CN116890196B - Railway wagon underframe clamping and overturning system based on machine vision - Google Patents
Railway wagon underframe clamping and overturning system based on machine vision Download PDFInfo
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- CN116890196B CN116890196B CN202310848839.XA CN202310848839A CN116890196B CN 116890196 B CN116890196 B CN 116890196B CN 202310848839 A CN202310848839 A CN 202310848839A CN 116890196 B CN116890196 B CN 116890196B
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- 230000008569 process Effects 0.000 claims abstract description 23
- 230000007306 turnover Effects 0.000 claims abstract description 22
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- 238000013519 translation Methods 0.000 claims description 16
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention discloses a railway wagon underframe clamping and overturning system based on machine vision, and belongs to the technical field of railway scrapped carriage disassembly. The invention comprises two clamping and turning devices, a machine vision control system, a transportation rail and an RGV rail car, wherein the two clamping and turning devices are arranged at two sides of a turning station, each clamping and turning device comprises a clamping unit and a turning unit, and each clamping unit comprises a connecting disc. The clamping and turning device can automatically center, clamp and turn over 180 degrees for the railway wagon underframe with different models, and effectively improves the clamping stability and adaptability in the turning process. The machine vision control system can realize closed-loop control on the positioning of the underframe, the RGV railcar and the clamping and turning device, has small accumulated error in the moving process, can control the automatic operation of the whole system, effectively improves the positioning precision, the production efficiency and the safety, and is also suitable for an automatic production line of an intelligent factory.
Description
Technical Field
The invention relates to the technical field of disassembly of railway scrapped carriages, in particular to a railway wagon underframe clamping and overturning system based on machine vision.
Background
With the development of railway technology, more than twenty thousand railway wagons need to be scrapped each year, the scrapped railway wagons need to be disassembled, wherein the chassis overturning is one of the key processes, the railway wagons have the chassis weight of 7-8 tons, the length of 12.5-13 meters and the width of 2.8-2.9 meters, the railway wagons have the characteristics that the structure is special, the upper part is a flat plate structure, the lower part is a section steel structure, the chassis is disassembled from the upper part, the process is difficult to implement, the chassis needs to be overturned for 180 degrees and then is cut and disassembled, however, at present, the chassis needs to be manually clamped, and the jigs need to be repeatedly adjusted for the chassis with different sizes, so that the labor intensity of workers is high and the safety is low; different workers have obvious clamping effect differences, so that the clamping stability and adaptability are poor, and the production quality cannot be ensured; the whole clamping and overturning process depends on manual operation of various clamps and overturning machines, and the production efficiency is low; the traditional method for positioning the underframe and the turnover machine by the photoelectric sensor is easy to accumulate more errors in the moving process, belongs to open loop control, has poor positioning precision, and cannot be suitable for automatic production of intelligent factories.
In order to solve the problems, the inventor provides a railway wagon underframe clamping and overturning system based on machine vision, wherein the clamping and overturning device can automatically center, clamp and overturn 180 degrees for underframes of different models, clamping stability and adaptability in the overturning process are effectively improved, the machine vision control system can realize closed-loop control for positioning of the underframe, the RGV railcar and the clamping and overturning device, accumulated errors in the moving process are small, automatic operation of the whole system can be controlled, positioning accuracy, production efficiency and safety are effectively improved, and the railway wagon underframe clamping and overturning system is applicable to an automatic production line of an intelligent factory.
Disclosure of Invention
The invention aims to provide a railway wagon underframe clamping and overturning system based on machine vision, which solves the following technical problems: at present, the turnover of the underframe is manually clamped, and the clamp is repeatedly adjusted for underframes with different sizes, so that the labor intensity of workers is high and the safety is low; different workers have obvious clamping effect differences, so that the clamping stability and adaptability are poor, and the production quality cannot be ensured; the whole clamping and overturning process depends on manual operation of various clamps and overturning machines, and the production efficiency is low; the traditional method for positioning the underframe and the turnover machine by the photoelectric sensor is easy to accumulate more errors in the moving process, belongs to open loop control, has poor positioning precision, and cannot be suitable for automatic production of intelligent factories.
The aim of the invention can be achieved by the following technical scheme:
the rail wagon underframe clamping and turning system based on machine vision comprises clamping and turning devices, a machine vision control system, a conveying rail and an RGV rail car, wherein the two clamping and turning devices are arranged on two sides of a turning station.
As a further scheme of the invention: the clamping and overturning device comprises a clamping unit and an overturning unit;
the clamping unit comprises a connecting disc, a clamping base, a support column, a hydraulic cylinder, clamping arms, first speed reducing motors, double-rotation screws, bearing seats, screw nuts, a clamping platform, clamping sliders, clamping sliding rails and centering clamping blocks, wherein the clamping base is fixedly connected with the middle of the connecting disc, the clamping base is of a rectangular welding frame structure, a rectangular opening is formed in the front of the clamping base, a round opening is formed in the rear of the clamping base, the connecting disc is fixedly connected in the round opening through welding, a plurality of rib plates are respectively arranged on the upper side and the lower side of the clamping base and are fixedly connected with the connecting disc through welding, four square supports are symmetrically and fixedly connected above and below the clamping base, the supporting columns are fixedly connected on the square supports, the supporting columns are of a quadrangular structure, a plurality of rib plates are arranged on the four circumferences of the supporting columns, the inner sides of the supporting columns are hinged with the hydraulic cylinders, the other ends of the hydraulic cylinders are hinged with the clamping arms, the clamping arms are of rectangular structures, circular arc-shaped protrusions are arranged below the clamping arms, the surfaces of the clamping arms are hinged with wear-resistant rubbers, the left side of the clamping base is fixedly connected with the first speed reducing motors, the first speed reducing motors are fixedly connected with the first speed reducing motors, the four square supports are symmetrically connected with the screw nuts, the two-rotation screws are fixedly connected with the clamping sliders, the two-rotation screws are fixedly connected with the clamping blocks, the two-rotation screws are fixedly connected with the screw nuts, the two-rotation guide screw frames are fixedly connected with the upper side and fixedly connected with the screw frames, the clamping blocks, the clamping frames are fixedly connected with the four sides and the opposite, and the two sides are fixedly connected with the four sides and fixedly and screwed on the opposite sides, and the opposite. The centering clamping block is of a right trapezoid structure, and the clamping surface of the centering clamping block is provided with wear-resistant rubber;
the turnover unit comprises a supporting frame, a supporting bottom plate, a rotary supporting bearing, a pinion, a second reducing motor, a third reducing motor, a gear, a rack, translation sliding rails and translation sliding blocks, wherein the supporting frame is of a hollow square welding frame structure, the front end of the supporting frame is fixedly connected with the inner ring of the rotary supporting bearing, the pinion is meshed with the outer ring of the rotary supporting bearing, the pinion is fixedly connected onto an output shaft of the second reducing motor, the second reducing motor is fixedly connected inside the supporting frame, the bottom of the supporting frame is provided with the supporting bottom plate, the third reducing motor is fixedly connected onto the supporting bottom plate, the lower output shaft of the third reducing motor is fixedly connected with the gear, the gear is meshed with the rack, the rack is fixedly connected onto the rack, four translation sliding rails are fixedly connected onto the rack, two translation sliding blocks are respectively arranged on the translation sliding rails, and the upper part of the translation sliding blocks is fixedly connected onto the supporting bottom plate.
As a further scheme of the invention: the connecting disc is fixedly connected to the outer ring of the slewing bearing through bolts.
As a further scheme of the invention: the machine vision control system comprises a support rod, an image acquisition device, a computer, a PLC and a driving controller, wherein the support rod is L-shaped, the image acquisition device is fixedly connected below a cantilever end of the support rod, the image acquisition device is located above a turnover station and can acquire overlook angle image information of the whole chassis in the turnover process, the support rod is fixedly connected with the computer, the computer is used as an upper computer to conduct target recognition on the acquired image, the real-time positions of the clamping and turnover device, the RGV railcar and the chassis are obtained, the PLC is fixedly connected above the computer and used as a lower computer and used for receiving control instructions of the computer, the driving controller is fixedly connected above the PLC and comprises a first speed reduction motor controller, a second speed reduction motor controller, a third speed reduction motor controller, a hydraulic cylinder controller and an RGV railcar controller, and the driving controller receives control signals from the PLC so as to control the executing device.
As a further scheme of the invention: the transportation rail comprises a longitudinal rail and a transverse rail, the intersection of the longitudinal rail and the transverse rail is a station to be turned over, the middle positions of the two clamping and turning devices are turning over stations, and the position information of the station to be turned over and the turning over station is recorded in the computer.
As a further scheme of the invention: RGV railcar includes automobile body, lift platform, vertical wheelset, horizontal wheelset, the top of automobile body is equipped with two lift platforms, be equipped with lift cylinder in the lift platform and go up and down to the platform, the automobile body below is equipped with vertical wheelset and horizontal wheelset, horizontal wheelset passes through screw drive and connects the below of automobile body, the vertical up-and-down motion of accessible screw drive edge, vertical wheelset is used for matching vertical track, horizontal wheelset is used for matching horizontal track.
As a further scheme of the invention: the specific control method of the machine vision control system comprises the following steps:
s1, when an underframe needs to be overturned, controlling the RGV railcar to move on a longitudinal track to a station to be overturned, when the underframe approaches the station to be overturned, continuously collecting image information of the underframe by an image collecting device and transmitting the image information to a computer, calculating the distance between the current position of the underframe in the image and the station to be overturned by the computer, thereby adjusting the pulse number output by an RGV railcar controller in real time, realizing closed-loop control, adopting the same closed-loop control method for positioning control of the RGV railcar and the underframe, and stopping moving of the RGV railcar after the underframe reaches the station to be overturned;
s2, controlling a transverse wheel group of the RGV railcar to move downwards to contact with a transverse track, controlling the RGV railcar to move along the transverse track, controlling the RGV railcar to stop moving when the underframe reaches a turning station, at the moment, calculating the length and the width of the underframe according to the acquired image by a computer, then controlling a lifting platform to lift the underframe to a specific height, enabling the underframe to be positioned at a position below the effective clamping range of a clamping unit, then controlling a third reducing motor to rotate forwards simultaneously, driving a clamping and turning device to move inwards simultaneously for a corresponding distance, wherein the distance is inversely proportional to the length of the underframe, calculating the distance between the current position of the clamping and turning device and a target position in the image by the computer in the process, thereby continuously adjusting the pulse quantity output by a third reducing motor controller, the method comprises the steps of realizing closed-loop control of the position of a clamping and overturning device, controlling a first speed reducing motor to synchronously rotate forward for a period of time after the clamping and overturning device reaches a preset position, driving a centering clamping block to move towards two side surfaces of a chassis and pushing the two side surfaces to center the chassis, controlling the first speed reducing motor to synchronously rotate reversely to enable the centering clamping block to be far away from the chassis for a distance, simultaneously controlling a hydraulic cylinder to extend so as to drive a clamping arm to clamp the upper surface and the lower surface of the chassis, lifting the chassis away from a lifting platform by the clamping arm below the clamping arm in the process, controlling the first speed reducing motor to synchronously rotate forward, driving the centering clamping block to clamp the two side surfaces of the chassis, continuously outputting torque by the first speed reducing motor, and controlling an RGV rail car to return to a station to be overturned;
s3, controlling a second speed reduction motor to rotate forward simultaneously to drive the clamping unit and the underframe to rotate 180 degrees, and controlling the second speed reduction motor to stop rotating when the image acquisition device and the computer acquire and recognize that the underframe finishes 180-degree overturning;
s4, controlling the RGV railcar to return to the overturning station, controlling the first reducing motor to reversely rotate simultaneously to enable the centering clamping block to be far away from the underframe and return to the initial position, controlling the hydraulic cylinder to retract and return to the initial position, in the process, putting the underframe back on the lifting platform, controlling the clamping and overturning device to return to the initial position and controlling the second reducing motor to forwardly rotate simultaneously for 180 degrees to return to the initial position, controlling the lifting platform to descend to the initial position, controlling the RGV railcar to move to reach the station to be overturned, controlling the transverse wheel set of the RGV railcar to upwardly move away from the transverse rail, enabling the longitudinal wheel set to contact the longitudinal rail at the moment, and controlling the RGV railcar to convey the underframe to move to the next station along the longitudinal rail.
The invention has the beneficial effects that:
1. according to the railway wagon underframe clamping and overturning system based on machine vision, the first speed reducing motor drives the double-rotation-direction screw rod to rotate, so that the centering clamping block is driven to move towards the middle, and centering of the underframe is achieved; the hydraulic cylinder drives the clamping arm to clamp the upper surface and the lower surface of the underframe, and finally the centering clamping block is matched to clamp the underframe; the second reducing motor realizes 180-degree overturning of the clamping unit and the underframe through gear transmission, and the matching use of the mechanisms finally realizes automatic centering, clamping and 180-degree overturning of the underframe of the railway freight car with different models, so that the clamping stability and adaptability in the overturning process are effectively improved.
2. This railway freight car chassis clamping and tilting system based on machine vision constantly gathers image information through image acquisition device and transmits to the computer, the computer carries out target recognition with the image that gathers, obtain clamping and tilting device, RGV railcar, the real-time position of chassis, and obtain the length and the width of chassis, can realize closed-loop control to chassis, RGV railcar, clamping and tilting device's location according to above information machine vision control system, the error of moving in-process accumulation is less, can control the automatic operation of entire system, positioning accuracy has effectively been improved, production efficiency and security, make it adapt to intelligent factory's automated production line.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the bottom structure of the chassis;
FIG. 3 is a schematic view of a clamping and turning device according to the present invention;
FIG. 4 is a schematic view of the structure of the clamping unit of the present invention;
FIG. 5 is a schematic view of the back structure of the clamping unit of the present invention;
FIG. 6 is a schematic diagram of a turnover unit according to the present invention;
FIG. 7 is a rear partial cross-sectional view of the flipping unit of the present invention;
FIG. 8 is a schematic diagram of a machine vision control system according to the present invention;
FIG. 9 is a schematic view of a transportation rail structure according to the present invention;
FIG. 10 is a schematic diagram of an RGV railcar structure of the present invention;
FIG. 11 is a schematic diagram of the relevant components of the machine vision control system of the present invention;
FIG. 12 is a schematic diagram of the flipping process of the present invention;
FIG. 13 is a control flow diagram of a machine vision control system of the present invention.
In the figure: 1. clamping and overturning devices; 2. a machine vision control system; 3. a transport rail; 4. RGV rail car; 5. a chassis; 11. clamping units; 12. a turnover unit; 1101. a connecting disc; 1102. clamping a base; 1103. a support; 1104. a support column; 1105. a hydraulic cylinder; 1106. a clamping arm; 1107. a first reduction motor; 1108. a double-rotation-direction screw rod; 1109. a bearing seat; 1110. a lead screw nut; 1111. a clamping platform; 1112. clamping a sliding block; 1113. clamping the sliding rail; 1114. centering clamping blocks; 1201. a support frame; 12011. a support base plate; 1202. a slewing bearing; 1203. a pinion gear; 1204. a second reduction motor; 1205. a third reduction motor; 1206. a gear; 1207. a rack; 1208. a frame; 1209. translating the slide rail; 1210. a translation slider; 21. a support rod; 22. an image acquisition device; 23. a computer; 24. a PLC; 25. a drive controller; 31. a longitudinal rail; 32. a transverse rail; 41. a vehicle body; 42. a lifting platform; 43. a longitudinal wheel set; 44. and a transverse wheel set.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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 be within the scope of the invention.
Referring to fig. 1-13, the invention discloses a railway wagon underframe clamping and turning system based on machine vision, which comprises two clamping and turning devices 1, a machine vision control system 2, a transportation rail 3 and an RGV rail car 4, wherein the two clamping and turning devices 1 are arranged on two sides of a turning station.
The clamping and overturning device 1 comprises a clamping unit 11 and an overturning unit 12;
wherein the clamping unit 11 comprises a connecting disc 1101, a clamping base 1102, a support 1103, a support column 1104, a hydraulic cylinder 1105, a clamping arm 1106, a first speed reducing motor 1107, a double-rotation screw 1108, a bearing seat 1109, a screw nut 1110, a clamping platform 1111, a clamping slider 1112, a clamping slide rail 1113 and a centering clamping block 1114, wherein the middle part of the connecting disc 1101 is fixedly connected with the clamping base 1102, the clamping base 1102 is of a rectangular welding frame structure, the front part of the clamping base 1102 is provided with a rectangular opening, the rear part of the clamping base 1102 is provided with a circular opening, the connecting disc 1101 is fixedly connected in the circular opening through welding, the upper side and the lower side of the clamping base 1102 are respectively provided with a plurality of rib plates, the rib plates are fixedly connected with the connecting disc 1101 through welding, four square supports 1103 are symmetrically and fixedly connected above and below the clamping base 1102, the support column 1104 is fixedly connected on the square support 1103, the support column 1104 is of a quadrangular structure, a plurality of rib plates are arranged around the square support column 1104, the inner side of the support column 1104 is hinged with a hydraulic cylinder 1105, the other end of the hydraulic cylinder 1105 is hinged with a clamping arm 1106, the lower part of the clamping arm 1106 is provided with a circular arc-shaped bulge, the surface of the clamping arm is provided with wear-resistant rubber, the right end of the clamping arm is hinged below the support column 1104, the left side of the clamping base 1102 is fixedly connected with a first speed reduction motor 1107, the first speed reduction motor 1107 is a torque motor, the output shaft of the first speed reduction motor 1107 is fixedly connected with a double-rotation-direction screw rod 1108, the double-rotation-direction screw rod 1108 is provided with two sections of trapezoidal threads with opposite rotation directions, the double-rotation-direction screw rod 1108 is supported by three groups of bearing seats 1109 fixedly connected in the clamping base 1102, the thread shaft sections of the double-rotation-direction screw rod 1108 are all in transmission connection with screw nuts 1110, the screw nuts 1110 are fixedly connected with a clamping platform 1111, the rear side of the clamping platform 1111 is fixedly connected with four clamping sliders 1112, the clamping slider 1112 is located on a clamping slide rail 1113, the clamping slide rail 1113 is fixedly connected to the front end surface of the clamping base 1102, the clamping platform 1111 is fixedly connected with a centering clamp block 1114, the centering clamp block 1114 is in a right trapezoid structure, and the clamping surface of the centering clamp block 1114 is provided with wear-resistant rubber;
the turnover unit 12 includes a support frame 1201, a support bottom plate 12011, a rotary support bearing 1202, a pinion 1203, a second reducing motor 1204, a third reducing motor 1205, a gear 1206, a rack 1207, a machine frame 1208, a translation sliding rail 1209, and a translation sliding block 1210, where the support frame 1201 is a hollow square welding frame structure, the front end of the support frame 1201 is fixedly connected with the inner ring of the rotary support bearing 1202, the outer ring of the rotary support bearing 1202 is meshed with the pinion 1203, the pinion 1203 is fixedly connected to the output shaft of the second reducing motor 1204, the second reducing motor 1204 is fixedly connected to the support frame 1201, the bottom of the support frame 1201 is provided with the support bottom plate 12011, the third reducing motor 1205 is fixedly connected to the support bottom plate 12011, the lower output shaft of the third reducing motor 1205 is fixedly connected with the gear 1206, the gear 1206 is meshed with the rack 1207, the rack 1207 is fixedly connected to the machine frame 1208, four translation sliding rails 1209 are fixedly connected to the machine frame 1208, each translation sliding rail 1209 is fixedly connected to the two translation sliding blocks 1210.
The connecting disc 1101 is fixedly connected to the outer ring of the slewing bearing 1202 through bolts.
The machine vision control system 2 comprises a support rod 21, an image acquisition device 22, a computer 23, a PLC24 and a driving controller 25, wherein the support rod 21 is L-shaped, the image acquisition device 22 is fixedly connected below a cantilever end of the support rod, the image acquisition device 22 is positioned above a turnover station and can acquire overlook angle image information of the whole turnover process of the underframe 5, the computer 23 is fixedly connected on the support rod 21, the computer 23 is used as an upper computer to perform target recognition on acquired images to obtain real-time positions of the clamping and turnover device 1, the RGV railcar 4 and the underframe 5, the PLC24 is fixedly connected above the computer 23 and used as a lower computer to receive control instructions of the computer 23, the driving controller 25 is fixedly connected above the PLC24 and comprises a first speed reduction motor controller, a second speed reduction motor controller, a third speed reduction motor controller, a hydraulic cylinder controller and an RGV railcar controller, and the driving controller 25 is used for receiving control signals from the PLC24 so as to execute the upper control device.
The transportation rail 3 comprises a longitudinal rail 31 and a transverse rail 32, the intersection of the longitudinal rail 31 and the transverse rail 32 is a station to be turned over, the middle position of the two clamping and turning devices 1 is a turning over station, and the position information of the station to be turned over and the turning over station is recorded in the computer 23.
RGV railcar 4 includes automobile body 41, lift platform 42, vertical wheelset 43, horizontal wheelset 44, the top of automobile body 41 is equipped with two lift platform 42, be equipped with lift cylinder in the lift platform 42 and go up and down the platform, the automobile body 41 below is equipped with vertical wheelset 43 and horizontal wheelset 44, horizontal wheelset 44 passes through screw drive and connects the below of automobile body 41, and the vertical direction up-and-down motion is followed to the accessible screw drive, vertical wheelset 43 is used for matching vertical track 31, horizontal wheelset 44 is used for matching horizontal track 32.
The specific control method of the machine vision control system 2 comprises the following steps:
s1, when the underframe 5 needs to be overturned, controlling the RGV railcar 4 to transport the underframe 5 to move on a longitudinal track 31 to a station to be overturned, when the underframe 5 approaches the station to be overturned, continuously collecting image information of the underframe 5 by the image collecting device 22 and transmitting the image information to the computer 23, calculating the distance between the current position of the underframe 5 in the image and the station to be overturned by the computer 23, thereby adjusting the pulse quantity output by the RGV railcar controller in real time, realizing closed-loop control, and adopting the same closed-loop control method for the positioning control of the RGV railcar 4 and the underframe 5, wherein the RGV railcar 4 stops moving after the underframe 5 reaches the station to be overturned;
s2, controlling the transverse wheel groups 44 of the RGV railcar 4 to move downwards to contact the transverse rails 32, controlling the RGV railcar 4 to move along the transverse rails 32, controlling the RGV railcar 4 to stop moving when the underframe 5 reaches the overturning station, at this time, calculating the length and width of the underframe 5 according to the acquired images by the computer 23, then controlling the lifting platform 42 to lift the underframe 5 to a specific height, enabling the underframe 5 to be positioned below the effective clamping range of the clamping unit 11, then controlling the third reducing motor 1205 to rotate forwards simultaneously, driving the clamping and overturning device 1 to move inwards simultaneously by a corresponding distance inversely proportional to the length of the underframe 5, calculating the distance between the current position of the clamping and overturning device 1 and the target position in the images by the computer 23, continuously adjusting the pulse number output by the third reducing motor controller, after the clamping and turning device 1 reaches a preset position, the first speed reducing motor 1107 is controlled to rotate forward for a period of time simultaneously, the centering clamping block 1114 is driven to move towards two side surfaces of the underframe 5 and push the two side surfaces to center the underframe 5, then the first speed reducing motor 1107 is controlled to rotate reversely simultaneously, the centering clamping block 1114 is far away from the underframe 5 for a certain distance, then the hydraulic cylinder 1105 is controlled to extend simultaneously, the clamping arm 1106 is driven to clamp the upper surface and the lower surface of the underframe 5, in the process, the underframe 5 is lifted away from the lifting platform 42 by the clamping arm 1106 below the clamping arm 1106, then the first speed reducing motor 1107 is controlled to rotate forward simultaneously, the centering clamping block 1114 is driven to clamp the two side surfaces of the underframe 5, then the first speed reducing motor 1107 continuously outputs torque, and then the RGV railcar 4 is controlled to return to a station to be turned;
s3, controlling a second deceleration motor 1204 to rotate forward simultaneously to drive the clamping unit 11 and the underframe 5 to rotate 180 degrees, and controlling the second deceleration motor 1204 to stop rotating when the image acquisition device 22 and the computer 23 acquire and recognize that the underframe 5 finishes 180-degree overturning;
s4, controlling the RGV railcar 4 to return to the turning station, then controlling the first decelerating motor 1107 to reversely rotate simultaneously so as to enable the centering clamping block 1114 to be far away from the underframe 5 and return to the initial position, controlling the hydraulic cylinder 1105 to retract and return to the initial position, in the process, enabling the underframe 5 to be placed on the lifting platform 42, then controlling the clamping and turning device 1 to return to the initial position and controlling the second decelerating motor 1204 to synchronously positively rotate 180 degrees and return to the initial posture, then controlling the lifting platform 42 to descend to the initial position, controlling the RGV railcar 4 to move to reach the station to be turned, then controlling the transverse wheelset 44 of the RGV railcar 4 to upwards move away from the transverse track 32, enabling the longitudinal wheelset 43 to contact the longitudinal track 31, and then controlling the RGV railcar 4 to convey the underframe 5 to move along the longitudinal track 31 to the next station.
The working principle of the invention is as follows: when the clamping and turning device 1 starts to work, the underframe 5 is lifted to a position below the effective clamping range of the clamping unit 11, the third reducing motor 1205 rotates positively to drive the gear 1206 to rotate, the gear 1206 is meshed with the rack 1207, so that the supporting frame 1201 is driven to move towards the underframe 5 on the translational sliding rail 1209, after the position is reached, the first reducing motor 1107 rotates positively to drive the double-rotation screw 1108 to rotate, the double-rotation screw 1108 drives the screw nut 1110 to move towards two side surfaces of the underframe 5, the screw nut 1110 drives the clamping platform 1111 and the centering clamping block 1114 to move towards two side surfaces of the underframe 5, the first reducing motor 1107 is a torque motor, so that the centering clamping block 1114 can still continuously output thrust after contacting the two side surfaces of the underframe 5 to realize centering towards the horizontal direction of the underframe 5, then the first reducing motor 1107 rotates reversely, the centering clamp block 1114 is far away from two side surfaces of the underframe 5 by a certain distance, then the hydraulic cylinder 1105 stretches to drive the clamp arm 1106 to rotate around a hinge point to the upper surface and the lower surface of the underframe 5, in the process, the underframe 5 is lifted away from the RGV railcar 4 by the clamp arm 1106 below the underframe 5 and is clamped in the middle in the vertical direction, then the first reducing motor 1107 positively rotates to drive the centering clamp block 1114 to contact the two side surfaces of the underframe 5 and continuously output thrust, the centering clamp of the underframe 5 in the horizontal direction is realized, then the RGV railcar 4 returns to a station to be turned, the second reducing motor 1204 positively rotates to drive the pinion 1203 to rotate, and the pinion 1203 drives the outer ring of the slewing bearing 1202 to rotate 180 degrees, so that the clamping unit 11 and the underframe 5 are driven to rotate 180 degrees.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (3)
1. The railway wagon underframe clamping and overturning system based on machine vision comprises a clamping and overturning device (1), a machine vision control system (2), a conveying rail (3) and an RGV rail car (4), and is characterized in that the two clamping and overturning devices (1) are arranged on two sides of an overturning station;
the clamping and overturning device (1) comprises a clamping unit (11) and an overturning unit (12);
wherein the clamping unit (11) comprises a connecting disc (1101), a clamping base (1102), a support (1103), a support column (1104), a hydraulic cylinder (1105), a clamping arm (1106), a first speed reduction motor (1107), a double-rotation-direction screw rod (1108), a bearing seat (1109), a screw nut (1110), a clamping platform (1111), a clamping sliding block (1112), a clamping sliding rail (1113) and a centering clamping block (1114), the middle part of the connecting disc (1101) is fixedly connected with the clamping base (1102), the clamping base (1102) is of a rectangular welding frame structure, a rectangular opening is arranged in the front of the clamping base (1102), a round opening is arranged at the rear of the clamping base, the connecting disc (1101) is fixedly connected in the round opening through welding, a plurality of ribs are respectively arranged on the upper side and the lower side of the clamping base (1102), the upper side and the lower side of the clamping base (1102) are symmetrically fixedly connected with four square supports (1103), the square supports (1103) are fixedly connected with the support column (1106), the support column (1104) is of a quadrangular structure, the inner side of the square supports (1104) is provided with a rectangular welding frame structure, the square ribs (1104) are fixedly connected with the hydraulic cylinder (1106) is provided with a circular arc-shaped clamping boss (1105), the hydraulic cylinder (1105) is provided with a wear-resistant surface, the right end of the clamping base (1102) is hinged below the supporting column (1104), a first speed reduction motor (1107) is fixedly connected to the left side of the clamping base (1102), the first speed reduction motor (1107) is a torque motor, an output shaft of the first speed reduction motor (1107) is fixedly connected with a double-rotation-direction screw rod (1108), two sections of trapezoid threads with opposite rotation directions are arranged on the double-rotation-direction screw rod (1108), the double-rotation-direction screw rod (1108) is supported by three groups of bearing seats (1109) fixedly connected in the clamping base (1102), screw nuts (1110) are respectively connected to threaded shaft sections of the double-rotation-direction screw rod (1108) in a transmission mode, a clamping platform (1111) is fixedly connected to the screw nuts (1110), four clamping sliding blocks (1112) are fixedly connected to the rear side of the clamping platform (1111), the clamping sliding blocks (1112) are located on a clamping sliding rail (1113), the clamping sliding rail (1113) is fixedly connected to the front end face of the clamping base (1102), a centering block (1114) is fixedly connected to the clamping platform (1111), and the centering block (1114) is of a right-angle trapezoid rubber structure;
wherein the turnover unit (12) comprises a supporting frame (1201), a supporting bottom plate (12011), a rotary supporting bearing (1202), a pinion (1203), a second reducing motor (1204), a third reducing motor (1205), a gear (1206), a rack (1207), a stand (1208), a translation sliding rail (1205) and a translation sliding block (1210), the supporting frame (1201) is of a hollow square welding frame structure, the front end of the supporting frame (1201) is fixedly connected with the inner ring of the rotary supporting bearing (1202), the pinion (1203) is meshed with the outer ring of the rotary supporting bearing (1202), the pinion (1203) is fixedly connected to the output shaft of the second reducing motor (1204), the second reducing motor (1204) is fixedly connected to the inside of the supporting frame (1201), the bottom of the supporting frame (1201) is provided with the supporting bottom plate (12011), the lower output shaft of the third reducing motor (1205) is fixedly connected with the gear (1206), the gear (1208) is meshed with the rack (1208) and the rack (1207) is fixedly connected with the stand (1209) on the translation sliding block (1209), the upper part of the translation sliding block (1210) is fixedly connected with the supporting bottom plate (12011);
the machine vision control system (2) comprises a supporting rod (21), an image acquisition device (22), a computer (23), a PLC (24) and a driving controller (25), wherein the supporting rod (21) is L-shaped, the lower part of a cantilever end of the supporting rod is fixedly connected with the image acquisition device (22), the image acquisition device (22) is positioned above a turnover station and can acquire overlook angle image information of the whole chassis (5) in the turnover process, the supporting rod (21) is fixedly connected with the computer (23), the computer (23) is used as an upper computer, the acquired image is subjected to target recognition to obtain real-time positions of the clamping and turnover device (1), the RGV railcar (4) and the chassis (5), the PLC (24) is fixedly connected with the upper part of the computer (23) and is used as a lower computer, the driving controller (25) is fixedly connected with the upper part of the PLC (24) and is used for receiving control instructions of the computer (23), and the driving controller (25) comprises a first speed reducing motor controller, a second speed reducing motor controller, a third speed reducing motor controller, a hydraulic motor controller and a hydraulic controller (24) and a driving cylinder (RGcontroller) which are used for receiving signals from the PLC (25);
the conveying rail (3) comprises a longitudinal rail (31) and a transverse rail (32), the intersection of the longitudinal rail (31) and the transverse rail (32) is a station to be turned, the middle positions of the two clamping and turning devices (1) are turning stations, and the position information of the station to be turned and the turning station is recorded in the computer (23);
RGV railcar (4) include automobile body (41), lift platform (42), vertical wheelset (43) and horizontal wheelset (44), the top of automobile body (41) is equipped with two lift platform (42), be equipped with lift cylinder in lift platform (42) and go up and down the platform, automobile body (41) below is equipped with vertical wheelset (43) and horizontal wheelset (44), horizontal wheelset (44) are in through screw drive connection the below of automobile body (41), accessible screw drive is followed vertical direction up-and-down motion, vertical wheelset (43) are used for matching vertical track (31), horizontal wheelset (44) are used for matching horizontal track (32).
2. The machine vision-based railway wagon undercarriage clamping and turning system of claim 1, wherein the connecting disc (1101) is fixedly connected to an outer ring of the slewing bearing (1202) through bolts.
3. The railway wagon underframe clamping and overturning system based on machine vision according to claim 1, wherein the specific control method of the machine vision control system (2) comprises the following steps:
s1, when an underframe (5) needs to be overturned, controlling an RGV railcar (4) to convey the underframe (5) to move on a longitudinal track (31) to a station to be overturned, when the underframe (5) approaches the station to be overturned, continuously collecting image information of the underframe (5) by an image collecting device (22) and transmitting the image information to a computer (23), calculating the distance between the current position of the underframe (5) in the image and the station to be overturned by the computer (23), thereby adjusting the pulse quantity output by the RGV railcar controller in real time, realizing closed-loop control, and adopting the same closed-loop control method for positioning control of the RGV railcar (4) and the underframe (5), wherein the RGV railcar (4) stops moving after the underframe (5) reaches the station to be overturned;
s2, controlling a transverse wheel group (44) of the RGV railcar (4) to move downwards to contact with the transverse track (32), controlling the RGV railcar (4) to move inwards along the transverse track (32), controlling the RGV railcar (4) to stop moving when the underframe (5) reaches a turnover station, calculating the length and the width of the underframe (5) according to acquired images by a computer (23), then controlling a lifting platform (42) to lift the underframe (5) to a specific height, enabling the underframe (5) to be positioned at a position below an effective clamping range of a clamping unit (11), then controlling a third deceleration motor (1205) to rotate forwards simultaneously, driving a clamping and turnover device (1) to move inwards by a corresponding distance inversely proportional to the length of the underframe (5), continuously adjusting the distance between the current position of the clamping and turnover device (1) and a target position in an image by the computer (23), realizing closed-loop control of the position of the clamping and turnover device (1), driving the clamping and the deceleration motor (1) to reach the preset position, driving the deceleration motor (1114) to move to the two sides of the underframe (5) simultaneously, then, the first reducing motor (1107) is controlled to reversely rotate at the same time to enable the centering clamping block (1114) to be far away from the underframe (5) for a certain distance, then, the hydraulic cylinder (1105) is controlled to stretch at the same time to drive the clamping arms (1106) to clamp the upper surface and the lower surface of the underframe (5), in the process, the underframe (5) can be lifted away from the lifting platform (42) by the clamping arms (1106) below the underframe, then, the first reducing motor (1107) is controlled to synchronously rotate to drive the centering clamping block (1114) to clamp the two side surfaces of the underframe (5), then, the first reducing motor (1107) continuously outputs torque, and then, the RGV railcar (4) is controlled to return to a station to be overturned;
s3, controlling a second deceleration motor (1204) to rotate forward to drive the clamping unit (11) and the underframe (5) to rotate 180 degrees, and controlling the second deceleration motor (1204) to stop rotating when the image acquisition device (22) and the computer (23) acquire and identify that the underframe (5) finishes 180-degree overturning;
s4, controlling the RGV railcar (4) to return to the overturning station, then controlling the first decelerating motor (1107) to reversely rotate simultaneously so as to enable the centering clamping block (1114) to be far away from the underframe (5) and return to the initial position, controlling the hydraulic cylinder (1105) to retract and return to the initial position, in the process, enabling the underframe (5) to be placed back on the lifting platform (42), then controlling the clamping and overturning device (1) to return to the initial position and controlling the second decelerating motor (1204) to synchronously positively rotate 180 degrees and return to the initial posture, then controlling the lifting platform (42) to descend to the initial position, controlling the RGV railcar (4) to move to reach the station to be overturned, then controlling the transverse wheelset (44) of the RGV railcar (4) to upwards move away from the transverse track (32), enabling the longitudinal wheelset (43) to contact the longitudinal track (31), and then controlling the RGV railcar (4) to convey the underframe (5) to move to the next station along the longitudinal track (31).
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| CN112388373A (en) * | 2020-09-11 | 2021-02-23 | 中铁物总资源科技有限公司 | Automatic overturning method for railway scrapped vehicle carriage underframe |
| CN218891839U (en) * | 2022-10-21 | 2023-04-21 | 山东聚金龙汽车发展有限公司 | Hub placement and fixation device for automobile maintenance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102012007563B3 (en) * | 2012-04-10 | 2013-05-29 | Salzgitter Mannesmann Line Pipe Gmbh | Apparatus for joining the ends of steel pipes by orbital welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208867134U (en) * | 2018-09-12 | 2019-05-17 | 南京思鼎利数控科技有限公司 | The turnover fixture of three-dimensional measuring instrument |
| KR101963239B1 (en) * | 2018-10-11 | 2019-03-28 | (주)티오피에스 | Turn-over jig |
| CN110238575A (en) * | 2019-06-14 | 2019-09-17 | 温州大学激光与光电智能制造研究院 | Visualize autonomous welding robot |
| CN112388373A (en) * | 2020-09-11 | 2021-02-23 | 中铁物总资源科技有限公司 | Automatic overturning method for railway scrapped vehicle carriage underframe |
| CN218891839U (en) * | 2022-10-21 | 2023-04-21 | 山东聚金龙汽车发展有限公司 | Hub placement and fixation device for automobile maintenance |
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