CN113863068A - Intelligent mounting and dismounting device and method for elastic strip III type fastener - Google Patents

Intelligent mounting and dismounting device and method for elastic strip III type fastener Download PDF

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Publication number
CN113863068A
CN113863068A CN202110815249.8A CN202110815249A CN113863068A CN 113863068 A CN113863068 A CN 113863068A CN 202110815249 A CN202110815249 A CN 202110815249A CN 113863068 A CN113863068 A CN 113863068A
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mechanical arm
elastic strip
section
camera detector
trolley
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CN113863068B (en
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路永婕
韩寅锋
王建西
黄守刚
陈龙
张俊宁
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Shijiazhuang Tiedao University
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Shijiazhuang Tiedao University
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
    • E01B29/24—Fixing or removing detachable fastening means or accessories thereof; Pre-assembling track components by detachable fastening means
    • 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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  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
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Abstract

The invention discloses an intelligent mounting and dismounting device and method for a spring bar III type fastener, belonging to the technical field of mounting of steel rail fasteners, wherein the intelligent mounting and dismounting device for the spring bar III type fastener comprises a trolley arranged above a steel rail, a movable mechanism is arranged on the trolley, part of the movable mechanism horizontally extends out of the trolley, a third mechanical arm, a first mechanical arm and a second mechanical arm are respectively and rotatably connected on the movable mechanism extending out of the trolley, a spring bar conveyor belt and an insulating track gauge block conveyor belt are respectively embedded in two sides above the trolley, the tail end of the first mechanical arm is provided with a positioning part, the tail end of the second mechanical arm is provided with a telescopic column for ejecting the spring bar III type fastener, a first camera detecting instrument and a second camera detecting instrument are respectively and fixedly arranged on two sides below the trolley taking the movable mechanism as the center, an electronic control unit is arranged in the trolley, the invention greatly improves the installation efficiency of the fastener, greatly reduces the labor intensity and realizes the intellectualization of the fastener installation.

Description

Intelligent mounting and dismounting device and method for elastic strip III type fastener
Technical Field
The invention relates to the technical field of installation of steel rail fasteners, in particular to an intelligent installation and disassembly device and method for a spring bar III type fastener.
Background
The method comprises the following steps that at the present stage, elastic strip III type fasteners are mainly installed through manpower, and the specific steps are that the elastic strip fasteners are placed in pre-buried iron seats, and then the III type elastic strips are pulled into a specified installation position through a railway hook spanner; the embedded iron seat is knocked out of the elastic strip mainly by manually depending on hammering tools such as a hammer and the like. Therefore, the installation speed is low, the efficiency is low, the installation quality cannot be guaranteed, the subsequent fault detection and maintenance workload is large, in the installation and disassembly processes, due to the fact that large force needs to be applied, the elastic strips can fly out or fall off, and other extreme conditions can occur, personnel are easily injured, and the safety of installation personnel is difficult to guarantee.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent mounting and dismounting device and method for a spring bar III type fastener, which greatly improve the mounting efficiency, greatly reduce the labor intensity and realize the intelligentization of fastener mounting.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an intelligent mounting and dismounting device for elastic strip III type fasteners comprises a trolley arranged above a steel rail, wherein a movable mechanism is arranged on the trolley, part of the movable mechanism horizontally extends out of the trolley, a torsion motor for controlling the movable mechanism to rotate is arranged in the trolley, a third mechanical arm for mounting an insulating gauge block, a first mechanical arm for mounting an elastic strip and a second mechanical arm for dismounting the elastic strip are respectively and rotatably connected onto the movable mechanism extending out of the trolley through spherical joints, a track is arranged on the movable mechanism between the first mechanical arm and the second mechanical arm, a fixed position for fixing the first mechanical arm when the elastic strip is dismounted is further arranged on the movable mechanism, the motors are respectively arranged at the joints of the first mechanical arm, the second mechanical arm, the third mechanical arm and the movable mechanism, a plurality of elastic strips are accommodated in the first mechanical arm, and a positioning part is arranged at the tail end of the first mechanical arm, the multifunctional trolley is characterized in that a plurality of insulating gauge blocks are accommodated in the third mechanical arm, movable sealing doors are arranged at the tail ends of the first mechanical arm and the third mechanical arm, a spring strip conveying belt and an insulating gauge block conveying belt are respectively embedded in two sides of the upper portion of the trolley, the spring strip conveying belt and the first mechanical arm and the insulating gauge block conveying belt and the third mechanical arm are connected through a baffle, a telescopic column ejecting a spring strip is arranged at the tail end of the second mechanical arm, a first camera detecting instrument and a second camera detecting instrument which take a movable mechanism as a center are fixedly arranged on two sides of the lower portion of the trolley respectively, and an electronic control unit is arranged inside the trolley.
The technical scheme of the invention is further improved as follows: the device comprises a first mechanical arm, a second mechanical arm, a motor, a plurality of elastic strips, a plurality of first telescopic check blocks and a plurality of second telescopic check blocks, wherein a corner sensor is arranged at the rotating center of the first mechanical arm, torque sensors are arranged at the joints of the first mechanical arm, the second mechanical arm and the motor, the first telescopic check blocks are used for supporting the elastic strips, and the second telescopic check blocks are used for supporting the insulating track gauge blocks.
The technical scheme of the invention is further improved as follows: the bullet strip comprises c section, a section, d section and b section integration in proper order, it keeps off the body to be provided with c section fender body, a section fender body and d section fender body on the locating part respectively, d section fender body embeds has electronic control module and electronic control module control d section fender body folding or shrink, the locating part surface is provided with pressure sensor, be provided with the round hook body that is used for catching on the bullet strip in the locating part.
An intelligent mounting and dismounting method for an elastic strip III type fastener comprises the following steps:
step S1, installing and detaching a device related to factory passing data range value of the device by the built-in elastic strip type III fastener of the electronic control unit;
s2, manually controlling the trolley to stop at the correct installation positions of the insulating gauge block and the elastic strip, recording relevant data of the elastic strip III type fastener installation and disassembly device during first working, and updating and replacing relevant factory passing data range values prestored in the electronic control unit;
step S3, before the mounting and dismounting device of the elastic strip III type fastener starts to work, a worker sequentially places a plurality of elastic strips and a plurality of insulating gauge blocks on an elastic strip conveying belt and an insulating gauge block conveying belt respectively, the elastic strip conveying belt conveys the elastic strips into a first mechanical arm, the insulating gauge block conveying belt conveys the insulating gauge blocks into a third mechanical arm, and after the baffle loosens the first mechanical arm and the third mechanical arm, the first mechanical arm and the third mechanical arm close the space;
step S4, starting the trolley to automatically run from the initial position, and automatically determining the installation positions of the insulating gauge block and the elastic strip;
step S5, executing a third mechanical arm, and placing an insulating gauge block at the gap between the embedded iron seat and the steel rail;
step S6, executing a first mechanical arm, and installing the elastic strip in an embedded iron seat;
and step S7, if the elastic strip needs to be disassembled, executing a second mechanical arm, ejecting the elastic strip out of the hole of the embedded iron seat, and completing the disassembly.
The technical scheme of the invention is further improved as follows: the factory passing data related to the mounting and dismounting device for the elastic bar type III fastener built in the electronic control unit in the step S1 includes:
1) the electronic control unit prestores image identification gray values of the broken stones, the concrete sleepers and the embedded iron seats detected by the first camera detector and the second camera detector: image identification gray value a E [ a ] of rubble1,a2]And the image identification gray value x of the concrete sleeper belongs to [ x ∈ ]1,x2]And the image identification gray value y of the pre-buried iron base belongs to [ y ∈ ]1,y2]；
When the detection range of the first camera detector or the second camera detector completely covers the broken stone, the concrete sleeper and the embedded iron seat, the image recognition gray level matrix is like a formula Q, and when the elastic strip III type fastener mounting and dismounting device is in the correct mounting position, the image recognition gray level matrix of the broken stone, the concrete sleeper and the embedded iron seat of the first camera detector is like a formula Q1The image identification gray level matrix of the broken stone, the concrete sleeper and the embedded iron seat of the second camera detector is shown as a formula Q2Shown;
when the first camera detector and the second camera detector do not detect the concrete sleeper and the embedded iron seat, the image identification gray level matrix is shown as a formula Q3Shown;
Figure BDA0003169917730000041
Figure BDA0003169917730000042
Figure BDA0003169917730000043
Figure BDA0003169917730000051
the normal gap width between the insulating gauge block and the steel rail is xi1Taking into account possible fluctuations, i.e. ξ1∈[ξmin,ξmax]；
2) The elastic strip slides from the first mechanical arm as required and is positioned on the c-section baffle body, the a-section baffle body and the d-section baffle body of the positioning component, and the numerical value change range [ F ] of the numerical value F of the pressure sensormin,Fmax]And finally a value F tending to stabilizesWhen the elastic strip is installed on the first mechanical arm, the formula of the output torque M of the first mechanical arm is as follows:
M＝O1×L1，
wherein, O1Applying a force perpendicular to the first mechanical arm to the section a of the elastic strip by the first mechanical arm, L1The effective length of the first arm is taken into account, and possible fluctuations are taken into account, i.e. M e [ M ∈ [ ]1,M2]。
3) Determining a rotation angle theta required by the first mechanical arm in the installation process according to a rotation angle sensor installed at the rotation center of the first mechanical arm;
4) by a first camera detectorAnd the second camera detector detects that the a section of the elastic strip generates deformation delta epsilon (delta)1,Δ2) Downward fastening force F of section a of elastic stripNSnap force FNThe relationship with the amount of deformation Δ is:
FN＝KΔ，
Δ＝11.5·λ，
wherein K is an elastic coefficient, and lambda is a displacement coefficient; when F is presentNWhen the thickness is more than 11kN, the fastener is installed qualified;
5) according to the force F of the first mechanical arm to the elastic strip obtained by the torque sensor1＝O1，
F1·cos∠o-μ·FN＝ma，
Wherein u is the friction coefficient between the elastic strip and the embedded iron seat, m is the mass of the elastic strip, and a is the acceleration of the elastic strip;
since the acceleration a is small and negligible, therefore:
Figure BDA0003169917730000061
the electronic control unit calculates to obtain the buckling pressure of the elastic strip after the installation
Figure BDA0003169917730000062
The friction coefficient u between the elastic strip and the embedded iron seat belongs to (u)1,u2)；
6) Dismantle the bullet strip, the output torque T's of second arm formula is:
T＝O2×L2，
wherein, O2Force applied to the end of section b of the spring by the second arm, L2Is the effective length of the second mechanical arm; and taking into account possible fluctuations, i.e. T e T1,T2]。
The technical scheme of the invention is further improved as follows: the specific steps of recording the relevant data of the mounting and dismounting device of the elastic strip type III fastener in the step S2 when the mounting and dismounting device works for the first time and updating and replacing the relevant factory-leaving qualified data range value prestored in the electronic control unit are as follows:
1) the first camera detection instrument and the second camera detection instrument process the image identification gray values of the broken stones, the concrete sleepers and the embedded iron seats, obtain the maximum value and the minimum value of the collected gray values, and update the image identification gray values of the broken stones, the concrete sleepers and the embedded iron seats stored in the first camera detection instrument and the second camera detection instrument in advance: a is an element of [ a ]1',a2']、x∈[x1',x2']、y∈[y1',y2'](ii) a Manually controlling a trolley to run through the two concrete sleepers, and calibrating the distance between the two edges of the first concrete sleeper and the distance between the second edge of the first concrete sleeper and the first edge of the second concrete sleeper by using an electronic control unit;
2) and manually executing a third mechanical arm, and manually adjusting the effective length of the third mechanical arm according to the installation requirement so as to ensure that the vertical distance between the tail end of the third mechanical arm and the installation plane is closest when the third mechanical arm is perpendicular to the horizontal direction, and after the third mechanical arm is used for placing the insulating track gauge block, the insulating track gauge block is correctly placed at the gap between the embedded iron seat and the steel rail, and the position gray data of the insulating track gauge block is calibrated to be in line with the matrix Q1And matrix Q2Comparing the normal gap width xi of the insulating gauge block and the steel rail1Calibrating the fluctuation range of the data, and updating the data;
3) artificially executing the first mechanical arm, and artificially adjusting the effective length of the first mechanical arm according to the installation requirement so as to ensure that when the first mechanical arm is vertical to the horizontal direction, the vertical distance between the tail end of the first mechanical arm and the installation plane is the closest, the elastic strip slides from the first mechanical arm as required, and is positioned on the c-section baffle body, the a-section baffle body and the d-section baffle body of the positioning part, and the numerical value change range [ F ] of the numerical value F' of the pressure sensormin',Fmax']And finally a value F tending to stabilizeS' when the first mechanical arm is provided with the elastic strip, the first mechanical arm applies a force O perpendicular to the first mechanical arm to the section a of the elastic strip1', the first mechanical arm outputs a moment M', M 'belongs to [ M' ]1',M2']In the whole installation process, the first camera detector and the second camera detectThe deformation delta' of the section a of the elastic strip detected by the instrument is detected, and the buckling pressure F after the installation of the elastic strip is finishedN'and estimating the friction coefficient mu' between the elastic strip and the embedded iron seat, comparing the numerical value and the variation range with the numerical value and the range prestored in the electronic control unit respectively, and updating data;
4) the elastic strip is disassembled, and the second mechanical arm applies force O to the tail end of the b section of the elastic strip2', output torque T ' of the second mechanical arm, T ' E [ T ∈ [ T ]1',T2']And comparing the numerical value and the variation range with the numerical value and the range prestored in the electronic control unit respectively, and updating data.
The technical scheme of the invention is further improved as follows: the specific steps of automatically determining the mounting positions of the insulating gauge block and the elastic strip in the step S4 are as follows:
1) starting the trolley to automatically run from the initial position, and when the image of the first camera detector identifies the gray matrix Q1(1,16)-Q1(6,16) when the gray value of the six pixel points is changed from a to x, the first camera detector detects the first edge of the concrete sleeper, and the image identification gray matrix Q of the second camera detector drives along with the uniform deceleration of the trolley2(1,16)-Q2(6,16) when the gray value of the six pixel points is changed from a to x, the second camera detector detects the first edge of the concrete sleeper at the moment, the electronic control unit predicts the installation position and the time predicted to reach the installation position according to the moving speed of the trolley and the width of the concrete sleeper until the gray matrixes collected by the first camera detector and the second camera detector are respectively equal to the gray matrix Q of the correct installation position calibrated in the electronic control unit1And Q2The same, the installation positions of the insulating gauge block and the elastic strip are determined, and the distance l for the trolley to continuously run is determined1The rear parking is stopped, and this position is defined as an initial parking position.
The technical scheme of the invention is further improved as follows: the specific steps of executing the third mechanical arm in step S5 are as follows:
1) the third mechanical arm is rotated clockwise to be vertical to the horizontal direction, the vertical distance between the tail end of the third mechanical arm and the mounting plane is the shortest, and the parking is releasedSlowly moving in the opposite direction in the vehicle state1The distance is detected by the first camera detector and the second camera detector, and when the detected gray value is within the gray value range of the correct installation position of the corresponding insulating gauge block stored in the electronic control unit, the insulating gauge block is prepared to be placed;
2) a movable sealing door at the tail end of a third mechanical arm is opened, a second telescopic grid block at the tail end of the third mechanical arm is retracted, and an insulating gauge block at the tail end falls into a gap between the embedded iron seat and the steel rail;
3) the first camera detecting instrument and the second camera detecting instrument monitor image gray values around the insulating gauge block and compare the image gray values with data stored in the electronic control unit to judge whether a gap between the insulating gauge block and the steel rail is qualified or not, if the gap is not in a qualified range, an alarm is generated, and the call is made to wait for manual checking.
The technical scheme of the invention is further improved as follows: the specific steps of executing the first robot in step S6 are as follows:
1) moving the trolley back to an initial parking position, rotating the first mechanical arm clockwise to be perpendicular to the horizontal direction, retracting the first telescopic grid block at the tail end, sliding the elastic strip at the tail end out of the first mechanical arm, and respectively positioning the section c, the section a and the section d of the elastic strip on the section c blocking body, the section a blocking body and the section d blocking body on the positioning component; the value of the pressure sensor on the surface of the positioning component is F ″, and the variation range of the value is Fmin',Fmax']If so, determining that the elastic strip is successfully positioned on the positioning component;
2) the parking state is released, and the trolley slowly moves in the reverse direction1The first mechanical arm feeds back the output torque M' of the first mechanical arm to the electronic control unit through the torque sensor, and the output torque qualified range [ M ] stored in the electronic control unit1',M2']Performing comparison, when M is belonged to [ M ∈1',M2']Meanwhile, the first camera detector and the second camera detector detect that a part of the section b of the elastic strip enters the hole but is not fixed; if it is
Figure BDA0003169917730000091
An alarm will be generated and a call will be made to wait for manual verification;
3) the electronic control module controls the elastic strip d-section blocking body to be folded and stopped at one side of the positioning part, and the first mechanical arm rotates anticlockwise by theta1Spreading the circular hook body of the positioning component;
4) rotate the first mechanical arm clockwise by theta1The trolley continuously and slowly moves in the opposite direction until the pressure sensor judges that the circular hook body at the positioning part hooks the section a of the elastic strip, and the circular hook body applies force to the section a of the elastic strip to enable the section b of the elastic strip to gradually enter the embedded iron seat;
5) when the first camera detector and the second camera detector detect that the displacement of the section b of the elastic strip is enough to completely enter the embedded iron seat, the first camera detector and the second camera detector detect that the section a of the elastic strip generates deformation delta E (delta)1',Δ2') the electronic control unit estimates the friction coefficient u' between the elastic strip and the embedded iron seat to form an E (u)1',u2') downward buckling force F of section a of the elastic stripNWhen the mounting speed is more than 11kN, the elastic strip is qualified in mounting; if FN"≦ 11kN or friction coefficient
Figure RE-GDA0003392858590000091
An alarm will be generated and the call awaits manual verification.
The technical scheme of the invention is further improved as follows: the specific steps of executing the second mechanical arm in step S7 are as follows:
1) the first mechanical arm moves to a movable mechanism through a rail and is used for fixing the fixed position of the first mechanical arm when the elastic strip is disassembled and assembled, and the second mechanical arm moves to the position of the original first mechanical arm through the rail;
2) the telescopic column at the tail end of the second mechanical arm extends out, the second mechanical arm rotates anticlockwise, and the elastic strip is ejected out of the hole of the embedded iron seat by means of the telescopic column;
3) the output torque T' of the second mechanical arm is fed back to the electronic control unit through the torque sensor, and is in a qualified range [ T ] stored in the electronic control unit1',T2']Comparing, if T ∈ [ T ]1',T2']If so, the working condition is positiveFrequently; if it is
Figure BDA0003169917730000101
And generating an alarm, calling for waiting for manual checking, and finally finishing the disassembly by combining the feedback of the first camera detector and the second camera detector on the gray value identification of the ejected and dropped elastic strip image.
Due to the adoption of the technical scheme, the invention has the technical progress that:
1. the mounting and dismounting processes of the elastic strip III type fastener are completed automatically, no manual participation is needed, and the labor is saved; the installation speed is stable and efficient, and the installation quality can be ensured
2. According to the invention, through real-time closed-loop control of the sensor and the electronic control unit and relearning of possible abnormal conditions in the installation process, the force and the moment of the actuator can be accurately controlled, and the extreme conditions such as flying or falling of elastic strips are fundamentally reduced;
3. the invention has high precision measurement and positioning, and can carry out measurement, positioning, installation and disassembly on the elastic strip and the insulating gauge block by depending on the sensor and the electronic control unit, so that the precision can be ensured;
4. the mounting and dismounting device for the elastic strip III type fastener has the functions of adapting to the environment and re-learning, and can have reliable mounting effect for different working environments;
5. the state of the elastic strip in the installation process is converted into specific physical quantities such as gray values, distances, forces, moments, friction coefficient estimation and the like, the state of the elastic strip in each installation is monitored and relearned, and the installation effect is ensured;
6. the abnormal data of the invention during working can be recorded in the electronic control unit, which provides valuable data for the later fault diagnosis.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a robotic arm of the present invention;
FIG. 3 is a schematic view of the working area of a robotic arm of the present invention;
FIG. 4 is a schematic view of a third robot arm according to the present invention in a fully loaded state;
FIG. 5 is a schematic diagram of a first robot in a fully loaded state according to the present invention;
FIG. 6 is a schematic illustration of the structure of the spring strip of the present invention;
FIG. 7 is a schematic representation of the insulated gage block conveyor configuration of the present invention;
FIG. 8 is a cross-sectional view of the spring band conveyor of the present invention;
FIG. 9 is an elevation view of a positioning member of the present invention;
FIG. 10 is a side view of a positioning member of the present invention;
FIG. 11 is a view of the camera probe view of the present invention;
fig. 12 is a spring bar mounting diagram of the present invention;
fig. 13 is a force diagram of the present invention for disassembling the spring strips;
the device comprises a trolley 1, a trolley 2, a movable mechanism 3, a first mechanical arm 4, a second mechanical arm 5, a third mechanical arm 6, a stop dog 7, an insulating gauge block 8, an elastic strip 9, a sealing door 10, an elastic strip conveying belt 11, an insulating gauge block conveying belt 12, a baffle plate 13, a telescopic column 14, a first camera detector 15, a second camera detector 16, a first telescopic grid stop dog 17, a second telescopic grid stop dog 18, a positioning component 18-1, a section c stop block 18-2, a section a stop block 18-3, a section d stop block 18-4, a circular hook body 19, a track 20, a pre-buried iron seat 21, a steel rail 22, broken stones 23 and a concrete sleeper.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
as shown in fig. 1 to 3, an intelligent mounting and dismounting device for a spring bar iii type fastener comprises a trolley 1 arranged above a steel rail 21, an electronic control unit is arranged inside the trolley 1, a movable mechanism 2 is movably arranged on the trolley 1, part of the movable mechanism 2 horizontally extends out of the trolley 1, a torsion motor for controlling the rotation of the movable mechanism 2 is arranged inside the trolley 1, a third mechanical arm 5 for mounting an insulating gauge block 7, a first mechanical arm 3 for mounting a spring bar 8 and a second mechanical arm 4 for dismounting the spring bar 8 are respectively and rotatably connected to the movable mechanism 2 extending out of the trolley 1 through spherical joints, a track 19 is arranged on the movable mechanism 2 between the first mechanical arm 3 and the second mechanical arm 4, and a fixed position for fixing the first mechanical arm 3 when dismounting the spring bar 8 is further arranged on the movable mechanism 2, the joint of the first mechanical arm 3, the second mechanical arm 4, the third mechanical arm 5 and the movable mechanism 2 is provided with a motor, the rotation center of the first mechanical arm 3 is provided with a rotation angle sensor, the joint of the first mechanical arm 3, the second mechanical arm 4 and the motor is provided with a torque sensor, the first mechanical arm 3 is internally provided with a plurality of first telescopic grid stoppers 16 for supporting elastic strips 8, the tail end of the first mechanical arm 3 is provided with a movable sealing door 9, the full load state of the first mechanical arm 3 is shown in figure 5, the tail end of the first mechanical arm 3 is provided with a positioning part 18, as shown in figure 6, the elastic strips 8 are sequentially formed by integrating a section c, a section a, a section d and a section b, as shown in figures 9 to 10, the positioning part 18 is respectively provided with a section c blocking body 18-1, a section blocking body 18-2 and a section d blocking body 18-3, an electronic control module is arranged in the d-section blocking body 18-3 and controls the d-section blocking body 18-3 to fold or contract, a pressure sensor is arranged on the surface of the positioning component 18, and a circular hook body 18-4 used for hooking the elastic strip 8 is arranged in the positioning component 18.
A plurality of second telescopic check blocks 17 for supporting the insulating gauge blocks 7 are arranged in the third mechanical arm 5, a movable sealing door 9 is arranged at the tail end of the third mechanical arm 5, and the third mechanical arm 5 is in a full-load state as shown in fig. 4.
1 top both sides of dolly are embedded respectively to have bullet strip conveyer belt 10 and insulating gauge block conveyer belt 11, and bullet strip conveyer belt 10 and ordinary drive belt difference lie in: the elastic strip conveyor belt 10 is a rubber conveyor belt, the section of the rubber conveyor belt is shown in fig. 8, and in order to better convey the elastic strips 8, the height of the left side of the elastic strip conveyor belt 10 is higher than that of the right side of the elastic strip conveyor belt when viewed from the side. As shown in fig. 7, a plurality of evenly distributed stop blocks 6 are arranged on the insulating gauge block conveyor belt 11, the stop blocks 6 are connected with the conveyor belt through bolts, and the gap between every two stop blocks is the thickness of the thin side of the insulating gauge block 7.
The elastic strip conveying belt 10 and the first mechanical arm 3 and the insulating gauge block conveying belt 11 and the third mechanical arm 5 are connected through a baffle 12, a telescopic column 13 for ejecting the elastic strip 8 is arranged at the tail end of the second mechanical arm 4, a first camera detector 14 and a second camera detector 15 which take the movable mechanism 2 as a center are fixedly arranged on two sides of the lower portion of the trolley 1 respectively, and visual angle images of the first camera detector 14 and the second camera detector 15 are shown in fig. 11.
The using method comprises the following steps: the use method of the intelligent mounting and dismounting device for the elastic strip III type fastener is as follows:
step S1, in order to realize more accurate measurement and positioning of the target, the intelligent mounting and dismounting device of the elastic strip III type fastener is provided with a high-performance single chip microcomputer as a core control unit (ECU) of the whole device, and the ECU is responded to input the relevant qualified data range values of the intelligent mounting and dismounting of the elastic strip III type fastener in the invention and stored in a flash module (power-down storage) in the process of designing and manufacturing the automatic fastener mounting device.
The relevant factory qualification data includes:
1) the electronic control unit prestores image identification gray values of the broken stones 22, the concrete sleepers 23 and the embedded iron seats 20 detected by the first camera detector 14 and the second camera detector 15: image identification gray value a E [ a ] of rubble 221,a2]The image recognition gray value x ∈ [ x ] of the concrete sleeper 231,x2]The image identification gray value y of the pre-buried iron seat 20 belongs to [ y ∈ [)1,y2]；
When the detection range of the first camera detector 14 or the second camera detector 15 completely covers the broken stone 22, the concrete sleeper 23 and the embedded iron seat 20, the image recognition gray level matrix is a formula Q, and when the mounting and dismounting device of the elastic strip III type fastener is in the correct mounting position, the image recognition gray level matrix of the broken stone 22, the concrete sleeper 23 and the embedded iron seat 20 of the first camera detector 14 is a formula Q1The image recognition gray level matrix of the broken stone 22, the concrete sleeper 23 and the embedded iron seat 20 of the second camera detector 15 is shown as a formula Q2Shown;
when the first camera detector 14 and the second camera detector 15 do not detect the concrete sleeper 23 and the embedded ironImage recognition gray matrix at the seat 20 as formula Q3Shown;
Figure BDA0003169917730000141
Figure BDA0003169917730000142
Figure BDA0003169917730000151
Figure BDA0003169917730000152
the normal gap width of the insulating gauge block 7 and the steel rail 21 is xi1Taking into account possible fluctuations, i.e. ξ1∈[ξmin,ξmax]；
2) The elastic strip 8 slides from the first mechanical arm 3 as required and is positioned on the c-section baffle 18-1, the a-section baffle 18-2 and the d-section baffle 18-3 of the positioning component 18, and the numerical value change range [ F ] of the numerical value F of the pressure sensormin,Fmax]And finally a value F tending to stabilizesWhen the elastic strip 8 is installed on the first mechanical arm 3, the formula of the output torque M of the first mechanical arm 3 is as follows:
M＝O1×L1，
wherein, O1Applying a force perpendicular to the first mechanical arm to the section a of the elastic strip by the first mechanical arm, L1The effective length of the first arm is taken into account, and possible fluctuations are taken into account, i.e. M e [ M ∈ [ ]1,M2]。
3) Determining a rotation angle theta required by the first mechanical arm 3 in the installation process according to a rotation angle sensor installed at the rotation center of the first mechanical arm 3;
4) the deformation of the section of the elastic strip 8a is detected by the first camera detector 14 and the second camera detector 15Δ∈(Δ1,Δ2) The spring strip 8 mounting stress diagram is as shown in fig. 12, the downward buckling force F of the section of the spring strip 8aNSnap force FNThe relationship with the amount of deformation Δ is:
FN＝KΔ，
Δ＝11.5·λ，
wherein K is an elastic coefficient, and lambda is a displacement coefficient; when F is presentNWhen the thickness is more than 11kN, the fastener is installed qualified;
5) according to the force F of the first mechanical arm 3 to the elastic strip 8 obtained by the torque sensor1＝O1，
F1·cos∠o-μ·FN＝ma，
Wherein u is the friction coefficient between the elastic strip and the embedded iron seat, m is the mass of the elastic strip, and a is the acceleration of the elastic strip;
because the acceleration a of the elastic strip is small and can be ignored, therefore:
Figure BDA0003169917730000161
the electronic control unit calculates to obtain the buckling pressure of the elastic strip after the installation
Figure BDA0003169917730000162
The friction coefficient u between the elastic strip and the embedded iron seat belongs to (u)1,u2)；
6) As shown in fig. 13, the formula of the output torque T of the second mechanical arm 4 is as follows:
T＝O2×L2，
wherein, O2Force applied to the end of section b of the spring by the second arm, L2Is the effective length of the second mechanical arm; and taking into account possible fluctuations, i.e. T e T1,T2]。
Step S2, manually controlling the trolley 1 to park and stop at the correct installation positions of the insulating gauge block 7 and the elastic strip 8, recording relevant data of the elastic strip III type fastener installation and disassembly device during first working, and updating and replacing relevant factory passing data range values prestored in the electronic control unit; the method comprises the following specific steps:
1) calibrating image identification gray values of the broken stones 22, the concrete sleepers 23 and the embedded iron seats 20 in the electronic control unit: the first camera detector 14 and the second camera detector 15 process the image recognition gray values of the broken stone 22, the concrete sleeper 23 and the embedded iron seat 20 to obtain the maximum value and the minimum value of the collected gray values, and update the image recognition gray values of the broken stone 22, the concrete sleeper 23 and the embedded iron seat 20 which are stored in the first camera detector 14 and the second camera detector 15 in advance: a is an element of [ a ]1',a2']、 x∈[x1',x2']、y∈[y1',y2']；
Manually controlling the trolley 1 to travel over two concrete sleepers 23, the electronic control unit calibrating the distance between the two edges of the first concrete sleeper 23 and the distance between the second edge of the first concrete sleeper 23 and the first edge of the second concrete sleeper 23;
2) manually executing the third mechanical arm 5, and manually adjusting the effective length of the third mechanical arm 5 according to the installation requirement, so as to ensure that the vertical distance between the tail end of the third mechanical arm 5 and the installation plane is the closest when the third mechanical arm 5 is perpendicular to the horizontal direction, after the third mechanical arm 5 places the insulating track gauge block 7, the insulating track gauge block 7 is correctly placed at the gap between the embedded iron seat 20 and the steel rail 21, and the position gray data of the insulating track gauge block is calibrated and is matched with the matrix Q1And matrix Q2Comparing the normal gap width xi of the insulating gauge block 7 and the steel rail 211Calibrating the fluctuation range of the data, and updating the data;
3) artificially executing the first mechanical arm 3, and artificially adjusting the effective length of the first mechanical arm 3 according to installation requirements, thereby ensuring that when the first mechanical arm 3 is vertical to the horizontal direction, the vertical distance between the tail end of the first mechanical arm 3 and an installation plane is the closest, the elastic strip 8 slides from the first mechanical arm 3 as required, and is positioned on the c-section baffle body 18-1, the a-section baffle body 18-2 and the d-section baffle body 18-3 of the positioning part 18, and the numerical value change range [ F ] of the numerical value F' of the pressure sensormin',Fmax']And finally a value F tending to stabilizeS', the firstWhen the elastic strip 8 is arranged on one mechanical arm 3, the first mechanical arm applies a force O vertical to the first mechanical arm to the section of the elastic strip 8a1', the first mechanical arm 3 outputs a moment M', M 'is belonged to [ M' ]1',M2']In the whole installation process, the deformation amount delta' of the elastic strip 8a section detected by the first camera detector 14 and the second camera detector 15 is generated, and the buckling pressure F of the elastic strip 8 after the installation is finishedN', and estimating the friction coefficient mu' between the elastic strip 8 and the pre-buried iron seat 20, comparing the numerical value and the variation range with the numerical value and the range pre-stored in the electronic control unit respectively, and updating data;
4) the elastic strip 8 is disassembled, and the second mechanical arm 4 applies force O to the tail end of the section 8b of the elastic strip2', the output torque T ', T ' e [ T ] of the second robot arm 41',T2']And comparing the numerical value and the variation range with the numerical value and the range prestored in the electronic control unit respectively, and updating data.
Step S3, before the elastic strip III type fastener mounting and dismounting device starts to work, a worker sequentially places a plurality of elastic strips 8 and a plurality of insulating track gauge blocks 7 on an elastic strip conveyor belt 10 and an insulating track gauge block conveyor belt 11 respectively, the elastic strip conveyor belt 10 conveys the elastic strips 8 into a first mechanical arm 3, the insulating track gauge block conveyor belt 11 conveys the insulating track gauge blocks 7 into a third mechanical arm 5, and after a baffle 12 loosens the first mechanical arm 3 and the third mechanical arm 5, the first mechanical arm 3 and the third mechanical arm 5 close a space;
step S4, starting the trolley 1 to automatically run from the initial position, and automatically determining the installation positions of the insulating gauge block 7 and the elastic strip 8; the method comprises the following specific steps:
1) starting the automatic running of the trolley 1 from the initial position when the image recognition gray matrix Q of the first camera detector 141(1,16)-Q1(6,16) when the gray value of the six pixel points changes from a to x, the first camera detector 14 detects the first edge of the concrete sleeper 23, and the image recognition gray matrix Q of the second camera detector 15 is obtained along with the uniform deceleration running of the trolley 12(1,16)-Q2(6,16) when the gray value of the six pixel points changes from a to x, the second camera detector 15 detects the first edge of the concrete sleeper 23, and electricity is suppliedThe sub-control unit predicts the installation position and the time predicted to reach the installation position according to the moving speed of the trolley 1 and the width of the concrete sleeper 23 until the gray matrixes collected by the first camera detector 14 and the second camera detector 15 are respectively equal to the gray matrix Q of the correct installation position calibrated in the electronic control unit1And Q2In the same way, the installation positions of the insulating track gauge block 7 and the elastic strip 8 are determined, and the trolley 1 continues to run for a distance l1The rear parking is stopped, and this position is defined as an initial parking position.
Step S5, executing a third mechanical arm 5, and placing an insulating gauge block 7 at the gap between the embedded iron seat 20 and the steel rail 21; the method comprises the following specific steps:
1) rotating the third mechanical arm 5 clockwise to be vertical to the horizontal direction, enabling the vertical distance between the tail end of the third mechanical arm 5 and the installation plane to be the shortest, releasing the parking state, and slowly moving the third mechanical arm in the opposite direction1The distance is detected by the first camera detector 14 and the second camera detector 15, and when the detected gray value is within the gray value range which is stored in the electronic control unit and corresponds to the correct installation position of the insulating gauge block 7, the insulating gauge block 7 is ready to be placed;
2) the movable sealing door 9 at the tail end of the third mechanical arm 5 is opened, the second retractable check block 17 at the tail end of the third mechanical arm 5 retracts, and the insulating gauge block 7 at the tail end falls into the gap between the embedded iron seat 20 and the steel rail 21;
3) the first camera detector 14 and the second camera detector 15 monitor the gray value of the image around the insulating gauge block 7 and compare the gray value with the data stored in the electronic control unit to judge whether the gap between the insulating gauge block 7 and the steel rail 21 is qualified, and if the gap is not in the qualified range, an alarm is generated and the call is waited for manual checking.
Step S6, executing the first mechanical arm 3, and installing the elastic strip 8 in the embedded iron seat 20; the method comprises the following specific steps:
1) moving the trolley 1 back to the initial parking position, rotating the first mechanical arm 3 clockwise to be vertical to the horizontal direction, retracting the first telescopic check block 16 at the tail end, sliding the elastic strip 8 at the tail end out of the first mechanical arm 3, and respectively positioning the section c, the section a and the section d of the elastic strip 8 at the positioning part18 on the c section baffle 18-1, the a section baffle 18-2 and the d section baffle 18-3; the value of the pressure sensor on the surface of the positioning member 18 is changed within the range of [ Fmin',Fmax']If so, determining that the elastic strip 8 is successfully positioned on the positioning component 18;
2) the parking state is released, and the trolley 1 slowly moves in the reverse direction1The first mechanical arm 3 feeds back the output torque M' of the first mechanical arm 3 to the electronic control unit through the torque sensor, and the output torque qualified range [ M ] stored in the electronic control unit1',M2']Performing comparison, when M is belonged to [ M ∈1',M2']Meanwhile, the first camera detector 14 and the second camera detector 15 detect that a part of the section of the elastic strip 8b enters the hole but is not fixed; if it is
Figure BDA0003169917730000201
An alarm will be generated and a call will be made to wait for manual verification;
3) the electronic control module controls the elastic strip 8d section blocking body 18-3 to be folded and stopped at one side of the positioning component 18, and the first mechanical arm 3 rotates anticlockwise by theta1Spreading the circular hook body 18-4 of the positioning component 18;
4) rotate the first arm 3 clockwise by theta1The trolley 1 continues to slowly move in the opposite direction until the pressure sensor judges that the round hook body 18-4 at the positioning part 18 hooks the elastic strip 8a section, and the round hook body 18-4 applies force to the elastic strip 8a section to enable the elastic strip 8b section to gradually enter the embedded iron seat 20;
5) when the first camera detector 14 and the second camera detector 15 detect that the displacement of the section of the bullet 8b is enough to completely enter the embedded iron seat 20, the first camera detector 14 and the second camera detector 15 detect that the section of the bullet 8a generates deformation delta E (delta E)1',Δ2') estimating the friction coefficient u' between the elastic strip III type fastener and the embedded iron seat by the electronic control unit to form an E (u)1',u2') downward buckling force F of section 8a of the elastic stripNWhen the mounting speed is more than 11kN, the elastic strip 8 is qualified in mounting; if FN"≦ 11kN or friction coefficient
Figure BDA0003169917730000202
An alarm will be generated and the call awaits manual verification.
Step S7, if the elastic strip 8 is to be detached, the second mechanical arm 4 is executed to eject the elastic strip 8 out of the hole of the pre-buried iron seat 20, and the detachment is completed, and the specific steps are as follows:
1) the first mechanical arm 3 moves to the movable mechanism 2 through a track to fix the fixed position of the first mechanical arm 3 when the elastic strip 8 is disassembled and assembled, and the second mechanical arm 4 moves to the position of the original first mechanical arm 3 through the track;
2) the telescopic column 13 at the tail end of the second mechanical arm 4 extends out, the second mechanical arm 4 rotates anticlockwise, and the elastic strip 8 is ejected out of the hole of the embedded iron seat 20 by means of the telescopic column 13;
3) the output torque T' of the second mechanical arm 4 is fed back to the electronic control unit through the torque sensor, and is in a qualified range [ T ] stored in the electronic control unit1',T2']Comparing, if T ∈ [ T ]1',T2']If so, indicating that the working condition is normal; if it is
Figure BDA0003169917730000211
An alarm is generated, calling is waited for manual checking, and finally the disassembly is finished by combining the feedback of the first camera detector 14 and the second camera detector 15 to the identification of the grey value of the image of the ejected and dropped bullet strip 8.
In the whole installation and disassembly process, the abnormal data encountered by the elastic strip III type fastener installation and disassembly device in the normal working process are recorded in the ECU, and valuable data are provided for the later-stage fault diagnosis.

Claims (10)

1. The utility model provides an intelligence installation and dismounting device of III type fasteners of bullet strip which characterized in that: the steel rail elastic strip disassembling machine is characterized by comprising a trolley (1) arranged above a steel rail (21), wherein a movable mechanism (2) is arranged on the trolley (1), part of the movable mechanism (2) horizontally extends out of the trolley (1), a torsion motor for controlling the movable mechanism (2) to rotate is arranged in the trolley (1), a third mechanical arm (5) used for installing an insulating gauge block (7), a first mechanical arm (3) used for installing an elastic strip (8) and a second mechanical arm (4) used for disassembling the elastic strip (8) are respectively and rotatably connected onto the movable mechanism (2) extending out of the trolley (1) through spherical joints, a track (19) is arranged on the movable mechanism (2) between the first mechanical arm (3) and the second mechanical arm (4), a fixed position for fixing the first mechanical arm (3) when the elastic strip (8) is disassembled and disassembled is further arranged on the movable mechanism (2), and the first mechanical arm (3), The connection parts of the second mechanical arm (4) and the third mechanical arm (5) and the movable mechanism (2) are all provided with motors, a plurality of elastic strips (8) are contained in the first mechanical arm (3), the tail end of the first mechanical arm (3) is provided with a positioning part (18), a plurality of insulating track gauge blocks (7) are contained in the third mechanical arm (5), the tail ends of the first mechanical arm (3) and the third mechanical arm (5) are respectively provided with a movable sealing door (9), an elastic strip conveying belt (10) and an insulating track gauge block conveying belt (11) are respectively embedded in two sides above the trolley (1), the elastic strip conveying belt (10) and the first mechanical arm (3) and the insulating track gauge block conveying belt (11) and the third mechanical arm (5) are connected through a baffle (12), and the tail end of the second mechanical arm (4) is provided with a telescopic column (13) ejecting the elastic strips (8), a first camera detector (14) and a second camera detector (15) which take the movable mechanism (2) as a center are respectively and fixedly arranged on two sides of the lower portion of the trolley (1), and an electronic control unit is arranged in the trolley (1).
2. The intelligent mounting and dismounting device of the elastic strip III type fastener according to claim 1, characterized in that: the device is characterized in that a corner sensor is installed at the rotating center of the first mechanical arm (3), torque sensors are installed at the connecting positions of the first mechanical arm (3) and the second mechanical arm (4) and the motor, a plurality of first telescopic grid check blocks (16) for supporting elastic strips (8) are arranged in the first mechanical arm (3), and a plurality of second telescopic grid check blocks (17) for supporting insulating track gauge blocks (7) are arranged in the third mechanical arm (5).
3. The intelligent mounting and dismounting device of the elastic strip III type fastener according to claim 1, characterized in that: the elastic strip (8) is formed by integrating a section c, a section a, a section d and a section b in sequence, a section c blocking body (18-1), a section a blocking body (18-2) and a section d blocking body (18-3) are arranged on the positioning component (18) respectively, an electronic control module is arranged in the section d blocking body (18-3) and controls the section d blocking body (18-3) to be folded or contracted, a pressure sensor is arranged on the surface of the positioning component (18), and a circular hook body (18-4) used for hooking the elastic strip (8) is arranged in the positioning component (18).
4. An intelligent mounting and dismounting method for an elastic strip III type fastener is characterized in that: the method comprises the following steps:
step S1, installing and detaching a device related to factory passing data range value of the device by the built-in elastic strip type III fastener of the electronic control unit;
s2, manually controlling the trolley (1) to stop at the correct installation positions of the insulating gauge block (7) and the elastic strip (8), recording relevant data of the installation and disassembly device of the elastic strip III type fastener during first working, and updating and replacing relevant factory-passing qualified data range values prestored in the electronic control unit;
step S3, before the elastic strip III type fastener mounting and dismounting device starts to work, a worker places a plurality of elastic strips (8) and a plurality of insulating track gauge blocks (7) on an elastic strip conveyor belt (10) and an insulating track gauge block conveyor belt (11) respectively in sequence, the elastic strip conveyor belt (10) conveys the elastic strips (8) into a first mechanical arm (3), the insulating track gauge block conveyor belt (11) conveys the insulating track gauge blocks (7) into a third mechanical arm (5), and after a baffle (12) loosens the first mechanical arm (3) and the third mechanical arm (5), the first mechanical arm (3) and the third mechanical arm (5) close a space;
step S4, starting the trolley (1) to automatically run from the initial position, and automatically determining the installation positions of the insulation gauge block (7) and the elastic strip (8);
step S5, executing a third mechanical arm (5), and placing an insulating gauge block (7) at the gap between the embedded iron seat (20) and the steel rail (21);
s6, executing a first mechanical arm (3), and installing the elastic strip (8) in the embedded iron seat (20);
and step S7, if the elastic strip (8) needs to be disassembled, executing a second mechanical arm (4), and ejecting the elastic strip (8) from the hole of the embedded iron seat (20) to finish the disassembly.
5. The intelligent mounting and dismounting method of the elastic strip III type fastener according to claim 4, characterized in that: the factory passing data related to the mounting and dismounting device for the elastic bar type III fastener built in the electronic control unit in the step S1 includes:
1) the electronic control unit prestores image identification gray values of the broken stones (22), the concrete sleepers (23) and the embedded iron seats (20) detected by the first camera detector (14) and the second camera detector (15): image recognition gray value a E [ a ] of rubble (22)1,a2]The image identification gray value x E [ x ] of the concrete sleeper (23)1,x2]The image identification gray value y of the pre-buried iron seat (20) belongs to [ y ∈ [)1,y2]；
When the detection range of the first camera detector (14) or the second camera detector (15) completely covers the broken stone (22), the concrete sleeper (23) and the embedded iron seat (20), the image recognition gray level matrix is as a formula Q, and when the mounting and dismounting device of the elastic strip III type fastener is in the correct mounting position, the image recognition gray level matrix of the broken stone (22), the concrete sleeper (23) and the embedded iron seat (20) of the first camera detector (14) is as a formula Q1The image recognition gray level matrix of the broken stone (22), the concrete sleeper (23) and the embedded iron seat (20) of the second camera detector (15) is shown as a formula Q2Shown;
when the first camera detector (14) and the second camera detector (15) do not detect the concrete sleeper (23) and the embedded iron seat (20), the image recognition gray level matrix is shown as a formula Q3Shown;
Figure FDA0003169917720000041
Figure FDA0003169917720000042
Figure FDA0003169917720000051
Figure FDA0003169917720000052
the normal gap width of the insulating gauge block (7) and the steel rail (21) is xi1Taking into account possible fluctuations, i.e. ξ1∈[ξmin,ξmax]；
2) The elastic strip (8) slides from the first mechanical arm (3) as required and is positioned on the c-section baffle body (18-1), the a-section baffle body (18-2) and the d-section baffle body (18-3) of the positioning component (18), and the numerical value change range [ F ] of the numerical value F of the pressure sensormin,Fmax]And finally a value F tending to stabilizesWhen the elastic strip (8) is installed on the first mechanical arm (3), the formula of the output torque M of the first mechanical arm (3) is as follows:
M＝O1×L1，
wherein, O1Applying a force perpendicular to the first arm (3) to the section a of the elastic strip (8) by the first arm (3), L1The effective length of the first robot arm (3) is taken into account and possible fluctuations are taken into account, i.e. M e [ M ∈ [)1,M2]。
3) Determining a rotation angle theta required by the first mechanical arm (3) in the installation process according to a rotation angle sensor installed at the rotation center of the first mechanical arm (3);
4) the deformation quantity delta epsilon (delta) of the section a of the elastic strip (8) is detected by the first camera detector (14) and the second camera detector (15)1,Δ2) The downward buckling force F of the section a of the elastic strip (8)NSnap force FNThe relationship with the amount of deformation Δ is:
FN＝KΔ，
Δ＝11.5·λ，
wherein K is an elastic coefficient, and lambda is a displacement coefficient; when F is presentNWhen the thickness is more than 11kN, the fastener is installed qualified;
5) according to the force F of the first mechanical arm (3) to the elastic strip (8) obtained by the torque sensor1＝O1，
F1·cos∠o-μ·FN＝ma，
Wherein u is the friction coefficient between the elastic strip and the embedded iron seat, m is the mass of the elastic strip, and a is the acceleration of the elastic strip;
because the acceleration a of the elastic strip is small and can be ignored, therefore:
Figure FDA0003169917720000061
the electronic control unit calculates the buckling pressure of the elastic strip (8) after the installation
Figure FDA0003169917720000062
The friction coefficient u between the elastic strip (8) and the embedded iron seat (20) belongs to the element (u)1,u2)；
6) The elastic strip (8) is disassembled, and the formula of the output torque T of the second mechanical arm (4) is as follows:
T＝O2×L2，
wherein, O2For the second mechanical arm (4) to exert force on the tail end of the section b of the elastic strip (8), L2Is the effective length of the second mechanical arm (8); and taking into account possible fluctuations, i.e. T e T1,T2]。
6. The intelligent mounting and dismounting method of the elastic strip III type fastener according to claim 4, characterized in that: the specific steps of recording the relevant data of the mounting and dismounting device of the elastic strip type III fastener in the step S2 when the mounting and dismounting device works for the first time and updating and replacing the relevant factory-leaving qualified data range value prestored in the electronic control unit are as follows:
1) the first camera detector (14) and the second camera detector (15) process the image recognition gray values of the broken stone (22), the concrete sleeper (23) and the embedded iron seat (20), obtain the maximum value and the minimum value of the collected gray values, and update the image recognition gray values of the broken stone (22), the concrete sleeper (23) and the embedded iron seat (20) stored in the first camera detector (14) and the second camera detector (15) in advance: a is an element of [ a ]1',a2']、x∈[x1',x2']、y∈[y1',y2'](ii) a Manually controlling the trolley (1) to run through the two concrete sleepers (23), the electronic control unit calibrating the distance between the two edges of the first concrete sleeper (23) and the distance between the second edge of the first concrete sleeper (23) and the first edge of the second concrete sleeper (23);
2) the third mechanical arm (5) is manually executed, the effective length of the third mechanical arm (5) is manually adjusted according to installation requirements, so that when the third mechanical arm (5) is perpendicular to the horizontal direction, the vertical distance between the tail end of the third mechanical arm (5) and an installation plane is the closest, after the third mechanical arm (5) is placed with the insulating track gauge block (7), the insulating track gauge block (7) is correctly placed in the gap between the embedded iron seat (20) and the steel rail (21), the position gray data of the insulating track gauge block is calibrated, and the position gray data and the matrix Q are matched1And matrix Q2Comparing the normal gap width xi of the insulating gauge block (7) and the steel rail (21)1Calibrating the fluctuation range of the data, and updating the data;
3) artificially executing the first mechanical arm (3), and artificially adjusting the effective length of the first mechanical arm (3) according to installation requirements, thereby ensuring that when the first mechanical arm (3) is vertical to the horizontal direction, the vertical distance between the tail end of the first mechanical arm (3) and an installation plane is nearest, the elastic strip (8) slides from the first mechanical arm (3) as required, and is positioned on the c-section baffle body (18-1), the a-section baffle body (18-2) and the d-section baffle body (18-3) of the positioning part (18), and the numerical value change range [ F ] of the numerical value F' of the pressure sensormin',Fmax']And finally a value F tending to stabilizeS' when the first mechanical arm (3) is provided with the elastic strip (8), the first mechanical arm applies a force O vertical to the first mechanical arm to the section a of the elastic strip (8)1', the first mechanical arm (3) outputs a moment M ', M ' is in the middle of M1',M2']In the whole installation process, the deformation quantity delta' of the section a of the elastic strip (8) detected by the first camera detector (14) and the second camera detector (15) is generated, and the buckling pressure F of the elastic strip (8) after the installation is finishedN'and estimating the friction coefficient mu' between the elastic strip (8) and the embedded iron seat (20), comparing the numerical value and the variation range with the numerical value and the range prestored in the electronic control unit respectively, and updating data;
4) the elastic strip (8) is disassembled, and the second mechanical arm (4) is used for aligning the elastic strip (8)8) Force applied at the end of segment b2', output torque T ', T ' E [ T ] of the second mechanical arm (4)1',T2']And comparing the numerical value and the variation range with the numerical value and the range prestored in the electronic control unit respectively, and updating data.
7. The intelligent mounting and dismounting method of the elastic strip III type fastener according to claim 4, characterized in that: the specific steps of automatically determining the mounting positions of the insulating gauge block (7) and the elastic strip (8) in the step S4 are as follows:
1) starting the trolley (1) to automatically run from the initial position, and when the image of the first camera detector (14) identifies the gray matrix Q1(1,16)-Q1(6,16) when the gray value of the six pixel points is changed from a to x, the first camera detector (14) detects the first edge of the concrete sleeper (23), and the image identification gray matrix Q of the second camera detector (15) drives along with the uniform deceleration of the trolley (1)2(1,16)-Q2(6,16) when the gray values of the six pixel points are changed from a to x, the second camera detector (15) detects the first edge of the concrete sleeper (23), the electronic control unit predicts the installation position and the predicted time of arriving at the installation position according to the moving speed of the trolley (1) and the width of the concrete sleeper (23) until the gray matrixes collected by the first camera detector (14) and the second camera detector (15) and the gray matrix Q of the correct installation position calibrated in the electronic control unit are respectively1And Q2In the same way, the installation positions of the insulating track gauge block (7) and the elastic strip (8) are determined, and the trolley (1) continues to travel for a distance l1The rear parking is stopped, and this position is defined as an initial parking position.
8. The intelligent mounting and dismounting method of the elastic strip III type fastener according to claim 7, characterized in that: the specific steps of executing the third mechanical arm (5) in the step S5 are as follows:
1) rotating the third mechanical arm (5) clockwise to be vertical to the horizontal direction, enabling the vertical distance between the tail end of the third mechanical arm (5) and the mounting plane to be nearest, releasing the parking state, and slowly moving the third mechanical arm in the opposite direction1Distance, byThe first camera detector (14) and the second camera detector (15) detect, and when the detected gray value is in the gray value range which is stored in the electronic control unit and corresponds to the correct installation position of the insulating gauge block (7), the insulating gauge block (7) is prepared to be placed;
2) a movable sealing door (9) at the tail end of the third mechanical arm (5) is opened, a second telescopic check block (17) at the tail end of the third mechanical arm (5) retracts, and the insulating gauge block (7) at the tail end falls into a gap between the embedded iron seat (20) and the steel rail (21);
3) the first camera detector (14) and the second camera detector (15) monitor image gray values around the insulating gauge block (7) and compare the image gray values with data stored in the electronic control unit to judge whether a gap between the insulating gauge block (7) and the steel rail (21) is qualified or not, if the gap is not in a qualified range, an alarm is generated, and the call is made to wait for manual inspection.
9. The intelligent mounting and dismounting method of the elastic strip III type fastener according to claim 8, characterized in that: the specific step of executing the first robot arm (3) in step S6 is:
1) moving the trolley (1) back to an initial parking position, rotating the first mechanical arm (3) clockwise to be perpendicular to the horizontal direction, retracting the first retractable grid stop block (16) at the tail end, sliding the elastic strip (8) at the tail end out of the first mechanical arm (3), and respectively positioning the section c, the section a and the section d of the elastic strip (8) on the section c stop body (18-1), the section a stop body (18-2) and the section d stop body (18-3) on the positioning part (18); the value of the pressure sensor on the surface of the positioning component (18) is changed within the range of [ F ]min',Fmax']If so, determining that the elastic strip (8) is successfully positioned on the positioning part (18);
2) the parking state is released, and the trolley (1) slowly moves in the reverse direction1The first mechanical arm (3) feeds back the output torque M' of the first mechanical arm (3) to the electronic control unit through the torque sensor, and the output torque is in a qualified range [ M ] stored in the electronic control unit1',M2']Performing comparison, when M is belonged to [ M ∈1',M2']And the first camera detector (14) and the second camera detector (15) detect the section b of the elastic strip (8)A portion enters the hole but is not yet fixed; if it is
Figure FDA0003169917720000102
An alarm will be generated and a call will be made to wait for manual verification;
3) the electronic control module controls the d section of the blocking body (18-3) of the elastic strip (8) to be folded and stopped at one side of the positioning component (18), and the first mechanical arm (3) rotates anticlockwise by theta1Spreading the circular hook body (18-4) of the positioning component (18);
4) rotate the first mechanical arm (3) clockwise by theta1The trolley (1) continues to slowly move in the opposite direction until the pressure sensor judges that the circular hook body (18-4) at the positioning part (18) hooks the section a of the elastic strip (8), and the circular hook body (18-4) applies force to the section a of the elastic strip (8) to enable the section b of the elastic strip (8) to gradually enter the embedded iron seat (20);
5) when the first camera detector (14) and the second camera detector (15) detect that the displacement of the section b of the elastic strip (8) is enough to completely enter the embedded iron seat (20), the first camera detector (14) and the second camera detector (15) detect that the section a of the elastic strip (8) generates deformation delta epsilon (delta)1',Δ2') the electronic control unit estimates the friction coefficient u' E (u) between the elastic strip (8) and the embedded iron seat (20)1',u2') downward fastening force F of section a of the elastic strip (8)NWhen the mounting is more than 11kN, the elastic strip (8) is qualified in mounting; if FN"≦ 11kN or friction coefficient
Figure FDA0003169917720000101
An alarm will be generated and the call awaits manual verification.
10. The intelligent mounting and dismounting method of the elastic strip III type fastener according to claim 4, characterized in that: the specific steps of executing the second mechanical arm (4) in the step S7 are as follows:
1) the first mechanical arm (3) moves to the movable mechanism (2) through the rail and is used for fixing the fixed position of the first mechanical arm (3) when the elastic strip (8) is disassembled and assembled, and the second mechanical arm (4) moves to the position of the original first mechanical arm (3) through the rail;
2) the telescopic column (13) at the tail end of the second mechanical arm (4) extends out, the second mechanical arm (4) rotates anticlockwise, and the elastic strip (8) is ejected out of the hole of the embedded iron seat (20) by means of the telescopic column (13);
3) the output torque T' of the second mechanical arm (4) is fed back to the electronic control unit through a torque sensor, and is in accordance with a qualified range [ T ] stored in the electronic control unit1',T2']Comparing, if T ∈ [ T ]1',T2']If so, indicating that the working condition is normal; if it is
Figure FDA0003169917720000111
And generating an alarm, calling for manual checking, and finally finishing the disassembly by combining the feedback of the first camera detector (14) and the second camera detector (15) to the identification of the image gray value of the ejected and dropped elastic strip (8).
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