CN113858176B - Intelligent open wagon compartment overhauling system and method - Google Patents

Intelligent open wagon compartment overhauling system and method Download PDF

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Publication number
CN113858176B
CN113858176B CN202111204195.8A CN202111204195A CN113858176B CN 113858176 B CN113858176 B CN 113858176B CN 202111204195 A CN202111204195 A CN 202111204195A CN 113858176 B CN113858176 B CN 113858176B
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robot
welding
cutting
tip
upper computer
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CN113858176A (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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    • 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 intelligent maintenance system for an open wagon carriage, which comprises a robot, a visual tail end, a cutting tail end, a welding tail end, an upper computer and a robot lower computer, wherein the robot is connected with the upper computer; the vision tip, the cutting tip, and the welding tip can all be removably mounted on the robot tip; the visual terminal and the robot lower computer are both in communication connection with the upper computer, the visual terminal 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 robot lower computer drives the cutting end to finish cutting according to the cutting path, and drives the welding end to finish welding according to the welding path. In the invention, the robot can replace manual work to finish the operations of identification, cutting and welding, thereby greatly reducing the cost of manual work and improving the maintenance efficiency of the open wagon carriage. The invention also discloses an intelligent maintenance method for the open wagon carriage.

Description

Intelligent open wagon compartment overhauling system and method
Technical Field
The invention relates to the field of maintenance of open wagon carriages, in particular to an intelligent maintenance system and method for open wagon carriages.
Background
When the open wagon compartment is overhauled, if a region needing to be repaired is found, firstly cutting the damaged part by a cutting tool, then blanking according to the size of the cut region, and finally welding the steel plate material in the cut region.
In the prior art, manual cutting and manual welding are commonly employed. The manual flame cutting is adopted during manual cutting, the cutting environment is bad, the working strength is high, and the working efficiency is low. During manual welding, the welding line of the open wagon carriage is long, and the working strength is high.
Therefore, how to realize the intelligent maintenance of the open wagon carriage, thereby reducing the cost of manual operation, is a critical problem to be solved urgently by the technicians in the field.
Disclosure of Invention
The invention aims to realize intelligent overhaul of the open wagon carriage, thereby reducing the cost of manual operation. In order to achieve the above purpose, the present invention provides the following technical solutions:
an intelligent maintenance system for an open wagon carriage comprises a robot, a visual end, a cutting end, a welding 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 robot tip;
the vision terminal and the robot lower computer are both in communication connection with the upper computer, the vision terminal 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;
the lower robot computer drives the cutting end to finish cutting according to the cutting path, and the lower robot computer drives the welding end to finish welding according to the welding path.
Preferably, the robot is provided with a mounting hole at the tail end, the vision tail end comprises a vision mounting seat, the cutting tail end comprises a cutting mounting seat, the welding tail end comprises a welding mounting seat, and the vision mounting seat, the cutting mounting seat and the welding mounting seat are provided with matching holes matched with the mounting hole.
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 holes are multiple, and the multiple mounting holes are arranged around the positioning groove.
Preferably, the method further comprises:
the robot is arranged on a robot base, and the robot base is matched with the guide rail;
the driving device is used for driving the robot to slide along the guide rail;
and the lower computer of the driving device drives the driving device according to the instruction of the upper computer.
Preferably, the driving device includes: the motor is arranged on the robot base;
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, a limiting assembly is arranged at the end of the guide rail and used 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; and the limit switch is in communication connection with the upper computer.
Preferably, a safety barrier is provided on one side of the rail.
Preferably, the number of the guide rails is four, two of the guide rails are located on one side, the other two 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 a drag 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 vision terminal through a second cable, and a cable jack is arranged at the vision terminal.
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 visual terminal acquires an image coordinate value of a region to be repaired and 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 a mounting portion of the mechanical arm;
s4: the robot lower computer drives the robot according to the cutting path so as to enable the cutting tail end to finish cutting;
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 to the robotic tip;
s7: the robot lower computer drives the robot according to the welding path so that the welding tail end is welded.
Preferably, the method comprises the steps of,
the step S2 specifically comprises the following steps: the driving device drives the robot to sequentially move to each preset position, the vision terminal scans the corresponding region at each preset position, obtains corresponding image coordinate values, converts the image coordinate values 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 the upper computer of the robot drives the robot according to the corresponding cutting path at each cutting position so that the cutting end completes cutting of the corresponding region;
the step S7 specifically includes: the driving device drives the robot to sequentially move to each welding position, and the upper computer of the robot drives the robot according to the corresponding welding path on each welding position so that the welding of the corresponding area is completed at the welding tail end.
From the technical scheme, the following can be seen: in the method, firstly, a region to be repaired is identified through a visual terminal, then the visual terminal generates image coordinates of the region to be repaired, then robot coordinates of the region to be repaired are calculated according to a hand-eye calibration method, and then the visual terminal sends the robot coordinates of the region 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 robot lower computer. The lower computer drives the mechanical arm of the robot to act according to the cutting path, so that the cutting tail end arranged on the mechanical arm can complete the cutting of the area to be repaired. And similarly, 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 is used for finishing the welding of the steel plate. In the invention, the robot can replace manual work to finish the operations of identification, cutting and welding, thereby greatly reducing the cost of manual work and improving the maintenance efficiency of the open wagon carriage.
Drawings
In order to more clearly illustrate the solution of the embodiments of the present invention, the following description will briefly explain the drawings needed to be used in the embodiments, it being evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an intelligent maintenance system for an open wagon according to an embodiment of the present invention;
FIG. 2 is a state diagram of an intelligent maintenance system for an open wagon compartment at a moment during maintenance according to an embodiment of the present invention;
fig. 3 is a plan view of a robot tip according to an embodiment of the present invention.
The automatic cutting machine comprises a robot 1, a cutting end 2, a robot base 3, a guide rail 4, a rack 5, a guide rail base 6, a guide rail upright post 7, a safety guardrail 8, a motor 9, an open wagon carriage 10, a robot end 11, a mounting hole 12 and a positioning groove 13.
Detailed Description
The invention discloses an intelligent maintenance system for an open wagon carriage, which can realize intelligent maintenance of the open wagon carriage, thereby reducing the cost of manual operation. The invention also discloses an intelligent maintenance method for the open wagon carriage.
The description as it relates to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The invention discloses an intelligent maintenance system for an open wagon carriage, which comprises the following components: robot 1, vision end, cutting end 2, welding end, host computer, robot lower computer. Wherein the vision end, the cutting end 2, and the welding end can be detachably mounted on the robot end 11. The vision end is in communication connection with the robot lower computer.
The vision end is used for detecting the region to be repaired and generating robot coordinates of the region to be repaired. The vision end can also send the robot coordinate to the 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 robot lower computer. The robot lower computer drives the robot 1 to act according to the received cutting path so as to enable the cutting tail end 2 to complete cutting. The robot lower computer drives the robot 1 to act according to the received welding path so as to enable the welding tail end to finish welding.
In the method, firstly, a region to be repaired is identified through a visual terminal, then the visual terminal generates image coordinates of the region to be repaired, then robot coordinates of the region to be repaired are calculated according to a hand-eye calibration method, and then the visual terminal sends the robot coordinates of the region 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 robot lower computer. The lower computer drives the robot 1 to act according to the cutting path, so that the cutting end 2 arranged on the end 11 of the robot completes the cutting of 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 mounted on the robot end 11 completes the welding of the steel plate.
In the invention, the robot 1 can replace manual work to finish the operations of identification, cutting and welding, thereby greatly reducing the cost of manual work and improving the maintenance efficiency of the open wagon carriage.
In order to simplify the manufacturing difficulty of the robot 1, the invention defines that the robot 1 comprises only one robot end 11. The robot tip 11 is provided with a mounting hole 12. The vision end comprises a vision mount, the cutting end 2 comprises a cutting mount, and the welding end comprises a welding mount. The vision mount pad is provided with a fitting hole which is matched with the mounting hole 12, and the vision terminal is mounted on the robot terminal 11 through the mounting hole 12 and the fitting hole. The cutting mounting seat is provided with a matching hole matched with the mounting hole 12, and the cutting tail end 2 is mounted on the robot tail end 11 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 terminal is first installed on the robot terminal 11 so that the vision terminal performs the work of identifying the region to be repaired and generating the robot coordinates of the region to be repaired. Thereafter, the visual end is detached, and the cutting end 2 is mounted on the robot arm so that the cutting end 2 completes cutting. The cutting tip 2 is then detached 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 to the robot tip 11, the present invention makes the following design: a positioning groove 13 is provided at the center of the robot tip 11, and then positioning protrusions adapted to the positioning groove 13 are provided on the vision mount, the cutting mount, and the welding mount, respectively. In mounting the vision tip, the cutting tip 2 and the welding tip, the positioning projections are first fitted into the positioning grooves 13 so that the vision tip, the cutting tip 2 and the welding tip form a predetermined position with the robot tip 11.
In addition, the number of the mounting holes 12 on the robot tip 11 is plural, and the plurality of the mounting holes 12 are provided around the positioning groove 13. The visual mounting seat, the cutting mounting seat and the welding mounting seat are correspondingly provided with a plurality of matching holes. The robot tip 11 is similar to a flange, as are the vision mount, the cutting mount, and the welding mount.
The invention also provides a guide rail 4, a driving device and a lower computer of the driving device. The robot 1 is arranged on a robot base 3, and the robot base 3 is matched on a guide rail 4. I.e. the robot 1 can slide along the guide rail 4. The driving means are 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 lower computer of the driving device can widen the operation range of the robot 1, and the robot 1 can finish overhaul operation in different areas.
The drive means comprise in particular a 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 or a gear rack 5 mechanism. The present invention defines the transmission assembly as a gear 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 rotation speed output by the motor 9, the invention also provides a speed changer, an input shaft of the speed changer is connected with an output shaft of the motor 9, and the output shaft of the speed changer is connected with a gear.
In order to prevent the robot 1 from being separated from the guide rail 4, the invention provides a limiting assembly at the end of the guide rail 4. The limiting assembly is used for limiting the further movement of the robot 1.
In the invention, the limit assembly 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 connected with the upper computer in a communication way. When the robot 1 approaches the end of the guide rail 4, the limit switch is touched, and then 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 movement of the robot 1, the robot 1 continues to move towards the end of the rail 4, and the robot 1 will touch the mechanical limit piece, which prevents the robot 1 from moving further. The arrangement of the limit switch and the mechanical limit piece in the invention can effectively prevent the robot 1 from being separated from the guide rail 4.
The lower computer of the driving device can be a single chip microcomputer or a PLC.
The number of the guide rails 4 in the invention is four. Wherein two guide rails 4 are located at one side of the open wagon compartment, one robot 1 is arranged on the two guide rails 4, and the two guide rails 4 are located at one guide rail base 6. The other two guide rails 4 are positioned on the other side of the open wagon compartment, the other robot 1 is arranged on the other two guide rails 4, and the other two guide rails 4 are arranged 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 open wagon is pushed between the two guide rail bases 6, and then the two sides of the open wagon are overhauled 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 side of the guide rail 4 or the guide rail base 6 facing away from the open wagon.
The upper computer is powered by the machine room, and the machine room supplies power to the upper computer through the first cable. In order to protect the first cable, the first cable is arranged in the drag chain in a penetrating way. One end of the drag chain is fixedly connected to the robot base 3, and the other end is fixedly connected to the guide rail base 6.
The above description shows that the visual end is in communication connection with the upper computer, and in order to communicate the upper computer with the visual end, the invention provides a second cable between the visual end and the upper computer. The present invention provides a cable socket on the vision end, considering the detachable connection between the vision end and the robot end 11. In the vision terminal operation, the vision terminal is mounted on the robot terminal 11, and the cable is inserted into the cable socket of the vision terminal. After the visual end has completed the job, the cable is pulled out of the cable insertion opening, after which the visual end is detached.
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 a communication connection is established between the upper computer and the vision terminal. 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: and scanning and photographing the open wagon carriage through the visual end, obtaining a region to be repaired through a visual algorithm, generating an image coordinate of the region to be repaired, converting the image coordinate into a robot coordinate through a hand-eye calibration method through the visual end, reading the robot coordinate by an upper computer, and generating a cutting path and a welding path according to the robot coordinate.
S3: the vision tip is removed and the cutting tip 2 is mounted on the robot tip 11. The robot 1 is provided with a button for the cutting end 2, and after the cutting end 2 is mounted on the mechanical arm, the cutting path in the upper computer can be called by pressing the button for the cutting end 2.
S4: the robot lower computer drives the robot 1 according to the cutting path so that the cutting tip 2 completes cutting.
For example, assuming that the four vertex coordinates of the region to be repaired are (0, z), (x, y, z), (0, y, z) in order, the cutting path of the cutting tip 2 is (0, z) - - (x, y, z) - - (0, y, z). In this way, the cutting tip 2 cuts away the damaged material of the area to be repaired.
S5: and manually welding the steel plate material in the area to be repaired in a spot welding mode. And (3) manually blanking according to the size of the cutting area, and then manually welding the welded steel plate in the cutting area in a spot welding mode or welding the welded steel plate in the area to be repaired. The purpose of spot welding is to pre-connect the steel plate material on the open wagon carriage. In the step, the pre-connection of the steel plates is realized by manual spot welding, and the full welding of the steel plates is performed through the welding tail ends.
S6: the cutting tip 2 is removed and the welding tip is mounted to the robot tip 11. The robot 1 is provided with a welding tip button, and after the welding tip is attached to the robot tip 11, the welding path in the host computer can be retrieved by pressing the welding tip button.
S7: the robot lower computer drives the robot 1 according to the welding path so that the welding ends finish welding. The welding path of the welding end is the same as the wiring of the cutting end 2, and the welding end sequentially passes through (0, z), (x, y, z) and (0, y, z), so that the full welding of the steel plate material is realized.
The cutting trace and the welding trace are the same in the region to be repaired, but the robot 1 is different in posture at the time of cutting operation and welding operation. During the cutting operation, the cutting end 2 is perpendicular to the area to be repaired. During welding operation, the welding tail end has a certain inclination relative to the area to be repaired.
In order to complete the maintenance of the open wagon carriage 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 open wagon compartment.
The step S2 specifically comprises the following steps: the driving device drives the robot 1 to move to a first preset position, the vision terminal scans a first preset area, and obtains an image coordinate value of a first area to be repaired in the first preset area, the image coordinate value is 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; and then the driving device drives the robot 1 to sequentially move to a second preset position and a third preset position until the robot moves to a final preset position, the upper computer sequentially generates a second cutting path and a second welding path, a third cutting path and a third welding path correspondingly until the final cutting path and the final welding path are generated, and then the driving device drives the robot 1 to return to the first preset position. Through step S2, all the cutting paths and welding paths corresponding to the preset positions are stored in the upper computer.
Step S4 is specifically that 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 a first cutting path so that the cutting end 2 finishes cutting a first area 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 the robot moves to a final cutting position, on each cutting position, the cutting end 2 finishes cutting the corresponding area to be repaired according to the corresponding cutting path, and finally the driving device drives the robot 1 to return to a first preset position;
specifically, in step S7, 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 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 the robot moves to the last welding position, on 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 visual end does not detect the area 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 area 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 by one.
The working steps of the vision tip, the cutting tip 2 and the welding tip are described below by means of specific examples: for example, the preset positions are a position, b position and c position, and the a position, the b position and the 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 vision terminal is mounted on the robot terminal 11, a vision terminal button is pressed, the upper computer invokes a control program of the vision terminal, the vision terminal 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, the upper computer reads the robot coordinates, and a first cutting path and a first welding path are generated. After the upper computer receives the robot coordinates, the upper computer proves that the scanning of the vision end at the position a is finished, the upper computer controls the driving device through the driving device 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 target signal to the upper computer, the upper computer sends a stop signal to the driving device lower computer, and then the driving device lower computer controls the driving device to stop driving. And b, scanning the area corresponding to the b position by the visual end, identifying a second area to be repaired, generating a robot coordinate, and generating a second cutting path and a second welding path by the upper computer according to the robot coordinate. The driving means then drive the robot 1 to move to the c position, where the upper computer generates a third cutting path and a third welding path. Finally the driving means drive the robot 1 back to the a-position.
The following 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, the upper computer sends a first cutting path to the lower computer of the robot, and the lower computer of the robot controls the robot 1 to act according to the first cutting path so that the cutting tail end 2 completes cutting of a first area to be repaired. After the cutting is finished, the lower robot computer sends a cutting finishing signal to the upper computer, and then the upper computer sends a moving instruction to the lower driving device, and the driving device drives the robot 1 to move. After the robot 1 moves to the b position, the lower computer of the driving device sends an in-place signal to the upper computer, the upper computer sends a stop signal to the lower computer of the driving device, and 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 computer of the robot, and the lower computer of the robot controls the robot 1 to act according to the second cutting path so that the cutting tail end 2 finishes cutting the second area to be repaired. And then the driving device drives the robot 1 to move to the c position, and the robot lower computer controls the robot 1 to act according to the third cutting path at the c position so that the cutting tail end 2 finishes cutting the third to-be-repaired area. Finally, the driving means drive 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 reference is made to this point and will not be repeated here.
Finally, it is also 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer 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 (13)

1. An intelligent maintenance system for an open wagon compartment, comprising: robot, vision end, cutting end, welding end, upper computer and robot lower computer;
the vision tip, the cutting tip, and the welding tip are all removably mountable on a robot tip;
the vision terminal and the robot lower computer are both in communication connection with the upper computer, the vision terminal 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;
the lower robot computer drives the cutting end to finish cutting according to the cutting path, and drives the welding end to finish welding according to the welding path;
the robot comprises a robot body, wherein the robot body is provided with a mounting hole, the vision end comprises a vision mounting seat, the cutting end comprises a cutting mounting seat, the welding end comprises a welding mounting seat, and the vision mounting seat, the cutting mounting seat and the welding mounting seat are provided with matching holes matched with the mounting hole;
the robot is provided with a visual end button, and the visual end button is used for triggering the upper computer to call a control program corresponding to the visual end;
the robot is provided with a cutting tail end button which is used for triggering the upper computer to call the cutting path;
the robot is provided with a welding tail end button, and the welding tail end button is used for triggering the upper computer to call the welding path.
2. The intelligent maintenance system of an open wagon compartment according to claim 1, 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 arranged on each of the visual mounting seat, the cutting mounting seat and the welding mounting seat;
the mounting holes are multiple, and the multiple mounting holes are arranged around the positioning groove.
3. The open car cabin intelligent service system of claim 1, further comprising:
the robot is arranged on a robot base, and the robot base is matched with the guide rail;
the driving device is used for driving the robot to slide along the guide rail;
and the lower computer of the driving device drives the driving device according to the instruction of the upper computer.
4. The open wagon intelligent service system according to claim 3, wherein the driving means comprises: the motor is arranged on the robot base;
the transmission assembly can convert the rotation of the motor into linear movement and output the linear movement to the robot.
5. The intelligent maintenance system of an open wagon of claim 4, wherein the transmission assembly comprises a gear and a rack, the gear driven by the motor, the rack disposed on the rail and extending along a length of the rail.
6. The intelligent maintenance system of an open wagon of claim 3, wherein the end of the guide rail is provided with a limit assembly for limiting movement of the robot.
7. The intelligent maintenance system of an open wagon of claim 6, wherein the limit assembly comprises a limit switch and a mechanical limit, the mechanical limit being proximate an end of the rail relative to the limit switch; and the limit switch is in communication connection with the upper computer.
8. The intelligent maintenance system of an open wagon of claim 3, wherein a safety barrier is provided on one side of the rail.
9. The intelligent maintenance system of an open wagon according to claim 3, wherein the number of the guide rails is four, two of the guide rails are located on one side, the other two guide rails are located on the other side, and one robot is arranged on each of the two guide rails.
10. The intelligent maintenance system of the open wagon compartment according to claim 3, wherein the machine room supplies power to the upper computer through a first cable, the first cable is arranged in a drag chain in a penetrating mode, 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.
11. The intelligent maintenance system of the open wagon according to claim 1, wherein the upper computer is in communication connection with the visual end through a second cable, and a cable socket is arranged on the visual end.
12. An overhaul method based on the intelligent overhaul system of the open wagon compartment of claim 3, which is characterized by comprising the following steps:
s1: mounting the vision tip on the robot tip;
s2: the visual terminal acquires an image coordinate value of a region to be repaired and 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, mounting the cutting tip on the robot tip;
s4: the robot lower computer drives the robot according to the cutting path so as to enable the cutting tail end to finish cutting;
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 to the robotic tip;
s7: the robot lower computer drives the robot according to the welding path so that the welding tail end is welded.
13. The method of servicing as claimed in claim 12, wherein,
the step S2 specifically comprises the following steps: the driving device drives the robot to sequentially move to each preset position, the vision terminal scans the corresponding region at each preset position to obtain corresponding image coordinate values, the image coordinate values are 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 the upper computer of the robot drives the robot according to the corresponding cutting path at each cutting position so that the cutting end completes cutting of the corresponding region;
the step S7 specifically includes: the driving device drives the robot to sequentially move to each welding position, and the upper computer of the robot drives the robot according to the corresponding welding path on each welding position so that the welding of the corresponding area is completed at the welding tail end.
CN202111204195.8A 2021-10-15 2021-10-15 Intelligent open wagon compartment overhauling system and method Active CN113858176B (en)

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CN104722926B (en) * 2015-03-18 2016-06-01 江苏长江重工科技有限公司 A kind of robot three-dimensional laser automatic cutting system method
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
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
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

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