CN112779829B - Control method and control device for fastener operating robot - Google Patents
Control method and control device for fastener operating robot Download PDFInfo
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- CN112779829B CN112779829B CN202110008474.0A CN202110008474A CN112779829B CN 112779829 B CN112779829 B CN 112779829B CN 202110008474 A CN202110008474 A CN 202110008474A CN 112779829 B CN112779829 B CN 112779829B
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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
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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
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Abstract
The invention discloses a control method and a control device of a fastener operating robot, wherein the control method of the fastener operating robot comprises the following steps: in the process that an operating vehicle carrying a plurality of fastener operating robots moves along a track, the fastener operating robots positioned at the heads of the operating vehicle are released at the middle positions of two different adjacent sleepers one by one; in the process that the working vehicle travels along the track, when the fastener operating robot finishes operating work, the fastener operating robot is collected in the working vehicle at the tail part of the working vehicle one by one; and the fastener operating robot collected in the working vehicle is conveyed to the head of the working vehicle from the tail of the working vehicle, and the action of releasing the fastener operating robot positioned at the head of the working vehicle to the middle position of two different adjacent sleepers one by one is repeatedly executed. The control method of the fastener operating robot can improve the operating efficiency of the fastener and is convenient to control the fastener operating robot.
Description
Technical Field
The invention relates to the technical field of railway maintenance equipment, in particular to a control method and a control device of a fastener operating robot.
Background
The maintenance operation of the railway fastener mainly comprises the steps of fastening the fastener bolt, disassembling and replacing the fastener, oiling and rust prevention of the fastener, derusting and decontamination of the fastener and the like.
At present, the intellectualization of the fastener disassembling operation is gradually promoted and applied to the actual working environment, but the fastener disassembling operation device still has defects in the aspect of motion control, wherein the most widely applied is a control method that a maintenance operation cart is connected through a driving mechanism and drives an operation cart.
In the prior art, a fastener operation trolley can be arranged on a steel rail and is connected with a maintenance operation cart through a driving mechanism, and the trolley runs along the operation direction along with the cart; when the fastener operation trolley runs to the operation position, the speed reduction brake stops, and the operation is started; after the operation at the current position is finished, the operation trolley accelerates to move forwards to the next operation position, and enters the next round of circulating operation after the operation trolley is braked and is static; during the period, the cart continuously moves forward without stopping the cart until the target operation amount is finished. That is, the fastener operation trolley is mainly driven by the driving mechanism on the maintenance operation cart to advance, the operation trolley needs to be subjected to deceleration braking control when reaching a target position, and the operation trolley needs to be driven to accelerate to a next working point after the operation is finished.
Disclosure of Invention
The invention aims to provide a control method and a control device of a fastener operating robot, which can improve the operating efficiency of fasteners and conveniently control the fastener operating robot.
In order to achieve the above object, the present invention provides a method for controlling a fastener handling robot, which is suitable for a fastener handling robot capable of detaching and retrieving a fastener, the method including:
the method comprises the following steps that in the process that a working vehicle carrying a plurality of fastener operating robots moves along a track, the fastener operating robots located at the heads of the working vehicle are released to the middle positions of two different adjacent sleepers one by one;
in the process that the working vehicle travels along the track, when the fastener operating robot finishes operating work, the fastener operating robot is collected on the working vehicle one by one at the tail part of the working vehicle;
and the fastener operating robot collected on the working vehicle is conveyed to the head of the working vehicle from the tail of the working vehicle, and the action of releasing the fastener operating robot positioned at the head of the working vehicle to the middle position of two different adjacent sleepers one by one is repeatedly executed.
Optionally, the step of releasing the fastener handling robot located at the head of the working vehicle one by one to the middle position between two different adjacent sleepers includes:
and releasing the fastener operating robots located at the heads of the operating vehicles one by one at the middle positions of two different adjacent sleepers by using the descending circular discs.
Optionally, the step of releasing the fastener operating robot located at the head of the working vehicle to the middle position of two different adjacent sleepers one by using a descending disc specifically includes:
the descending disc with the groove is controlled to rotate, so that the fastener operating robot matched with the groove rotates to the bottom of the descending disc, falls off from the groove and falls on the middle position of two adjacent sleepers. Optionally, the control is equipped with the notched descending disc and rotates to make with the recess complex the fastener operation robot is rotatory extremely when the bottom of descending disc is followed drop on the recess to the step of falling the intermediate position at two adjacent sleepers specifically is:
according to the formula
Calculating to obtain the rotating speed v of the landing disk with the grooveRotating shaftWherein n is the number of the grooves, v, provided to the descending diskVehicle with wheelsD is the distance between the two sleepers and is the speed of the working vehicle;
according to said rotational speed vRotating shaftAnd controlling the descending disc to rotate so that the fastener operating robot falls to the middle position of two adjacent sleepers.
Optionally, said dependent on the rotational speed vRotating shaftAfter the step of controlling the rotation of the descending disk, the method further comprises the following steps:
according to the formula
Calculating to obtain the angle theta, wherein n is the number of the grooves arranged on the landing disc, d is two intervals between the sleepers, and L is the track spike detection switch arranged on the head of the working vehicle anda horizontal distance between rotation centers of the landing disks, m being a number of pitches of the sleepers within the horizontal distance L when the spike detecting switch detects a next sleeper;
and controlling the landing disc to rotate according to the angle theta.
Optionally, after the step of controlling the rotation of the descending disk according to the preset angle θ, the method further includes:
according to the formula
Calculating to obtain an angle theta' of a next groove when the fastener operating robot falls off the groove, wherein n is the number of the grooves formed in the descending disc, d is the distance between two sleepers, L is a horizontal distance between a spike detection switch arranged at the head of the working vehicle and a rotation center of the descending disc, and m is the number of the distances between the sleepers within the horizontal distance L when the spike detection switch detects the next sleeper;
and controlling the falling disc to rotate according to the angle theta'.
Optionally, after the step of controlling the rotation of the descending disk according to the angle θ and the angle θ', the method further comprises:
acquiring actual mileage M of the operating vehicle passing through a preset number p of sleepers;
calculating to obtain a theoretical mileage N of the operating vehicle when the operating vehicle passes through a preset number p of sleepers according to a formula N ═ p-1 × d; wherein p is the preset number of the sleepers passed by the operation vehicle, and d is the theoretical distance between two sleepers;
judging whether | M-N | is less than or equal to an error threshold value Δ d,
if not, controlling the rotating speed v when M is less than N-delta dRotating shaftIncreasing;
when M is more than N + delta d, controlling the rotating speed vRotating shaftAnd decreases.
Optionally, when | M-N | is judged to be less than or equal to the error threshold Δ d, the landing disc is controlled to rotate at the current rotating speed.
The invention also provides a control device of the fastener operating robot, which is suitable for the control method of the fastener operating robot and also comprises a working vehicle for bearing a plurality of fastener operating robots.
Optionally, the method further comprises: human-computer interaction interface, circulation system main control unit, main wireless controller, main control unit sub-station and intelligent IO equipment, wherein:
the man-machine interaction interface is used for communicating with the operation vehicle;
the circulating system main controller is used for communicating with the main controller substation and the intelligent IO equipment and is used for controlling the fastener operating robot and acquiring signals;
the main wireless controller is used for exchanging data with all the fastener operating robots;
the main controller substation is used for adjusting the speed of the working vehicle and the running parameters of the fastener operating robot;
the intelligent IO equipment is used for reading the operating parameters of the fastener operating robot.
With respect to the above background art, the control method of a fastener handling robot according to an embodiment of the present invention is applicable to a fastener handling robot capable of detaching and retrieving a fastener, and includes: the method comprises the following steps that in the process that a working vehicle carrying a plurality of fastener operating robots moves along a track, the fastener operating robots located at the heads of the working vehicle are released to the middle positions of two different adjacent sleepers one by one; in the process that the working vehicle travels along the track, when the fastener operating robot finishes operating work, the fastener operating robot is collected on the working vehicle one by one at the tail part of the working vehicle; and the fastener operating robot collected on the working vehicle is conveyed to the head of the working vehicle from the tail of the working vehicle, and the action of releasing the fastener operating robot positioned at the head of the working vehicle to the middle position of two different adjacent sleepers one by one is repeatedly executed.
According to the control method of the fastener operating robot, the operating vehicle always runs along the rail, in the process of running along the rail, the fastener operating robot is released at the head of the operating vehicle, the fastener operating robot released at the middle position of two adjacent sleepers is used for disassembling and recovering the fastener, and meanwhile the operating vehicle continuously runs along the rail.
The control method and the control device for the fastener operating robot provided by the embodiment of the invention have the beneficial effects, and are not described again here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a circulation system of a control device of a fastener handling robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a fastener handling robot according to an embodiment of the present invention;
FIG. 3 is a functional block diagram of a control apparatus of a fastener handling robot according to an embodiment of the present invention;
fig. 4 is a schematic view of a fastener-handling robot control method at a time when the fastener-handling robot is about to be released, according to an embodiment of the present invention;
fig. 5 is a schematic view of a method of controlling a fastener-handling robot according to an embodiment of the present invention immediately after releasing the fastener-handling robot;
wherein:
1-upper conveying track, 2-upper conveying mechanism, 3-landing disk, 4-landing track, 5-groove, 6-lower supporting track, 7-fastener operating robot, 8-lifting disk lifting tooth, 9-lifting disk, 10-lifting track, 11-lifting disk angle encoder, 12-landing disk angle encoder, 13-fastener recovery mechanism, 14-spike detection switch, 71-vertical lifting mechanism, 72-wrench assembly, 73-fastener picking assembly, 74-walking mechanism and 75-roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a control method of a fastener operating robot, which is suitable for the fastener operating robot capable of disassembling and recovering fasteners, and comprises the following steps:
the method comprises the following steps that in the process that a working vehicle carrying a plurality of fastener operating robots moves along a track, the fastener operating robots located at the heads of the working vehicle are released to the middle positions of two different adjacent sleepers one by one;
in the process that the working vehicle travels along the track, when the fastener operating robot 7 finishes operating work, the fastener operating robots are collected on the working vehicle one by one at the tail part of the working vehicle;
and the fastener operating robot 7 collected in the working vehicle is conveyed from the tail part of the working vehicle to the head part of the working vehicle, and the action of releasing the fastener operating robot 7 positioned at the head part of the working vehicle to the middle position of two different adjacent sleepers one by one is repeatedly executed.
Firstly, a plurality of fastener operating robots are carried by a working vehicle, the plurality of fastener operating robots can be sequentially distributed along the running direction of the working vehicle, and the fastener operating robots positioned at the head of the working vehicle are released at the middle positions of two different adjacent sleepers one by one in the process that the working vehicle runs along a track; the head of the work vehicle is a head as viewed in a traveling direction of the work vehicle, and a direction of an arrow shown in fig. 1 of the specification is a traveling direction of the work vehicle.
Then, the released fastener operating robot 7 operates the fastener, and the specific structure of the fastener operating robot 7 can be referred to as the description of fig. 2, which can include a vertical lifting mechanism 71, a wrench assembly 72, a fastener picking assembly 73, a traveling mechanism 74 and a roller 75, and the main function is to detach and retrieve the fastener, and the specific working principle and structure of the fastener operating robot 7 can be referred to the prior art, which is not improved herein.
Then, when the released fastener handling robot 7 completes the operation work, that is, when the detachment and recovery of the fastener are completed, since the working vehicle always travels along the rail during the operation of the fastener handling robot 7, the fastener handling robot 7 that completes the operation work is located at the tail of the working vehicle and collected by the working vehicle, that is, collected at the tail of the working vehicle.
Finally, the fastener handling robot 7, which is collected in the work vehicle, is transported from the rear of the work vehicle to the head of the work vehicle to perform the next round of release, handling and collection.
In order to solve the above-described "release the fastener handling robot located at the head of the work vehicle one by one to the middle position of two adjacent sleepers different" step, the fastener handling robot 7 may be released to the middle position of two adjacent sleepers by providing the lowering disk 3.
For a clear description of how the descending disc 3 is used to release the fastener handling robot 7, reference is made to the structure shown in fig. 1 of the specification, however, it should be noted that fig. 1 of the specification only shows a circulation system for releasing the fastener handling robot 7, and that other different structures may be provided for releasing the fastener handling robot 7 to achieve the same technical effect; meanwhile, the working principle and the arrangement mode of each part in the circulating system can also refer to the prior art.
The operation vehicle can be provided with a circulating system, the structure of the circulating system is shown as the attached figure 1 in the specification, and the circulating system mainly comprises: the device comprises an upper conveying track 1, an upper conveying mechanism 2, a landing disc 3, a landing track 4, a lower supporting track 6, a lifting disc 9, a lifting track 10, a lifting disc angle encoder 11, a landing disc angle encoder 12, a fastener recovery mechanism 13 and a spike detection switch 14; wherein, descending disc 3 locates the head, and descending disc 3's week is equipped with recess 5, promotes disc 9 and locates the afterbody, promotes disc 9's week and is equipped with promotion disc promotion tooth 8.
After the fastener operating robot 7 is released to the lower support track 6 through the landing disc 3, the traveling mechanism 74 of the fastener operating robot 7 is driven to travel to the spike along the reverse direction of the advancing of the circulating system for automatic alignment, and the fastener disassembling operation is started; after the operation is finished, the fastener operating robot 7 continues to advance along the reverse advancing direction of the circulating system, the fastener operating robot is shifted by the lifting disc lifting teeth 8 on the edge of the lifting disc 9, the fastener operating robot 7 returns to the upper conveying track 1 along the lifting track 10, when the fastener operating robot 7 reaches the upper part of the fastener recycling mechanism 13, the fastener is released in the fastener recycling mechanism 13 by the fastener operating robot 7, then the fastener operating robot 7 is conveyed to the position of the descending disc 3 by the upper conveying mechanism 2 to wait, and the next cycle of circulating operation is carried out through the descending disc 3.
The fastener handling robot 7 is provided with rollers 75 which can engage with the grooves 5 of the lowering disc 3. When descending disc 3 rotates to recess 5 and reaches the top, the gyro wheel 75 that is in the fastener operation robot 7 on descending disc 3 top falls into recess 5, but this moment fastener operation robot 7 and descending disc 3 synchronous motion, descending disc 3 continues to rotate, and fastener operation robot 7 rotates along descending track 4 under descending disc 3's drive, treats that recess 5 is rotatory when descending disc 3 bottom, and fastener operation robot 7 relies on self gravity to release to lower part support track 6.
In combination with the above, after the fastener handling robot 7 descends to the lower support rail 6, the traveling mechanism 74 moves in the opposite direction to the forward direction of the circulation system at a certain speed and approaches the target fastener, and the positioning mechanism of the fastener handling robot 7 collides with the fastener nut to achieve self-positioning of the fastener handling robot 7 and the fastener. After the fastener operating robot 7 is self-positioned, the vertical lifting mechanism 71 drives the wrench assembly 72 and the fastener picking assembly 73 to move to the lower limit position, the fastener picking assembly 73 clasps the fastener, and the wrench assembly 72 is started until the nut is screwed out of the spike.
After the nut is screwed out, the vertical lifting mechanism 71 drives the wrench assembly 72 and the fastener picking assembly 73 to move to the upper limit position, and the fastener is taken out; after the current fastener disassembly operation is completed, the lifting disc lifting teeth 8 of the lifting disc 9 can hook the fastener operating robot 7, and under the rotating action of the lifting disc 9, the fastener operating robot 7 is conveyed to the upper conveying track 1 to enter the next round of circulation operation.
It can be seen that after the fastener operating robot 7 is released to the lower supporting track 6, the fastener dismounting and recovery operation can be automatically completed within the specified time, the uniform and uninterrupted automatic fastener dismounting and recovery operation is realized, the working efficiency of the fastener dismounting and recovery operation is obviously improved, and the labor cost is saved.
Wherein, the rotational speed of descending disc 3 can be confirmed by sleeper interval and operation car speed, for guaranteeing that fastener operation robot 7 is released to lower part support rail 6 in sleeper interval central point, can adopt automatic control system to make dynamic adjustment to the rotational speed of descending disc 3 through three control process of speed matching, descending position matching and error elimination, correct in real time and adjust the release position of fastener operation robot 7, can maintain operation car operating condition at the uniform velocity simultaneously.
Rotational speed v for the descending disk 3Rotating shaftAnd the speed v of the working vehicleVehicle with wheelsThe matching process can be carried out according to a formula
The rotational speed v of the landing disk 3 provided with the recess 5 is calculatedRotating shaftWherein n is the number of the grooves 5 provided on the descending disc 3, vVehicle with wheelsD is the distance between the two sleepers and is the speed of the working vehicle;
according to said rotational speed vRotating shaftThe descending disc 3 is controlled to rotate so that the fastener operating robot falls to the middle position of two adjacent sleepers.
n can be specifically four, that is to say, the landing disc 3 is provided with four grooves 5, in the release period of each fastener operating robot 7, the fastener operating robot 7 rotates by 90 degrees along with the landing disc 3, the traveling distance of the working vehicle is just the distance between two sleepers, and the rotating speed v of the landing disc 3 can be obtained according to the formulaRotating shaft。
It can be assumed that the rotational speed error threshold of the descending disc 3 is Δ v and the actual rotational speed of the descending disc 3 is v'Rotating shaftWhen v'Rotating shaft-vRotating shaftWhen | ≦ Δ v, it can be satisfied that the fastener operating robot 7 is released to the lower support rail 6 at the center position of the sleeper interval, otherwise, the rotating speed output value of the landing disc 3 needs to be correspondingly adjusted.
When v'Rotating shaft＜vRotating shaftWhen the landing disc 3 continues to work at the current rotating speed, the fastener operating robot 7 is released to the right of the center position of the distance between the sleepers, so that the rotating speed output value of the landing disc 3 needs to be increased to ensure that the fastener operating robot 7 accurately lands at the center position of the distance between the sleepers.
When v'Rotating shaft＞vRotating shaftWhen the landing disc 3 continues to work at the current rotating speed, the fastener operating robot 7 is released to the left side of the center position of the distance between the sleepers, so that the rotating speed output value of the landing disc 3 needs to be reduced to ensure that the fastener operating robot 7 accurately lands at the center position of the distance between the sleepers.
The speed matching is an initial matching process when the working vehicle and the circulating system enter the working state, and the speed v of the working vehicleVehicle with wheelsAnd the distance d between the sleeper and the control system is basically kept constant, the whole control process only needs to consider speed matching.
However, if the speed v of the work vehicle is during the above-mentioned speed matchingVehicle with wheelsWhen the distance d between the sleeper and the sleeper is changed fixedly, a readjustment process is required, and the process is landing position matching as described below.
According to the formula
Calculating to obtain the angle theta, wherein n is the number of the grooves 5 arranged on the descending disc 3, d is the distance between two sleepers, L is the horizontal distance between a spike detection switch 14 arranged at the head of the working vehicle and the rotation center of the descending disc 3, and m is the number of the distances between the sleepers within the horizontal distance L when the spike detection switch 14 detects the next sleeper;
and controlling the disc to rotate according to the angle theta.
The angle θ is an angle at which the fastener handling robot 7 is to be released, and as can be seen from fig. 4 in the specification, the angle θ is an angle between a connecting line between the groove 5 where the fastener handling robot 7 to be dropped is located and the center of the landing disc 3, compared with a horizontal line. In addition, a spike detection switch 14 may be secured to the front end of the work vehicle and moves in synchronization with the work vehicle, as shown in figures 4 and 5 of the specification.
That is, when the fastener operating robot 7 is about to be released, it is monitored whether the current position of the descending disk 3 meets the above-described angle θ.
When the fastener operating robot 7 is released, the problem of the angle at which the next fastener operating robot 7 is released needs to be considered, and in the case of providing four grooves 5, when the previous fastener operating robot 7 is just released, the next fastener operating robot 7 should still be on the descending circular disc 3, and the next fastener operating robot 7 is just at a position 90 ° away from the right side of the descending circular disc 3, reference may be made to fig. 4 and 5 in the specification.
According to the formula
Calculating to obtain an angle theta' of a next groove 5 when the fastener operating robot 7 falls off the groove 5, wherein n is the number of the grooves 5 arranged on the descending disc 3, d is the distance between two sleepers, L is the horizontal distance between a spike detection switch arranged at the head of the working vehicle and the rotation center of the disc, and m is the number of the intervals of the sleepers within the horizontal distance L when the spike detection switch detects the next sleeper;
and controlling the disc to rotate according to the angle theta'.
The angle θ' is an angle between a line connecting the groove 5 where the previous fastener handling robot 7 is located and the center of the landing disc 3 where the next fastener handling robot 7 to be dropped is located, as compared with the horizontal line, as shown in fig. 5 in the specification.
The descending disc 3 can be provided with a descending disc angle encoder 12 which can detect the angle of the fastener operating robot 7 and the current speed of the descending disc 3 in real time, and assuming that delta theta is the angle error threshold of the fastener operating robot 7, when the current angle theta 'of the fastener operating robot 7 on the descending disc 3 meets the conditions that delta theta is less than or equal to theta' -theta | and less than or equal to delta theta '-theta' |, the fastener operating robot 7 can be released to the lower supporting track 6 at the sleeper interval center position, otherwise, the rotating speed output value of the descending disc 3 needs to be adjusted correspondingly.
When theta' is less than theta-delta theta, if the descending disc 3 continues to work at the current rotating speed, the fastener operating robot 7 is released at the right side of the center position of the distance between the sleepers, so that the rotating speed output value of the descending disc 3 needs to be increased so as to ensure that the fastener operating robot 7 accurately descends at the center position of the distance between the sleepers.
When theta' is greater than theta plus delta theta, if the descending disc 3 continues to work at the current rotating speed, the fastener operating robot 7 can be released at the left side of the center position of the distance between the sleepers, so that the rotating speed output value of the descending disc 3 needs to be reduced so as to ensure that the fastener operating robot 7 accurately descends at the center position of the distance between the sleepers.
Similarly to the above, when θ "< θ' - [ Δ θ ], the rotation speed output value of the descent disc 3 needs to be increased; when θ "> θ' + [ DELTA ] θ, the output of the rotational speed of the lowering disk 3 is decreased.
Furthermore, the front end of the working vehicle can be provided with a mileage encoder, so that the travel distance of the maintenance working vehicle within a certain time can be obtained. In the process that the maintenance operation vehicle advances at a constant speed, the track spike detection switch 14 counts pulses once when detecting one sleeper. Every time the system is arranged to pass through p sleepers, the mileage encoder reads the advancing distance of the maintenance operation vehicle once, namely the actual mileage M of the distance between the p sleepers, and at the moment, the theoretical calculation value N of the distance between the sleepers is (p-1) multiplied by d.
Assuming that the sleeper spacing error threshold value set by the system is delta d, when the actual sleeper spacing value and the theoretical sleeper spacing calculated value satisfy the relation | M-N | < delta d, it can be considered that the descending disc 3 continues to work at the current rotation speed, and the fastener operating robot 7 can be released from the center position of the sleeper spacing to the lower support rail 6.
The above-described process is an error elimination process, that is,
acquiring actual mileage M of the operating vehicle passing through a preset number p of sleepers;
calculating to obtain a theoretical mileage N of the operating vehicle when the operating vehicle passes through a preset number p of sleepers according to a formula N ═ p-1 × d; wherein p is the preset number of the sleepers passed by the operation vehicle, and d is the theoretical distance between two sleepers;
judging whether | M-N | is less than or equal to an error threshold value Δ d,
if not, controlling the rotating speed v when M is less than N-delta dRotating shaftIncreasing;
when M is more than N + delta d, controlling the rotating speed vRotating shaftAnd decreases.
After the speed matching is completed, when the rotating speed output value of the landing disc 3 is continuously increased/decreased and the adjustment accumulated times exceed the system set times M or the distance difference value of p sleepers does not meet the relation | M-N | < Δ d in the position matching process, the rotating speed output value of the landing disc 3 needs to be correspondingly adjusted;
first, when the velocity matching is completed, it is matched in positionWhen the rotating speed output value of the landing disc 3 is continuously increased and the accumulated adjusting times exceeds m times in the process, the speed v of the maintenance operation vehicle in the speed matching formula can be consideredVehicle with wheelsOr the distance d between the sleepers is changed (fixedly increased) deterministically, and the rotating speed output value of the landing disc 3 is increased and adjusted at the moment;
secondly, when the rotating speed output value of the landing disc 3 is continuously reduced and the adjustment accumulated times exceeds m times in the position matching process after the speed matching is finished, the speed v of the maintenance operation vehicle in the speed matching formula can be consideredVehicle with wheelsOr the distance d between the sleepers is changed deterministically (fixedly reduced), and the rotating speed output value of the landing disc 3 is reduced and adjusted at the moment;
further, as described above, when M < N- Δ d, the fastener handling robot 7 will land on the left side of the tie pitch center position if the current rotation speed of the landing disc 3 is constant, and the rotation speed v should be controlled so as to satisfy the condition that the landing position of the fastener handling robot 7 is on the center of the tie pitchRotating shaftIncreasing;
when M is more than N + delta d, if the current rotating speed of the landing disc 3 is unchanged, the fastener operating robot 7 will land on the right side of the center position of the distance between the sleepers, and if the condition that the landing position of the fastener operating robot 7 is in the center of the distance between the sleepers is met, the rotating speed v should be controlledRotating shaftAnd decreases.
To sum up, synthesize foretell speed matching, the rotational speed output value of descending disc 3 after descending position matching and the three control process adjustment of error elimination, make corresponding adjustment to the actual rotational speed of descending disc 3, can guarantee the accuracy of fastener operation robot 7 descending position in certain error range, with the error control of fastener operation robot 7 release position in controllable range, and make the maintenance operation car keep moving ahead at the uniform velocity with fixed speed, the accuracy of fastener operation robot 7 operation has been improved to a certain extent, the automated control of segmentation fastener dismantlement operation has been realized, the work efficiency of 7 circulation operations of fastener operation robot is improved.
The embodiment of the invention also provides a control device of the fastener operating robot, which comprises the control method of the fastener operating robot and a working vehicle for carrying a plurality of fastener operating robots 7.
Meanwhile, in order to achieve the automation degree of the control device of the fastener operating robot, a human-computer interaction interface, a circulating system main controller, a main wireless controller, a main controller substation and intelligent IO equipment can be further arranged, as shown in the attached figure 3 of the specification.
Aiming at the man-machine interaction interface, the man-machine interaction interface can be directly communicated with a main controller of a circulating system of the maintenance work vehicle, is used for displaying and setting working parameter values of the circulating system, such as the communication state of a servo driver of the vertical lifting mechanism 71 and the like, and provides fault and alarm signals, so that operators of the work vehicle can find abnormality in time.
Aiming at a main controller of the circulating system, the main controller can communicate with a main controller substation and intelligent IO equipment to carry out robot control and signal acquisition.
For the master wireless controller, it can exchange data with the slave wireless controllers of the respective fastener operating robots 7; the slave wireless controller is directly connected with the servo controllers of the vertical lifting mechanism 71 and the walking mechanism 74 of the corresponding fastener operating robot 7, sends commands to control the action of the fastener operating robot 7, collects data of the fastener operating robot 7 and sends the data to the master wireless controller.
The main wireless controller feeds back the robot data to the circulating system main controller and receives a control command of the circulating system main controller. The data of the fastener operating robot 7 include: communication status, operation status, etc. of the servo driver of the vertical lift mechanism 71.
And the main controller substation is used for adjusting the speed of the working vehicle, the rotating speed of the landing disc 3 and the rotating speed of the lifting disc 9 and receiving feedback signals from sensors of all parts and the RFID controller. The RFID controller acquires the number information of the fastener operating robot by recognizing the tag of the fastener operating robot 7.
To intelligent IO equipment, mainly including promoting disc angle encoder 11 and descending disc angle encoder 12, this IO equipment can directly read the angle and the speed that promote disc 9 and descend disc 3.
The control method and the control device of the fastener operating robot provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. A control method of a fastener handling robot, which is suitable for a fastener handling robot capable of detaching and retrieving a fastener, is characterized by comprising:
in the process that the working vehicle carrying the plurality of fastener operating robots travels along the track, the fastener operating robots positioned at the heads of the working vehicle are released to the middle positions of two different adjacent sleepers one by one, so that the fastener operating robots perform operation work on fasteners;
in the process that the working vehicle travels along the track, when the fastener operating robot finishes operating work, the fastener operating robot is collected on the working vehicle one by one at the tail part of the working vehicle;
the fastener operating robot collected on the working vehicle is conveyed to the head of the working vehicle from the tail of the working vehicle, and the action of releasing the fastener operating robot positioned at the head of the working vehicle to the middle position of two different adjacent sleepers one by one is repeatedly executed;
wherein, will be located one by one the fastener operation robot of the head of operation car releases the step at the intermediate position of two adjacent sleepers of difference, specifically do:
controlling the landing disc with the groove to rotate so that the fastener operating robot matched with the groove falls off from the groove when rotating to the bottom of the landing disc and falls on the middle position of two adjacent sleepers;
the step of controlling the landing disc with the groove to rotate specifically comprises the following steps:
according to the formula
Calculating the rotating speed of the landing disk with the groove
Wherein, in the step (A),
the number of the grooves arranged on the descending disk,
is the speed of the work vehicle,
the distance between the two sleepers is set;
according to said rotational speed
And controlling the landing disc to rotate.
2. The method of controlling a fastener operating robot according to claim 1, wherein the rotation-based speed is controlled according to a rotation speed
After the step of controlling the rotation of the descending disk, the method further comprises the following steps:
according to the formula
The angle is obtained by calculation
Wherein, in the step (A),
the number of the grooves arranged on the descending disk,
the distance between the two sleepers is set,
the horizontal distance between a spike detection switch arranged on the head of the operation vehicle and the rotation center of the descending disc,
when the spike detection switch detects the next sleeper, the horizontal distance is set
The number of said ties spaced within;
according to the angle
And controlling the landing disc to rotate.
3. The method of controlling a fastener operating robot according to claim 2, wherein the angle-dependent angle is set to be smaller than a predetermined angle
After the step of controlling the rotation of the descending disk, the method further comprises the following steps:
according to the formula
Calculating to obtain the angle of the next groove when the fastener operating robot falls off from the groove
Wherein, in the step (A),
the number of the grooves arranged on the descending disk,
the distance between the two sleepers is set,
the horizontal distance between a spike detection switch arranged on the head of the operation vehicle and the rotation center of the descending disc,
when the spike detection switch detects the next sleeper, the horizontal distance is set
The number of said ties spaced within;
according to the angle
And controlling the landing disc to rotate.
4. A control method of a fastener operating robot according to claim 2 or 3, wherein the rotation-based speed is controlled
After the step of controlling the rotation of the descending disk, the method further comprises the following steps:
acquiring actual mileage M of the operating vehicle passing through a preset number p of sleepers;
calculating the theoretical mileage N of the operating vehicle when the operating vehicle passes through the sleepers with the preset number p according to a formula N = (p-1) x d; wherein p is the preset number of the sleepers passed by the operation vehicle, and d is the theoretical distance between two sleepers;
determining whether | M-N | is equal to or less than an error threshold value Δ d,
if not, when M is less than N-delta d, controlling the rotating speed
Increasing;
when M is more than N + delta d, the rotating speed is controlled
And decreases.
5. The method for controlling a fastener-handling robot according to claim 4, wherein when it is determined that | M-N | is equal to or less than the error threshold Δ d, the descending disc is controlled to rotate at the current rotational speed.
6. A control device for a fastener handling robot, adapted to the method for controlling a fastener handling robot according to any one of claims 1 to 5, further comprising a work vehicle for carrying a plurality of said fastener handling robots.
7. The control device of a fastener-handling robot according to claim 6, comprising: human-computer interaction interface, circulation system main control unit, main wireless controller, main control unit sub-station and intelligent IO equipment, wherein:
the man-machine interaction interface is used for communicating with the operation vehicle;
the circulating system main controller is used for communicating with the main controller substation and the intelligent IO equipment and is used for controlling the fastener operating robot and acquiring signals;
the main wireless controller is used for exchanging data with all the fastener operating robots;
the main controller substation is used for adjusting the speed of the working vehicle and the running parameters of the fastener operating robot;
the intelligent IO equipment is used for reading the operating parameters of the fastener operating robot.
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| CN210797130U (en) * | 2019-01-25 | 2020-06-19 | 中国铁建高新装备股份有限公司 | Control device of fastener maintenance operation vehicle and multifunctional comprehensive operation system |
| CN110303332A (en) * | 2019-08-13 | 2019-10-08 | 长沙瀚鹏电子技术有限公司 | A kind of sleeper fastening nut dismounting vehicle |
| CN111485462B (en) * | 2020-04-09 | 2021-09-14 | 中国铁建高新装备股份有限公司 | Railway fastener disassembling and recycling system and equipment |
| CN111996847A (en) * | 2020-08-28 | 2020-11-27 | 株洲时代电子技术有限公司 | Self-tightening sleeper fastener bolt operation vehicle and operation method thereof |
| CN111877065A (en) * | 2020-08-28 | 2020-11-03 | 株洲时代电子技术有限公司 | Self-tightening sleeper bolt operation vehicle and operation method thereof |
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