
According to the preferred of above-mentioned technical proposal, the location information of fastener described in basis missing is successively by fastener and tight
Firmware is placed at the position of the fastener missing, including：
The mechanical arm carries out the path planning of operating system according to the location information that the fastener lacks, and described in utilization
Fastener and fastener are placed at the position of the fastener missing by the path planning of operating system successively.
According to the preferred of above-mentioned technical proposal, the path planning of the operating system includes operation movement circuit, movement side
To and movement speed.
According to the preferred of above-mentioned technical proposal, further include：
Reset process, when the torque sensor on the torque wrench detects that the torque wrench reaches default
After torque value, reset notification signal is sent out；Reset operation is carried out to mechanical arm after receiving the reset notification signal so that institute
It states mechanical arm and is back to original position.
On the other hand, the present invention also provides a kind of railway intelligence fastener fitting machines of the fastener installation method described in application
Tool arm, including mechanical arm body, the mechanical arm body include：
The arm body of Telescopic rotary；
Clamping device is set to the end of the arm body, for picking and placeing fastener, fastener and torque wrench；
Image collecting device corresponds to the clamping device and is set on the arm body, the image for acquiring railroad track
Information；
Controller is connect with the arm body, clamping device, torque wrench and image collecting device respectively；
The controller controls the arm body according to the image information of the collected railroad track of described image harvester
And clamping device the fastener, fastener are placed at the position of fastener missing and control the torque wrench tighten it is described tight
The fastener is fixedly mounted on the railroad track by firmware；And/or the control torque wrench is to being set to the loosening
Fastener on fastener fastened.
According to the preferred of above-mentioned technical proposal, the controller includes：
Fastener missing and/or button is calculated in location position module, the image information for the railroad track according to acquisition
The location information that part loosens；
Judgment module, the location information for being lacked according to the fastener execute the first installation steps, and/or according to institute
The location information that the fastener stated loosens executes the second installation steps；
First installation module, the location information for being lacked according to the fastener successively place fastener and fastener
At the position lacked to the fastener；And the fastener is tightened by torque wrench, the fastener is fixedly mounted on institute
It states on railroad track；
Second installation module, the location information for being loosened according to the fastener are described to being set to by torque wrench
Fastener on the fastener of loosening is fastened.
Further, further include the torque sensor being set on the torque wrench according to the preferred of above-mentioned technical proposal.
According to the preferred of above-mentioned technical proposal, described image harvester includes camera sensor or camera.
According to the preferred of above-mentioned technical proposal, the fastener includes bolt, nut or screw.
(3) advantageous effect
The above-mentioned technical proposal of the present invention has the following advantages that：
The present invention provides the fastener installation methods that a kind of railway intelligence fastener installs mechanical arm, including：According to acquisition
The location information that fastener missing is calculated in the image information of railroad track and/or fastener loosens；According to fastener missing position
Confidence breath execute the first installation steps, and/or according to fastener loosen location information execute the second installation steps；First installation
Step includes：According to fastener missing location information, successively by fastener and fastener be placed into fastener missing position at；And
By torque wrench tightening fastener parts, fastener is fixedly mounted on the railroad track；Second installation steps include：According to button
The location information that part loosens, fastens the fastener on the fastener of loosening by torque wrench.According to collected
The image information of railroad track and a large amount of machine learning can accurately judge what rail clip missing and/or fastener loosened
Fastener and fastener are sequentially placed the position of fastener missing and are fastened by torque wrench by position, and/or by the button of loosening
Part is tightened, and to realize automation Fast Installation and the fastening of rail clip, one side installation effectiveness is high and can effectively ensure that fastener
Installation quality, substantially increase the efficiency of urban rail transit construction, be also conducive to ensure the safety of urban rail transit construction；Another party
Face substantially reduces artificial input, effectively reduces installation cost, good economy performance.
Description of the drawings
Fig. 1 is a kind of fastener installation side of the fastener installation method embodiment of railway intelligence fastener installation mechanical arm of the present invention
Method flow chart of steps；
Fig. 2 is a kind of railway intelligence fastener installation mechanical arm of the embodiment of railway intelligence fastener installation mechanical arm of the present invention
The side view of installation on the railroad track；
Fig. 3 is a kind of railway intelligence fastener installation mechanical arm of the embodiment of railway intelligence fastener installation mechanical arm of the present invention
The front view of installation on the railroad track；
Fig. 4 is a kind of structural schematic diagram of the railroad track of the embodiment of railway intelligence fastener installation mechanical arm of the present invention；
Fig. 5 is the close-up schematic view of a-quadrant in Fig. 4.
In figure：1：Mechanical arm body；1-1：Arm body；1-2：Clamping device；1-3：Image collecting device；2：Rail vehicle；
3：Railroad track；3-1：Fastener installation site；4：Fastener；5：Fastener；5-1：Fastener is in tight condition；5-2：Fastener
In the state of loosening.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that railway intelligence fastener installation mechanical arm provided by the invention can be mounted on rail vehicle or track row
Sail on platform so that rail vehicle or rail running platform can be moved with mechanical arm along the trend of rail, in order into
The installation exercise of row fastener.
On the one hand, as shown in Figure 1, an embodiment of the present invention provides the fastener peaces that a kind of railway intelligence fastener installs mechanical arm
Dress method, including：
Step S1, the position of fastener missing and/or fastener loosening is calculated according to the image information of the railroad track of acquisition
Confidence ceases；
Specifically, mechanical arm starts, and passes through the current railroad track of the image acquisition device installed on the robotic arm
Image information, controller carries out processing calculating to the image information of collected railroad track, fastener missing is calculated
The position that fastener loosens and/or.
Step S2, basis fastener missing location information execute the first installation steps, and/or according to fastener loosen
Location information executes the second installation steps；
Specifically, including three kinds of technical solutions：One, when only detect fastener missing location information when, execute first
Installation steps；Secondly, when only detect fastener loosening location information when, execute the second installation steps；Third, when detecting button
After the location information that part lacks and fastener loosens, the first installation steps and the second installation steps are executed, wherein the first installation steps
It is not particularly limited with the sequence of the second installation steps.
Step S3, the first installation steps include：According to fastener missing location information, fastener and fastener are put successively
At the position for setting fastener missing；And by torque wrench tightening fastener parts, fastener is fixedly mounted on the railroad track；
Specifically, behind the position that fastener missing is calculated, control machinery arm is from rail vehicle or rail running platform
Fastener and fastener are taken out in entrained hopper, and fastener and fastener are sequentially placed at the position of fastener missing,
In, during placement, it can ensure installation accuracy and peace by the real time information that image collecting device provides to be accurately positioned
Packing quality.After being sequentially placed fastener and fastener, mechanical arm can be by gripping apparatus grips torque wrench, to pass through fastening
Part contacting piece is fastened, and then completes the installation exercise of entire fastener.
Step S4, the second installation steps include：According to fastener loosen location information, by torque wrench to being set to pine
Fastener on dynamic fastener is fastened.
Specifically, behind the position that fastener loosening is calculated, control machinery arm by gripping apparatus grips torque wrench,
The fastener on the fastener of loosening is fastened by torque wrench, and then completes to tighten the operation for loosening fastener.
Further, fastener is after installation is complete and after the completion of fastener fastening, the installation condition of controller contacting piece and is set to
The posture of fastener on fastener is recorded and updates the data the installation condition of corresponding fastener and the posture of fastener in library
Information.
Use fastener installation method provided by the present application as a result, according to the image information of collected railroad track and
A large amount of machine learning can accurately judge the position that rail clip missing and/or fastener loosen, successively by fastener and fastener
It is placed into the position of fastener missing and is fastened by torque wrench, and/or the fastener of loosening is tightened, to realize rail clip
Fast Installation and fastening are automated, one side installation effectiveness is high and can effectively ensure that the installation quality of fastener, substantially increases rail
The efficiency of road transport development is also conducive to ensure the safety of urban rail transit construction；On the other hand artificial input is substantially reduced,
Effectively reduce installation cost, good economy performance.
Preferably, believe the position for fastener missing and fastener loosening being calculated according to the image information of the railroad track of acquisition
Breath, including：
The image information of the railroad track of acquisition is converted into cloud information；By the point cloud information being converted to and it is pre-stored
Railroad track point cloud information compare, obtain fastener missing and fastener loosen point cloud information；The point cloud lacked according to fastener
Information obtains the location information of fastener missing, and the point cloud information loosened according to fastener obtains the location information of fastener missing.
Wherein, point cloud information refers to that scanning data records in dots, each point includes three-dimensional coordinate, some
Colouring information or Reflection intensity information may be contained.
Obtaining the location information that fastener lacks according to the point cloud information of fastener missing includes：Specifically, pass through Image Acquisition
Device acquires the image information of current railroad track, and the image collected information is converted to a cloud by controller by conversion to be believed
Breath, and transformed cloud information and pre-stored railroad track point cloud information match are illustrated if it fails to match at this
Fastener missing, and obtain fastener missing point cloud information, obtain immediately fastener missing location information.
The point cloud information loosened according to fastener obtains the location information that fastener lacks and includes：Specifically, pass through Image Acquisition
Device acquires the image information of current railroad track, and the image collected information is converted to a cloud by controller by conversion to be believed
Breath, and the point cloud information and the posture of pre-stored fastener of transformed fastener state are compared, if finding to change,
Then illustrate that the fastener at this loosens, and obtain the point cloud information of fastener loosening, obtains the location information of fastener loosening immediately.
Preferably, according to fastener missing location information successively by fastener and fastener be placed into fastener missing position
Place, including：Mechanical arm carries out the path planning of operating system according to the location information that fastener lacks, and utilizes the road of operating system
Fastener and fastener are placed at the position of fastener missing by diameter planning successively.
Specifically, after the location information for obtaining fastener missing, the location information that controller is lacked according to fastener is to machine
The whole system coordinate of tool arm is demarcated, and carries out corresponding path planning to the operating system of mechanical arm, with accurate and effective
And reliably fastener and fastener are sequentially placed on the position of fastener missing, carry out standard for the attachment fastener operation of next step
It is standby.
Specifically, the path planning of operating system includes operation movement circuit, the direction of motion and movement speed.In this reality
It applies in example, a variety of Considerations of controller synthesis, planning picks and places the path of fastener and fastener, with quick, precisely and effectively
Fastener and fastener are placed on the position of fastener missing.Wherein, a variety of Considerations may include the rotary extension of mechanical arm
Maximum actuation range and the mechanical arm whole system when picking and placeing action structural stability etc..
It is further preferred that fastener installation method further includes：Step S5, reset process, when on torque wrench
After torque sensor detects that torque wrench reaches predetermined torque value, reset notification signal is sent out；Receive reset notification signal
Reset operation is carried out to mechanical arm afterwards so that mechanical arm is back to original position.
Specifically, after confirming placement fastener and fastener, the intelligent torque wrench make-up of controller control machinery arm clamping
Part is fastened, intelligent torque wrench preset in advance prefastening torque value, after reaching predetermined torque value, intelligent torque wrench from
Dynamic to stop and send feedback reset notification signal to controller, control machinery arm returns original after controller receives reset notification signal
Work to terminate whole installation process, and is ready in position for fastener installation exercise next time.
As shown in Figures 2 to 5, on the other hand, the present invention also provides a kind of iron using the fastener installation method
Road intelligence fastener installs mechanical arm, is mounted on rail vehicle 2 or rail running platform, including mechanical arm body 1, mechanical arm sheet
Body 1 includes：
The arm body 1-1 of Telescopic rotary, for picking and placeing fastener 4, fastener 5, and fastener 4 and fastener 5 is defeated successively
It send to the position for the fastener missing known, i.e. at fastener installation site 3-1；Wherein, the arm body 1-1 of Telescopic rotary includes
Lateral Telescopic rotary mechanism, longitudinal Telescopic rotary mechanism and vertical Telescopic rotary mechanism, in order to which arm body 1-1 can be applicable in
In executing different action commands, lacked to which fastener 4 and fastener 5 are precisely and rapidly placed on the fastener known successively
On the position of mistake.
Clamping device 1-2 is set to the end of arm body 1-1, for picking and placeing fastener 4, fastener 5 and torque wrench；Specifically,
For ease of picking and placeing component not of the same race, clamping device 1-2 may include dedicated for clamping fastener, the clamping jaw of fastener and convenient for assembly and disassembly
The fast interface of torque wrench, in favor of ensuring being smoothed out for fastener installation process.
Image collecting device 1-3 corresponds to clamping device 1-2 and is set on arm body 1-1, the figure for acquiring railroad track 3
As information；Specifically, image collecting device 1-3 is mounted on arm body 1-1, and specific installation site is only needed to meet and be acquired currently
The condition of the image information of railroad track 3.Wherein, image collecting device 1-3 can be by being clamped or being bonded or be threadedly coupled
It is fixed on arm body 1-1 etc. any mode, so that image collecting device 1-3 can steadily and reliably acquire image information.
Controller is connect with arm body 1-1, clamping device 1-2, torque wrench and image collecting device 1-3 respectively；Controller
According to the image information of the collected railroad tracks of image collecting device 1-3 3, control arm body 1-1 and clamping device 1-2 will be detained
Part, fastener are placed at the position of fastener missing and control mode spanner tightening fastener parts, and fastener is fixedly mounted on iron
On rail road 3, and then to realize the automation Fast Installation of rail clip；And/or control mode spanner is to the button set on loosening
Fastener on part is fastened, to realize the terminal operation to loosening fastener.
Wherein, it when the fastener for detecting that railroad track 3 is set on fastener 4 is in loosening state 5-2, is turned round by controlling
Square spanner fastens the fastener 5 on the fastener of loosening, so that fastener is in tight condition 5-1, and should
The posture of fastener on fastener is recorded and updates the data the posture information of corresponding fastener in library.
Mechanical arm, simple in structure, reasonable design are installed using railway intelligence fastener provided by the present application, on the one hand installation is imitated
Rate is high and can effectively ensure that the installation quality of fastener, substantially increases the efficiency of urban rail transit construction, is also conducive to ensure that track is handed over
The logical safety built；On the other hand artificial input is substantially reduced, effectively reduces installation cost, good economy performance.
Specifically, controller includes：
Fastener missing and/or button is calculated in location position module, the image information for the railroad track 3 according to acquisition
The location information that part loosens；Mechanical arm starts, and current railway is acquired by the image collecting device 1-3 installed on the robotic arm
The image information of track 3, location position module carry out processing calculating to the image information of collected railroad track 3, to calculate
Obtain the position of fastener missing and/or fastener loosening.
Judgment module, for basis fastener lack location information execute the first installation steps, and/or according to fastener
The location information of loosening executes the second installation steps；
By being equipped with judgment module, believed with the position loosened according to the location information and/or fastener of the fastener missing known
Breath executes the first installation steps and/or the second installation steps to correspond to, wherein the first installation steps are held with the second installation steps
Row can both first carry out the first installation steps and execute the second installation steps again, and can also first carry out second smoothly without specifically limited
Installation steps execute the first installation steps again.
Fastener and fastener are placed into buckle successively by the first installation module, the location information that the fastener for basis lacks
At the position of part missing；And by torque wrench tightening fastener parts, fastener is fixedly mounted on the railroad track；
Specifically, according to fastener missing location information, successively by fastener and fastener be placed into fastener missing position
Set place；Behind the position that fastener missing is calculated, the first installation module control machinery arm is flat from rail vehicle 2 or rail running
Fastener and fastener are taken out in hopper entrained by platform, and fastener and fastener are sequentially placed at the position of fastener missing；
And clamping device 1-2 clamping torque wrenches are controlled, and fastened by fastener contacting piece, and then complete the peace of entire fastener
Pretend industry.
Wherein, it during placement, can be protected by real time information that image collecting device 1-3 is provided to be accurately positioned
Demonstrate,prove installation accuracy and installation quality.
Second installation module, the location information that the fastener for basis loosens, by torque wrench to the button set on loosening
Fastener 5 on part 4 is fastened.
Specifically, behind the position that fastener missing is calculated, torque is clamped in the second installation module control clamping device 1-2
Spanner fastens the fastener 5 on the fastener 4 of loosening, and then completes the installation exercise of fastener fastening.
Further, railway intelligence fastener installation mechanical arm further includes the torque sensor being set on torque wrench.Wherein,
Torque of the torque sensor for detecting torque wrench in real time, specifically, to torque wrench preset in advance prefastening torque value, when up to
To after predetermined torque value, torque wrench is automatically stopped and sends feedback reset notification signal to controller, and controller receives reset
Control machinery arm returns in situ after notification signal, to terminate whole installation process, and carries out standard for fastener installation exercise next time
Standby work.
Preferably, image collecting device 1-3 includes camera sensor or camera.In the present embodiment, image collector
It sets 1-3 and selects camera sensor, wherein camera sensor includes CCD (conjunction of charge lotus root) devices and CMOS (complementary metal oxide
Conductor) device more accurately judges fastener can obtain the image of the railroad track 3 of high definition quality convenient for subsequent controllers
The position of missing, and then can guarantee the installation quality and installation effectiveness of fastener.
Preferably, fastener 5 includes bolt, nut or screw.In the present embodiment, fastener 5 selects screw bolt and nut,
Specifically, after on the position that fastener 4 and bolt are sequentially placed into fastener missing, nut is pre-installed by clamping device 1-2
Nut is tightened according to regulation torque value on bolt, then by torque wrench, simple in structure, production technology is easy and fixes effect
Fruit is good, conducive to installation effectiveness and installation quality is ensured.
In conclusion the present invention provides the fastener installation methods that a kind of railway intelligence fastener installs mechanical arm, including：Position
Demarcating steps are set, the location information of fastener missing is calculated according to the image information of the railroad track of acquisition；Installation steps, root
According to fastener missing location information, successively by fastener and fastener be placed into fastener missing position at；Fixing step passes through
Fastener is fixedly mounted on the railroad track torque wrench tightening fastener parts.Believed according to the image of collected railroad track
Breath and a large amount of machine learning, can accurately judge the position of rail clip missing, and fastener and fastener are sequentially placed
The position lacked to fastener, fastens finally by torque wrench, to realize the automation Fast Installation of rail clip, on the one hand pacifies
Installation quality that is efficient and can effectively ensure that fastener is filled, the efficiency of urban rail transit construction is substantially increased, is also conducive to ensure rail
The safety of road transport development；On the other hand artificial input is substantially reduced, effectively reduces installation cost, good economy performance.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of fastener installation method of railway intelligence fastener installation mechanical arm, which is characterized in that including：
The location information of fastener missing and/or fastener loosening is calculated according to the image information of the railroad track of acquisition；
The first installation steps are executed according to the location information that the fastener lacks, and/or the position loosened according to the fastener
Confidence breath executes the second installation steps；
First installation steps include：According to the location information that the fastener lacks, fastener and fastener are placed successively
At the position lacked to the fastener；And the fastener is tightened by torque wrench, the fastener is fixedly mounted on institute
It states on railroad track；
Second installation steps include：It is described to being set to by torque wrench according to the location information that the fastener loosens
Fastener on the fastener of loosening is fastened.
2. the fastener installation method of railway intelligence fastener installation mechanical arm according to claim 1, which is characterized in that described
The location information of fastener missing and fastener loosening is calculated according to the image information of the railroad track of acquisition, including：
The image information of the railroad track of the acquisition is converted into cloud information；
The point cloud information being converted to is compared with pre-stored railroad track point cloud information, obtains fastener missing and button
The point cloud information that part loosens；
The location information of the fastener missing is obtained according to the point cloud information of fastener missing, and loosened according to the fastener
Point cloud information obtains the location information of the fastener missing.
3. the fastener installation method of railway intelligence fastener installation mechanical arm according to claim 1, which is characterized in that described
Fastener and fastener are placed at the position of the fastener missing by the location information lacked according to the fastener successively, packet
It includes：
The mechanical arm carries out the path planning of operating system according to the location information that the fastener lacks, and utilizes the operation
Fastener and fastener are placed at the position of the fastener missing by the path planning of system successively.
4. the fastener installation method of railway intelligence fastener installation mechanical arm according to claim 3, it is characterised in that：It is described
The path planning of operating system includes operation movement circuit, the direction of motion and movement speed.
5. the fastener installation method of railway intelligence fastener installation mechanical arm according to claim 1, which is characterized in that also wrap
It includes：
Reset process, when the torque sensor on the torque wrench detects that the torque wrench reaches predetermined torque
After value, reset notification signal is sent out；Reset operation is carried out to mechanical arm after receiving the reset notification signal so that the machine
Tool arm is back to original position.
6. a kind of railway intelligence fastener using fastener installation method as described in any one in claim 1-5 installs mechanical arm,
It is characterised in that it includes mechanical arm body, the mechanical arm body include：
The arm body of Telescopic rotary；
Clamping device is set to the end of the arm body, for picking and placeing fastener, fastener and torque wrench；
Image collecting device corresponds to the clamping device and is set on the arm body, the image information for acquiring railroad track；
Controller is connect with the arm body, clamping device, torque wrench and image collecting device respectively；
The controller controls the arm body and folder according to the image information of the collected railroad track of described image harvester
Device is held the fastener, fastener are placed at the position of fastener missing and controls the torque wrench and tightens the fastening
The fastener is fixedly mounted on the railroad track by part；And/or the control torque wrench is to set on the loosening
Fastener on fastener is fastened.
7. railway intelligence fastener according to claim 6 installs mechanical arm, which is characterized in that the controller includes：
Fastener missing and/or fastener pine is calculated in location position module, the image information for the railroad track according to acquisition
Dynamic location information；
Judgment module, the location information for being lacked according to the fastener execute the first installation steps, and/or according to described
The location information that fastener loosens executes the second installation steps；
Fastener and fastener are placed into institute by the first installation module, the location information for being lacked according to the fastener successively
At the position for stating fastener missing；And the fastener is tightened by torque wrench, the fastener is fixedly mounted on the iron
On rail road；
Second installation module, the location information for being loosened according to the fastener, by torque wrench to being set to the loosening
Fastener on fastener fastened.
8. railway intelligence fastener according to claim 6 installs mechanical arm, it is characterised in that：Further include being set to the torque
Torque sensor on spanner.
9. railway intelligence fastener according to claim 6 installs mechanical arm, it is characterised in that：Described image harvester packet
Include camera sensor or camera.
10. railway intelligence fastener according to claim 6 installs mechanical arm, it is characterised in that：The fastener includes spiral shell
Bolt, nut or screw.
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| CN112061172A (en) * | 2020-08-31 | 2020-12-11 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Intelligent maintenance system and method for track fastener of work section |
| CN113529503A (en) * | 2021-08-16 | 2021-10-22 | 中铁三局集团线桥工程有限公司 | Intelligent device and method for fastening railway track fastener bolt |
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Application publication date: 20180831 |