CN113858176A - Intelligent maintenance system and method for open wagon carriage - Google Patents

Intelligent maintenance system and method for open wagon carriage Download PDF

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Publication number
CN113858176A
CN113858176A CN202111204195.8A CN202111204195A CN113858176A CN 113858176 A CN113858176 A CN 113858176A CN 202111204195 A CN202111204195 A CN 202111204195A CN 113858176 A CN113858176 A CN 113858176A
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China
Prior art keywords
robot
welding
cutting
tip
vision
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Granted
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CN202111204195.8A
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Chinese (zh)
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CN113858176B (en
Inventor
王兴国
王梁梁
陈丽莎
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Beijing CRRC Heavy Industry Mechanics Co Ltd
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Beijing CRRC Heavy Industry Mechanics Co Ltd
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Priority to CN202111204195.8A priority Critical patent/CN113858176B/en
Publication of CN113858176A publication Critical patent/CN113858176A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/56—Reuse, recycling or recovery technologies of vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an open wagon carriage intelligent maintenance system which comprises a robot, a vision tail end, a cutting tail end, a welding tail end, an upper computer and a robot lower computer, wherein the vision tail end is arranged on the robot; the vision end, the cutting end and the welding end can be detachably arranged on the robot end; the vision end and the robot lower computer are in communication connection with the upper computer, the vision end is used for detecting a region to be repaired and generating robot coordinates of the region to be repaired, and the upper computer generates a cutting path and a welding path according to the robot coordinates; and the lower robot computer drives the cutting tail end to complete cutting according to the cutting path, and drives the welding tail end to complete welding according to the welding path. According to the invention, the robot can replace manual work to complete the operations of identification, cutting and welding, so that the manual operation cost is greatly reduced, and the maintenance efficiency of the carriage of the open wagon is improved. The invention also discloses an intelligent maintenance method for the open wagon carriage.

Description

Intelligent maintenance system and method for open wagon carriage
Technical Field
The invention relates to the field of maintenance of a compartment of an open wagon, in particular to an intelligent maintenance system and method for the compartment of the open wagon.
Background
When the gondola car is overhauled, if an area needing repairing is found, firstly, a damaged part is cut off by a cutting tool, then blanking is carried out according to the size of the cut area, and finally, a steel plate material is welded in the cut area.
In the prior art, manual cutting and manual welding are generally used. The manual flame cutting is usually adopted during manual cutting, the cutting environment is severe, the working strength is high, and the working efficiency is low. During manual welding, the welding seam of the carriage of the open wagon is long, and the working strength is high.
Therefore, how to realize the intelligent maintenance of the open wagon carriage so as to reduce the manual operation cost is a key problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The invention aims to realize the intelligent maintenance of the open wagon carriage, thereby reducing the manual operation cost. In order to achieve the purpose, the invention provides the following technical scheme:
an open wagon carriage intelligent maintenance system comprises a robot, a vision tail end, a cutting tail end, a welding tail end, an upper computer and a robot lower computer;
the vision tip, the cutting tip, and the welding tip are all removably mountable on a robotic tip;
the vision end and the robot lower computer are in communication connection with the upper computer, the vision end is used for detecting a region to be repaired and generating a robot coordinate of the region to be repaired, and the upper computer generates a cutting path and a welding path according to the robot coordinate;
and the lower robot computer drives the cutting tail end to complete cutting according to the cutting path, and drives the welding tail end to complete welding according to the welding path.
Preferably, be provided with the mounting hole on the robot end, the vision is terminal including the vision mount pad, the cutting is terminal including the cutting mount pad, the welding end includes the welding mount pad, the vision mount pad the cutting mount pad and all be provided with on the welding mount pad with mounting hole complex mating holes.
Preferably, a positioning groove is formed in the center of the tail end of the robot, and positioning protrusions matched with the positioning groove are arranged on the visual mounting seat, the cutting mounting seat and the welding mounting seat;
the mounting hole is a plurality of, and a plurality of the mounting hole centers on positioning groove sets up.
Preferably, the method further comprises the following steps:
the robot is arranged on a robot base, and the robot base is matched on the guide rail;
the driving device is used for driving the robot to slide along the guide rail;
and the driving device lower computer drives the driving device according to the instruction of the upper computer.
Preferably, the driving means includes: the motor is arranged on the robot base;
and the transmission assembly can convert the rotation of the motor into linear movement and output the linear movement to the robot.
Preferably, the transmission assembly includes a gear driven by the motor and a rack provided on the guide rail and extending along a length direction of the guide rail.
Preferably, the end of the guide rail is provided with a limiting assembly for limiting the movement of the robot.
Preferably, the limit assembly comprises a limit switch and a mechanical limit piece, and the mechanical limit piece is close to the end part of the guide rail relative to the limit switch; the limit switch is in communication connection with the upper computer.
Preferably, a safety barrier is disposed at one side of the guide rail.
Preferably, the number of the guide rails is four, two of the guide rails are located on one side, the other two of the guide rails are located on the other side, and one robot is arranged on the two guide rails on each side.
Preferably, the machine room supplies power to the upper computer through a first cable, the first cable penetrates through the supporting chain, one end of the drag chain is fixedly connected to the robot base, and the other end of the drag chain is fixedly connected to the guide rail.
Preferably, the upper computer is in communication connection with the visual tail end through a second cable, and a cable socket is arranged on the visual tail end.
The invention also discloses an intelligent maintenance method for the open wagon carriage, which comprises the following steps:
s1: mounting the vision tip on the robot tip;
s2: the vision terminal acquires an image coordinate value of a region to be repaired, converts the image coordinate value into a robot coordinate value, and the upper computer generates a cutting path and a welding path according to the robot coordinate value;
s3: detaching the visual tail end, and mounting the cutting tail end on a mounting part of the mechanical arm;
s4: the lower robot computer drives the robot according to the cutting path so that the cutting tail end is cut;
s5: manually welding the steel plate material in the area to be repaired in a spot welding mode;
s6: removing the cutting tip and mounting the welding tip onto the robot tip;
s7: the lower robot computer drives the robot according to the welding path to complete welding of the welding end.
Preferably, the first and second electrodes are formed of a metal,
the step S2 specifically includes: the driving device drives the robot to sequentially move to each preset position, the visual tail end scans a corresponding region at each preset position, corresponding image coordinate values are obtained and converted into robot coordinate values, and the upper computer generates a corresponding cutting path and a corresponding welding path according to the robot coordinate values;
the step S4 specifically includes: the driving device drives the robot to sequentially move to each cutting position, and in each cutting position, the robot upper computer drives the robot according to the corresponding cutting path so that the cutting tail end can complete cutting of the corresponding area;
the step S7 specifically includes: the driving device drives the robot to move to each welding position in sequence, and on each welding position, the robot upper computer drives the robot according to the corresponding welding path so that the welding tail end can complete the welding of the corresponding area.
It can be seen from the above technical solution that: in the invention, the area to be repaired is firstly identified through the visual tail end, then the visual tail end generates the image coordinate of the area to be repaired, then the robot coordinate of the area to be repaired is calculated according to a hand-eye calibration method, and then the visual tail end sends the robot coordinate of the area to be repaired to an upper computer. And after receiving the robot coordinates, the upper computer generates a cutting path and a welding path of the area to be repaired. And then the upper computer sends the cutting path and the welding path to the lower robot computer. The lower computer drives the mechanical arm of the robot to move according to the cutting path, so that the cutting tail end arranged on the mechanical arm completes cutting of the area to be repaired. In the same way, the lower computer drives the mechanical arm of the robot to act according to the welding path, so that the welding tail end arranged on the mechanical arm completes the welding of the steel plate. According to the invention, the robot can replace manual work to complete the operations of identification, cutting and welding, so that the manual operation cost is greatly reduced, and the maintenance efficiency of the carriage of the open wagon is improved.
Drawings
In order to more clearly illustrate the solution of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an intelligent maintenance system for a gondola car carriage according to an embodiment of the present invention;
fig. 2 is a state diagram of the open wagon compartment intelligent maintenance system provided by an embodiment of the invention at a certain moment during maintenance;
fig. 3 is a plan view of a robot tip according to an embodiment of the present invention.
Wherein, 1 is the robot, 2 is the cutting end, 3 is the robot base, 4 is the guide rail, 5 is the rack, 6 is the guide rail base, 7 is the guide rail stand, 8 is the safety barrier, 9 is the motor, 10 is the gondola car carriage, 11 is the robot end, 12 is the mounting hole, 13 is the positioning groove.
Detailed Description
The invention discloses an intelligent maintenance system for a gondola car carriage, which can realize intelligent maintenance of the gondola car carriage, thereby reducing the manual operation cost. The invention also discloses an intelligent maintenance method for the open wagon carriage.
Descriptions in this specification as relating to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to any indicated technical feature or quantity. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
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 of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses an open wagon carriage intelligent maintenance system, which comprises: the robot comprises a robot 1, a vision tail end, a cutting tail end 2, a welding tail end, an upper computer and a robot lower computer. Wherein the vision tip, the cutting tip 2, and the welding tip can be detachably mounted on the robot tip 11. The visual terminal is in communication connection with the lower robot computer.
The vision end is used for detecting the area to be repaired and can generate the robot coordinates of the area to be repaired. The vision end can also send the robot coordinate to an upper computer, and the upper computer generates a cutting path and a welding path of the area to be repaired according to the robot coordinate. And the upper computer sends the generated cutting path and welding path to the lower robot computer. The robot lower computer drives the robot 1 to move according to the received cutting path, so that the cutting end 2 completes cutting. The lower robot controller drives the robot 1 to operate according to the received welding path, so that the welding end is welded.
In the invention, the area to be repaired is firstly identified through the visual tail end, then the visual tail end generates the image coordinate of the area to be repaired, then the robot coordinate of the area to be repaired is calculated according to a hand-eye calibration method, and then the visual tail end sends the robot coordinate of the area to be repaired to an upper computer. And after receiving the robot coordinates, the upper computer generates a cutting path and a welding path of the area to be repaired. And then the upper computer sends the cutting path and the welding path to the lower robot computer. The lower computer drives the robot 1 to act according to the cutting path, so that the cutting tail end 2 installed on the tail end 11 of the robot finishes cutting the area to be repaired. Similarly, the lower computer drives the robot 1 to operate according to the welding path, so that the welding end attached to the robot end 11 completes the welding of the steel plate material.
In the invention, the robot 1 can replace manual work to complete the operations of identification, cutting and welding, thereby greatly reducing the manual operation cost and simultaneously improving the maintenance efficiency of the carriage of the open wagon.
In order to simplify the manufacturing difficulty of the robot 1, the present invention defines that the robot 1 only comprises one robot end 11. The robot end 11 is provided with a mounting hole 12. The vision tip comprises a vision mount, the cutting tip 2 comprises a cutting mount, and the welding tip comprises a welding mount. The visual mounting base is provided with a matching hole matched with the mounting hole 12, and the visual tail end is mounted on the robot tail end 11 through the mounting hole 12 and the matching hole. The cutting mounting seat is provided with a matching hole matched with the mounting hole 12, and the cutting tail end 2 is arranged on the tail end 11 of the robot through the mounting hole 12 and the matching hole. The welding seat is provided with a matching hole matched with the mounting hole 12, and the welding tail end is connected to the tail end 11 of the robot through the mounting hole 12 and the matching hole.
In the present invention, the vision tip is first mounted on the robot tip 11 so that the vision tip performs the work of identifying the region to be repaired and generating the robot coordinates of the region to be repaired. Thereafter, the visual tip is detached and the cutting tip 2 is mounted on the robot arm so that the cutting tip 2 completes the cutting. The cutting tip 2 is then removed and the welding tip is mounted on the robot tip 11 so that the welding tip completes the welding.
In order to ensure the stability of the connection of the vision tip, the cutting tip 2 and the welding tip with the robot tip 11, the present invention is designed as follows: a positioning groove 13 is arranged at the center of the robot end 11, and correspondingly, positioning protrusions matched with the positioning groove 13 are arranged on the vision mounting seat, the cutting mounting seat and the welding mounting seat. When mounting the visual tip, the cutting tip 2, and the welding tip, first, the positioning projections are fitted into the positioning grooves 13 to form a predetermined position between the visual tip, the cutting tip 2, and the welding tip and the robot tip 11.
In addition, the robot tip 11 has a plurality of mounting holes 12, and the plurality of mounting holes 12 are provided around the positioning groove 13. A plurality of matching holes are correspondingly arranged on the visual mounting seat, the cutting mounting seat and the welding mounting seat. The robot end 11 is similar to a flange, as are the vision mount, cutting mount and welding mount.
The invention is also provided with a guide rail 4, a driving device and a driving device lower computer. The robot 1 is arranged on a robot base 3, and the robot base 3 is fitted on a guide rail 4. I.e. the robot 1 is able to slide along the guide 4. The driving device is used for driving the robot 1 to slide along the guide rail 4. The lower computer of the driving device is in communication connection with the upper computer. The lower computer of the driving device drives the driving device according to the instruction of the upper computer. The arrangement of the guide rail 4, the driving device and the driving device lower computer can widen the operation range of the robot 1, so that the robot 1 can complete the maintenance operation in different areas.
The drive means in particular comprise an electric motor 9 and a transmission assembly. The motor 9 is arranged on the robot base 3, and the transmission assembly is used for converting the rotation of the motor 9 into linear movement and outputting the linear movement to the robot 1. The transmission component can be a screw mechanism and also can be a gear rack 5 mechanism. The present invention defines the transmission assembly as a pinion and rack 5. The gear is driven by a motor 9. The rack 5 is provided on the guide rail 4 and extends along the length direction of the guide rail 4. When the motor 9 drives the gear to rotate, the gear is meshed with the rack 5, and meanwhile, the rack 5 is fixed, so that the gear can rotate and move at the same time, and the robot 1 is pushed to move.
In order to control the rotating speed output by the motor 9, the invention is also provided with a speed changer, wherein the input shaft of the speed changer is connected with the output shaft of the motor 9, and the output shaft of the speed changer is connected with the gear.
In order to prevent the robot 1 from separating from the guide rail 4, the invention provides a limiting component at the end part of the guide rail 4. The limiting assembly is used for limiting the further movement of the robot 1.
In the invention, the limit component specifically comprises a limit switch and a mechanical limit piece. The mechanical limit piece is close to the end of the guide rail 4 relative to the limit switch. The limit switch is in communication connection with the upper computer. When the robot 1 is close to the end part of the guide rail 4, the limit switch is touched, the limit switch sends a stop signal to the upper computer, the upper computer sends the stop signal to the lower computer of the driving device, and the lower computer of the driving device controls the driving device to stop driving after receiving the stop signal. If the limit switch does not effectively prevent the robot 1 from moving, the robot 1 continues to move to the end of the guide rail 4, and then the robot 1 touches the mechanical limit piece, and the mechanical limit piece prevents the robot 1 from further moving. The arrangement of the limit switch and the mechanical limit piece in the invention can effectively prevent the robot 1 from separating from the guide rail 4.
It should be noted that the lower computer of the driving device may be a single chip or a PLC.
The number of the guide rails 4 in the present invention is four. Wherein two guide rails 4 are arranged at one side of the carriage of the gondola car, one robot 1 is arranged on the two guide rails 4, and the two guide rails 4 are arranged on one guide rail base 6. The other two guide rails 4 are positioned at the other side of the carriage of the gondola, the other two guide rails 4 are provided with the other robot 1, and the other two guide rails 4 are provided on the other guide rail base 6. A guide rail upright post 7 is arranged below the guide rail base 6. In this way, the gondola car is pushed between the two rail mounts 6, and then both sides of the gondola car are inspected by the two robots 1, respectively.
In order to protect the robot 1 on the guide rail 4, the invention provides a safety barrier 8 on the guide rail 4 or on the side of the guide rail base 6 facing away from the gondola car body.
The upper computer is powered by the machine room, and the machine room is powered to the upper computer through a first cable. In order to protect the first cable, the first cable is arranged in the supporting chain in a penetrating mode. One end of the supporting chain is fixedly connected on the robot base 3, and the other end of the supporting chain is fixedly connected on the guide rail base 6.
According to the above description, the visual tail end is in communication connection with the upper computer, and in order to communicate the upper computer with the visual tail end, the second cable is arranged between the visual tail end and the upper computer. The present invention provides a cable socket on the vision tip, allowing for a detachable connection between the vision tip and the robot tip 11. In the visual tip work, the visual tip is mounted on the robot tip 11, and a cable is inserted into a cable insertion port of the visual tip. After the visual tip has been worked, the cable is pulled out of the cable socket, and the visual tip is then removed.
The invention also discloses an intelligent maintenance method for the open wagon carriage, which comprises the following steps:
s1: the vision tip is mounted on the robot tip 11. After the vision terminal is mounted on the robot terminal 11, the cable is inserted into the cable socket of the vision terminal, so that the communication connection between the upper computer and the vision terminal is established. The robot 1 is provided with a visual end button, and the control degree corresponding to the visual end can be called by pressing the visual end button.
S2: the method comprises the steps that a carriage of the open wagon is scanned and photographed through a visual tail end, an area to be repaired is obtained through a visual algorithm, image coordinates of the area to be repaired are generated, then the visual tail end converts the image coordinates into robot coordinates through a hand-eye calibration method, an upper computer reads the robot coordinates, and a cutting path and a welding path are generated according to the robot coordinates.
S3: the vision tip is removed and the cutting tip 2 is mounted on the robot tip 11. Be provided with the terminal 2 buttons of cutting on the robot 1, after will cut terminal 2 and install on the arm, press the terminal 2 buttons of cutting, just can transfer the cutting route in the host computer.
S4: the robot lower machine drives the robot 1 according to the cutting path so that the cutting end 2 completes the cutting.
For example, assuming that the coordinates of the four vertices of the region to be repaired are (0, 0, z), (x, y, z), and (0, y, z), the cutting path of the cutting end 2 is (0, 0, z) - - (x, 0, z) - - (x, y, z) - - (0, y, z). Thus, the cutting tip 2 cuts off the damaged material of the region to be repaired.
S5: and manually welding the steel plate material in the area to be repaired in a spot welding mode. Blanking is carried out manually according to the size of the cutting area, and then the welding steel plate is welded in the cutting area or the area to be repaired manually in a spot welding mode. The purpose of spot welding is to pre-attach the steel sheet material to the gondola car carriage. In the step, the steel plates are pre-connected in a manual spot welding mode, and a bedding is made for the full welding of the steel plates through the welding tail end in the next step.
S6: the cutting tip 2 is removed and the welding tip is mounted on the robot tip 11. The welding tail end button is arranged on the robot 1, and after the welding tail end is installed on the robot tail end 11, the welding tail end button is pressed down, so that a welding path in the upper computer can be called.
S7: the lower robot computer drives the robot 1 according to the welding path so that the welding end completes welding. The welding path of the welding tail end is the same as the routing of the cutting tail end 2, and the welding tail end sequentially passes through (0, 0, z), (x, y, z) and (0, y, z), so that the full welding of the steel plate is realized.
It should be noted that the cutting trace and the welding trace are the same in the region to be repaired, but the postures of the robot 1 during the cutting operation and the welding operation are different. During the cutting operation, the cutting end 2 is perpendicular to the region to be repaired. During welding operation, the welding tail end has a certain inclination relative to the area to be repaired.
In order to finish the overhaul of the compartment of the open wagon piece by piece, the invention is provided with the guide rail 4, and a plurality of preset positions are preset. Each preset position corresponds to a different area of the truck bed.
Step S2 specifically includes: the driving device drives the robot 1 to move to a first preset position, the vision end scans a first preset area, an image coordinate value of a first to-be-repaired area in the first preset area is obtained and converted into a robot coordinate value, and the upper computer generates a first cutting path and a second cutting path according to the robot coordinate value; then drive arrangement drive robot 1 moves second in proper order and predetermines the position, and the third is predetermine the position, until moving to the last position of predetermineeing, the host computer correspondingly generates second cutting route and second welding route, third cutting route and third welding route in proper order, until generating last cutting route and last welding route, and later drive arrangement drive robot 1 gets back to first preset the position. Through step S2, the upper computer stores therein all cutting paths and welding paths corresponding to the preset positions.
Step S4 specifically, the driving device drives the robot 1 to move to a first cutting position, the upper computer of the robot 1 drives the robot 1 according to the first cutting path, so that the cutting end 2 completes cutting the first region to be repaired, then the driving device drives the robot 1 to sequentially move to a second cutting position and a third cutting position until moving to a last cutting position, at each cutting position, the cutting end 2 completes cutting the corresponding region to be repaired according to the corresponding cutting path, and finally the driving device drives the robot 1 to return to the first preset position;
step S7 is specifically that the driving device drives the robot 1 to move to the first welding position, the upper computer of the robot 1 drives the robot 1 according to the first welding path, so that the welding end completes welding of the first area to be repaired, then the driving device drives the robot 1 to sequentially move to the second welding position and the third welding position until moving to the last welding position, in each welding position, the welding end completes welding of the corresponding area to be repaired according to the corresponding welding path, and finally the driving device drives the robot 1 to return to the first preset position.
It should be noted that, if the vision end does not detect the region to be repaired at a certain preset position, the driving device may drive the robot 1 to move to the next preset position, and the preset position where the region to be repaired is not detected will not be used as the cutting position or the welding position. The preset position may not correspond to the cutting position, but the cutting position corresponds to the welding position one to one.
The working steps of the vision tip, the cutting tip 2 and the welding tip are explained next by means of specific examples: for example, the preset positions are a position a, b position c, and the a position, b position c position are arranged along the length direction of the guide rail 4. And the area to be repaired can be detected at the position a, the position b and the position c. The initial position of the robot 1 is the a position. After the visual tail end is installed on the robot tail end 11, a visual tail end button is pressed, the upper computer calls a control program of the visual tail end, the visual tail end scans an area corresponding to the position a, a first area to be repaired in the area is identified, image coordinates of the first area to be repaired are established, then robot coordinates of the area to be repaired are generated, and the upper computer reads the robot coordinates and generates a first cutting path and a first welding path. After the upper computer receives the robot coordinates, the upper computer proves that the scanning of the visual tail end at the position a is finished, the upper computer controls the driving device through the driving device and the lower computer so that the driving device drives the robot 1 to move, after the robot 1 moves to the position b, the driving device lower computer sends a position signal to the upper computer, the upper computer sends a stop signal to the driving device lower computer, and the driving device lower computer controls the driving device to stop driving. And at the position b, the vision tail end scans an area corresponding to the position b, a second area to be repaired is identified, a robot coordinate is generated, and the upper computer generates a second cutting path and a second welding path according to the robot coordinate. The drive device then drives the robot 1 to move to position c, where the upper computer generates a third cutting path and a third welding path. Finally the drive means drives the robot 1 back to position a.
Next, the cutting operation of the cutting tip 2 is performed, and after the button of the cutting tip 2 is pressed, the upper computer retrieves a cutting path including a first cutting path, a second cutting path, and a third cutting path. The initial position of the robot 1 is a position a, the upper computer sends a first cutting path to the lower robot computer, and the lower robot computer controls the robot 1 to act according to the first cutting path, so that the cutting end 2 finishes cutting the first area to be repaired. After the cutting is finished, the robot lower computer sends a cutting finishing signal to the upper computer, then the upper computer sends a moving instruction to the driving device lower computer, and the driving device drives the robot 1 to move. After the robot 1 moves to the position b, the lower computer of the driving device sends a position signal to the upper computer, then the upper computer sends a stop signal to the lower computer of the driving device, and then the lower computer of the driving device controls the driving device to stop. And then the upper computer sends a second cutting path to the lower robot computer, and the lower robot computer controls the robot 1 to act according to the second cutting path so that the cutting tail end 2 finishes cutting the second region to be repaired. And then the driving device drives the robot 1 to move to the position c, and the robot lower computer at the position c controls the robot 1 to act according to the third cutting path, so that the cutting end 2 finishes cutting the third region to be repaired. Finally, the drive means drives the robot 1 back to the a position.
The welding operation of the welding tip is similar to the cutting operation of the cutting tip 2 and can be referred to each other, and will not be described again.
Finally, it should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (14)

1. The utility model provides a gondola car carriage intelligence overhauls system which characterized in that includes: the robot, a vision terminal, a cutting terminal, a welding terminal, an upper computer and a robot lower computer;
the vision tip, the cutting tip, and the welding tip are all removably mountable on a robotic tip;
the vision end and the robot lower computer are in communication connection with the upper computer, the vision end is used for detecting a region to be repaired and generating a robot coordinate of the region to be repaired, and the upper computer generates a cutting path and a welding path according to the robot coordinate;
and the lower robot computer drives the cutting tail end to complete cutting according to the cutting path, and drives the welding tail end to complete welding according to the welding path.
2. The open wagon carriage intelligent maintenance system according to claim 1, wherein a mounting hole is formed in the end of the robot, the visual end comprises a visual mounting seat, the cutting end comprises a cutting mounting seat, the welding end comprises a welding mounting seat, and fitting holes matched with the mounting hole are formed in the visual mounting seat, the cutting mounting seat and the welding mounting seat.
3. The open wagon carriage intelligent overhaul system of claim 2, wherein a positioning groove is formed in the center of the tail end of the robot, and positioning protrusions matched with the positioning groove are formed in the visual mounting seat, the cutting mounting seat and the welding mounting seat;
the mounting hole is a plurality of, and a plurality of the mounting hole centers on positioning groove sets up.
4. The open wagon compartment intelligent service system of claim 1, further comprising:
the robot is arranged on a robot base, and the robot base is matched on the guide rail;
the driving device is used for driving the robot to slide along the guide rail;
and the driving device lower computer drives the driving device according to the instruction of the upper computer.
5. The open wagon car intelligent service system of claim 4, wherein the drive device comprises: the motor is arranged on the robot base;
and the transmission assembly can convert the rotation of the motor into linear movement and output the linear movement to the robot.
6. The truck carriage intelligent maintenance system of claim 5, wherein the transmission assembly comprises a gear and a rack, the gear is driven by the motor, and the rack is disposed on the guide rail and extends along the length of the guide rail.
7. The open wagon carriage intelligent maintenance system of claim 4, wherein the end of the guide rail is provided with a limiting assembly for limiting the movement of the robot.
8. The open wagon car intelligent maintenance system of claim 7, wherein the limit assembly comprises a limit switch and a mechanical limit stop, the mechanical limit stop being located near an end of the guide rail relative to the limit switch; the limit switch is in communication connection with the upper computer.
9. The open wagon carriage intelligent maintenance system of claim 4, wherein one side of the guide rail is provided with a safety barrier.
10. The open wagon car intelligent maintenance system of claim 4, wherein the number of the guide rails is four, two of the guide rails are located on one side, the other two of the guide rails are located on the other side, and one of the robots is arranged on each of the two guide rails.
11. The open wagon carriage intelligent maintenance system of claim 4, wherein a machine room supplies power to the upper computer through a first cable, the first cable is arranged in a supporting chain in a penetrating mode, one end of the supporting chain is fixedly connected to the robot base, and the other end of the supporting chain is fixedly connected to the guide rail.
12. The open wagon carriage intelligent overhaul system of claim 1, wherein the upper computer is in communication connection with the vision end through a second cable, and the vision end is provided with a cable socket.
13. An open wagon carriage intelligent maintenance method is characterized by comprising the following steps:
s1: mounting the vision tip on the robot tip;
s2: the vision terminal acquires an image coordinate value of a region to be repaired, converts the image coordinate value into a robot coordinate value, and the upper computer generates a cutting path and a welding path according to the robot coordinate value;
s3: detaching the vision tip and mounting the cutting tip on the robot tip;
s4: the lower robot computer drives the robot according to the cutting path so that the cutting tail end is cut;
s5: manually welding the steel plate material in the area to be repaired in a spot welding mode;
s6: removing the cutting tip and mounting the welding tip onto the robot tip;
s7: the lower robot computer drives the robot according to the welding path to complete welding of the welding end.
14. The open wagon carriage intelligent service method of claim 13,
the step S2 specifically includes: the driving device drives the robot to sequentially move to each preset position, the vision end scans a corresponding area at each preset position to obtain a corresponding image coordinate value, the image coordinate value is converted into a robot coordinate value, and the upper computer generates a corresponding cutting path and a corresponding welding path according to the robot coordinate value;
the step S4 specifically includes: the driving device drives the robot to sequentially move to each cutting position, and in each cutting position, the robot upper computer drives the robot according to the corresponding cutting path so that the cutting tail end can complete cutting of the corresponding area;
the step S7 specifically includes: the driving device drives the robot to move to each welding position in sequence, and on each welding position, the robot upper computer drives the robot according to the corresponding welding path so that the welding tail end can complete the welding of the corresponding area.
CN202111204195.8A 2021-10-15 2021-10-15 Intelligent open wagon compartment overhauling system and method Active CN113858176B (en)

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CN104722926A (en) * 2015-03-18 2015-06-24 江苏长江重工科技有限公司 Automatic robot three-dimensional laser cutting system and thereof
CN109848951A (en) * 2019-03-12 2019-06-07 易思维（天津）科技有限公司 Automatic processing equipment and method for large workpiece
CN111151992A (en) * 2020-03-02 2020-05-15 杭州市地铁集团有限责任公司运营分公司 Full-automatic transfer and auxiliary positioning assembly equipment for subway shielding door
CN111790970A (en) * 2020-08-10 2020-10-20 中铁物总资源科技有限公司 Intelligent cutting method and system for railway scrapped wagon carriage underframe
CN112692837A (en) * 2021-01-11 2021-04-23 成都海瑞斯轨道交通设备有限公司 Welding robot system and welding method for overhauling wagon body of railway wagon
CN112882463A (en) * 2021-01-11 2021-06-01 成都海瑞斯轨道交通设备有限公司 Cutting robot system for overhauling wagon body of railway wagon

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104722926A (en) * 2015-03-18 2015-06-24 江苏长江重工科技有限公司 Automatic robot three-dimensional laser cutting system and thereof
CN109848951A (en) * 2019-03-12 2019-06-07 易思维（天津）科技有限公司 Automatic processing equipment and method for large workpiece
CN111151992A (en) * 2020-03-02 2020-05-15 杭州市地铁集团有限责任公司运营分公司 Full-automatic transfer and auxiliary positioning assembly equipment for subway shielding door
CN111790970A (en) * 2020-08-10 2020-10-20 中铁物总资源科技有限公司 Intelligent cutting method and system for railway scrapped wagon carriage underframe
CN112692837A (en) * 2021-01-11 2021-04-23 成都海瑞斯轨道交通设备有限公司 Welding robot system and welding method for overhauling wagon body of railway wagon
CN112882463A (en) * 2021-01-11 2021-06-01 成都海瑞斯轨道交通设备有限公司 Cutting robot system for overhauling wagon body of railway wagon

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