Invention content
(1) technical problems to be solved
The first object of the present invention is：The easy to operate, high degree of automation of one kind is provided and rail clip can be effectively improvedThe railway intelligence fastener of installation effectiveness and installation quality installs the fastener installation method of mechanical arm, the installation lacked with existing fastenerMode has that input cost is high, efficiency is low and poor quality ensures.
The second object of the present invention is：A kind of simple structure and reasonable design, high degree of automation are provided and can be effectively improvedThe railway intelligence fastener of rail clip installation effectiveness and installation quality installs mechanical arm, to solve the installation side of existing fastener missingFormula has that input cost is high, efficiency is low and poor quality ensures.
(2) technical solution
In order to solve the above-mentioned technical problem, on the one hand, the present invention provides a kind of railway intelligence fasteners to install mechanical armFastener installation method, including：
The location information of fastener missing and/or fastener loosening is calculated according to the image information of the railroad track of acquisition；
The first installation steps are executed according to the location information that the fastener lacks, and/or are loosened according to the fastenerLocation information execute the second installation steps；
First installation steps include：According to the location information that the fastener lacks, successively by fastener and fastenerIt is placed at the position of the fastener missing；And the fastener is tightened by torque wrench, the fastener is fixedly mountedOn the railroad track；
Second installation steps include：According to the location information that the fastener loosens, by torque wrench to being set toFastener on the fastener of the loosening is fastened.
According to the preferred of above-mentioned technical proposal, the image information of the railroad track according to acquisition is calculated fastener and lacksThe location information that mistake and fastener loosen, including：
The image information of the railroad track of the acquisition is converted into cloud information；
The point cloud information being converted to is compared with pre-stored railroad track point cloud information, obtains fastener missingAnd the point cloud information that fastener loosens；
The location information of the fastener missing is obtained according to the point cloud information of fastener missing, and according to fastener pineDynamic point cloud information obtains the location information of the fastener missing.
According to the preferred of above-mentioned technical proposal, the location information of fastener described in basis missing is successively by fastener and tightFirmware is placed at the position of the fastener missing, including：
The mechanical arm carries out the path planning of operating system according to the location information that the fastener lacks, and described in utilizationFastener and fastener are placed at the position of the fastener missing by the path planning of operating system successively.
According to the preferred of above-mentioned technical proposal, the path planning of the operating system includes operation movement circuit, movement sideTo and movement speed.
According to the preferred of above-mentioned technical proposal, further include：
Reset process, when the torque sensor on the torque wrench detects that the torque wrench reaches defaultAfter torque value, reset notification signal is sent out；Reset operation is carried out to mechanical arm after receiving the reset notification signal so that instituteIt states mechanical arm and is back to original position.
On the other hand, the present invention also provides a kind of railway intelligence fastener fitting machines of the fastener installation method described in applicationTool arm, including mechanical arm body, the mechanical arm body include：
The arm body of Telescopic rotary；
Clamping device is set to the end of the arm body, for picking and placeing fastener, fastener and torque wrench；
Image collecting device corresponds to the clamping device and is set on the arm body, the image for acquiring railroad trackInformation；
Controller is connect with the arm body, clamping device, torque wrench and image collecting device respectively；
The controller controls the arm body according to the image information of the collected railroad track of described image harvesterAnd clamping device the fastener, fastener are placed at the position of fastener missing and control the torque wrench tighten it is described tightThe fastener is fixedly mounted on the railroad track by firmware；And/or the control torque wrench is to being set to the looseningFastener on fastener fastened.
According to the preferred of above-mentioned technical proposal, the controller includes：
Fastener missing and/or button is calculated in location position module, the image information for the railroad track according to acquisitionThe location information that part loosens；
Judgment module, the location information for being lacked according to the fastener execute the first installation steps, and/or according to instituteThe location information that the fastener stated loosens executes the second installation steps；
First installation module, the location information for being lacked according to the fastener successively place fastener and fastenerAt the position lacked to the fastener；And the fastener is tightened by torque wrench, the fastener is fixedly mounted on instituteIt states on railroad track；
Second installation module, the location information for being loosened according to the fastener are described to being set to by torque wrenchFastener on the fastener of loosening is fastened.
Further, further include the torque sensor being set on the torque wrench according to the preferred of above-mentioned technical proposal.
According to the preferred of above-mentioned technical proposal, described image harvester includes camera sensor or camera.
According to the preferred of above-mentioned technical proposal, the fastener includes bolt, nut or screw.
(3) advantageous effect
The above-mentioned technical proposal of the present invention has the following advantages that：
The present invention provides the fastener installation methods that a kind of railway intelligence fastener installs mechanical arm, including：According to acquisitionThe location information that fastener missing is calculated in the image information of railroad track and/or fastener loosens；According to fastener missing positionConfidence breath execute the first installation steps, and/or according to fastener loosen location information execute the second installation steps；First installationStep includes：According to fastener missing location information, successively by fastener and fastener be placed into fastener missing position at；AndBy torque wrench tightening fastener parts, fastener is fixedly mounted on the railroad track；Second installation steps include：According to buttonThe location information that part loosens, fastens the fastener on the fastener of loosening by torque wrench.According to collectedThe image information of railroad track and a large amount of machine learning can accurately judge what rail clip missing and/or fastener loosenedFastener and fastener are sequentially placed the position of fastener missing and are fastened by torque wrench by position, and/or by the button of looseningPart is tightened, and to realize automation Fast Installation and the fastening of rail clip, one side installation effectiveness is high and can effectively ensure that fastenerInstallation quality, substantially increase the efficiency of urban rail transit construction, be also conducive to ensure the safety of urban rail transit construction；Another partyFace substantially reduces artificial input, effectively reduces installation cost, good economy performance.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present inventionIn attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment isA part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill peopleThe every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that railway intelligence fastener installation mechanical arm provided by the invention can be mounted on rail vehicle or track rowSail on platform so that rail vehicle or rail running platform can be moved with mechanical arm along the trend of rail, in order intoThe installation exercise of row fastener.
On the one hand, as shown in Figure 1, an embodiment of the present invention provides the fastener peaces that a kind of railway intelligence fastener installs mechanical armDress method, including：
Step S1, the position of fastener missing and/or fastener loosening is calculated according to the image information of the railroad track of acquisitionConfidence ceases；
Specifically, mechanical arm starts, and passes through the current railroad track of the image acquisition device installed on the robotic armImage information, controller carries out processing calculating to the image information of collected railroad track, fastener missing is calculatedThe position that fastener loosens and/or.
Step S2, basis fastener missing location information execute the first installation steps, and/or according to fastener loosenLocation information executes the second installation steps；
Specifically, including three kinds of technical solutions：One, when only detect fastener missing location information when, execute firstInstallation steps；Secondly, when only detect fastener loosening location information when, execute the second installation steps；Third, when detecting buttonAfter the location information that part lacks and fastener loosens, the first installation steps and the second installation steps are executed, wherein the first installation stepsIt is not particularly limited with the sequence of the second installation steps.
Step S3, the first installation steps include：According to fastener missing location information, fastener and fastener are put successivelyAt the position for setting fastener missing；And by torque wrench tightening fastener parts, fastener is fixedly mounted on the railroad track；
Specifically, behind the position that fastener missing is calculated, control machinery arm is from rail vehicle or rail running platformFastener and fastener are taken out in entrained hopper, and fastener and fastener are sequentially placed at the position of fastener missing,In, during placement, it can ensure installation accuracy and peace by the real time information that image collecting device provides to be accurately positionedPacking quality.After being sequentially placed fastener and fastener, mechanical arm can be by gripping apparatus grips torque wrench, to pass through fasteningPart contacting piece is fastened, and then completes the installation exercise of entire fastener.
Step S4, the second installation steps include：According to fastener loosen location information, by torque wrench to being set to pineFastener on dynamic fastener is fastened.
Specifically, behind the position that fastener loosening is calculated, control machinery arm by gripping apparatus grips torque wrench,The fastener on the fastener of loosening is fastened by torque wrench, and then completes to tighten the operation for loosening fastener.
Further, fastener is after installation is complete and after the completion of fastener fastening, the installation condition of controller contacting piece and is set toThe posture of fastener on fastener is recorded and updates the data the installation condition of corresponding fastener and the posture of fastener in libraryInformation.
Use fastener installation method provided by the present application as a result, according to the image information of collected railroad track andA large amount of machine learning can accurately judge the position that rail clip missing and/or fastener loosen, successively by fastener and fastenerIt is placed into the position of fastener missing and is fastened by torque wrench, and/or the fastener of loosening is tightened, to realize rail clipFast Installation and fastening are automated, one side installation effectiveness is high and can effectively ensure that the installation quality of fastener, substantially increases railThe efficiency of road transport development is also conducive to ensure the safety of urban rail transit construction；On the other hand artificial input is substantially reduced,Effectively reduce installation cost, good economy performance.
Preferably, believe the position for fastener missing and fastener loosening being calculated according to the image information of the railroad track of acquisitionBreath, including：
The image information of the railroad track of acquisition is converted into cloud information；By the point cloud information being converted to and it is pre-storedRailroad track point cloud information compare, obtain fastener missing and fastener loosen point cloud information；The point cloud lacked according to fastenerInformation obtains the location information of fastener missing, and the point cloud information loosened according to fastener obtains the location information of fastener missing.
Wherein, point cloud information refers to that scanning data records in dots, each point includes three-dimensional coordinate, someColouring information or Reflection intensity information may be contained.
Obtaining the location information that fastener lacks according to the point cloud information of fastener missing includes：Specifically, pass through Image AcquisitionDevice acquires the image information of current railroad track, and the image collected information is converted to a cloud by controller by conversion to be believedBreath, and transformed cloud information and pre-stored railroad track point cloud information match are illustrated if it fails to match at thisFastener missing, and obtain fastener missing point cloud information, obtain immediately fastener missing location information.
The point cloud information loosened according to fastener obtains the location information that fastener lacks and includes：Specifically, pass through Image AcquisitionDevice acquires the image information of current railroad track, and the image collected information is converted to a cloud by controller by conversion to be believedBreath, and the point cloud information and the posture of pre-stored fastener of transformed fastener state are compared, if finding to change,Then illustrate that the fastener at this loosens, and obtain the point cloud information of fastener loosening, obtains the location information of fastener loosening immediately.
Preferably, according to fastener missing location information successively by fastener and fastener be placed into fastener missing positionPlace, including：Mechanical arm carries out the path planning of operating system according to the location information that fastener lacks, and utilizes the road of operating systemFastener and fastener are placed at the position of fastener missing by diameter planning successively.
Specifically, after the location information for obtaining fastener missing, the location information that controller is lacked according to fastener is to machineThe whole system coordinate of tool arm is demarcated, and carries out corresponding path planning to the operating system of mechanical arm, with accurate and effectiveAnd reliably fastener and fastener are sequentially placed on the position of fastener missing, carry out standard for the attachment fastener operation of next stepIt is standby.
Specifically, the path planning of operating system includes operation movement circuit, the direction of motion and movement speed.In this realityIt applies in example, a variety of Considerations of controller synthesis, planning picks and places the path of fastener and fastener, with quick, precisely and effectivelyFastener and fastener are placed on the position of fastener missing.Wherein, a variety of Considerations may include the rotary extension of mechanical armMaximum actuation range and the mechanical arm whole system when picking and placeing action structural stability etc..
It is further preferred that fastener installation method further includes：Step S5, reset process, when on torque wrenchAfter torque sensor detects that torque wrench reaches predetermined torque value, reset notification signal is sent out；Receive reset notification signalReset operation is carried out to mechanical arm afterwards so that mechanical arm is back to original position.
Specifically, after confirming placement fastener and fastener, the intelligent torque wrench make-up of controller control machinery arm clampingPart is fastened, intelligent torque wrench preset in advance prefastening torque value, after reaching predetermined torque value, intelligent torque wrench fromDynamic to stop and send feedback reset notification signal to controller, control machinery arm returns original after controller receives reset notification signalWork to terminate whole installation process, and is ready in position for fastener installation exercise next time.
As shown in Figures 2 to 5, on the other hand, the present invention also provides a kind of iron using the fastener installation methodRoad intelligence fastener installs mechanical arm, is mounted on rail vehicle 2 or rail running platform, including mechanical arm body 1, mechanical arm sheetBody 1 includes：
The arm body 1-1 of Telescopic rotary, for picking and placeing fastener 4, fastener 5, and fastener 4 and fastener 5 is defeated successivelyIt send to the position for the fastener missing known, i.e. at fastener installation site 3-1；Wherein, the arm body 1-1 of Telescopic rotary includesLateral Telescopic rotary mechanism, longitudinal Telescopic rotary mechanism and vertical Telescopic rotary mechanism, in order to which arm body 1-1 can be applicable inIn executing different action commands, lacked to which fastener 4 and fastener 5 are precisely and rapidly placed on the fastener known successivelyOn the position of mistake.
Clamping device 1-2 is set to the end of arm body 1-1, for picking and placeing fastener 4, fastener 5 and torque wrench；Specifically,For ease of picking and placeing component not of the same race, clamping device 1-2 may include dedicated for clamping fastener, the clamping jaw of fastener and convenient for assembly and disassemblyThe fast interface of torque wrench, in favor of ensuring being smoothed out for fastener installation process.
Image collecting device 1-3 corresponds to clamping device 1-2 and is set on arm body 1-1, the figure for acquiring railroad track 3As information；Specifically, image collecting device 1-3 is mounted on arm body 1-1, and specific installation site is only needed to meet and be acquired currentlyThe condition of the image information of railroad track 3.Wherein, image collecting device 1-3 can be by being clamped or being bonded or be threadedly coupledIt is fixed on arm body 1-1 etc. any mode, so that image collecting device 1-3 can steadily and reliably acquire image information.
Controller is connect with arm body 1-1, clamping device 1-2, torque wrench and image collecting device 1-3 respectively；ControllerAccording to the image information of the collected railroad tracks of image collecting device 1-3 3, control arm body 1-1 and clamping device 1-2 will be detainedPart, fastener are placed at the position of fastener missing and control mode spanner tightening fastener parts, and fastener is fixedly mounted on ironOn rail road 3, and then to realize the automation Fast Installation of rail clip；And/or control mode spanner is to the button set on looseningFastener on part is fastened, to realize the terminal operation to loosening fastener.
Wherein, it when the fastener for detecting that railroad track 3 is set on fastener 4 is in loosening state 5-2, is turned round by controllingSquare spanner fastens the fastener 5 on the fastener of loosening, so that fastener is in tight condition 5-1, and shouldThe posture of fastener on fastener is recorded and updates the data the posture information of corresponding fastener in library.
Mechanical arm, simple in structure, reasonable design are installed using railway intelligence fastener provided by the present application, on the one hand installation is imitatedRate is high and can effectively ensure that the installation quality of fastener, substantially increases the efficiency of urban rail transit construction, is also conducive to ensure that track is handed overThe logical safety built；On the other hand artificial input is substantially reduced, effectively reduces installation cost, good economy performance.
Specifically, controller includes：
Fastener missing and/or button is calculated in location position module, the image information for the railroad track 3 according to acquisitionThe location information that part loosens；Mechanical arm starts, and current railway is acquired by the image collecting device 1-3 installed on the robotic armThe image information of track 3, location position module carry out processing calculating to the image information of collected railroad track 3, to calculateObtain the position of fastener missing and/or fastener loosening.
Judgment module, for basis fastener lack location information execute the first installation steps, and/or according to fastenerThe location information of loosening executes the second installation steps；
By being equipped with judgment module, believed with the position loosened according to the location information and/or fastener of the fastener missing knownBreath executes the first installation steps and/or the second installation steps to correspond to, wherein the first installation steps are held with the second installation stepsRow can both first carry out the first installation steps and execute the second installation steps again, and can also first carry out second smoothly without specifically limitedInstallation steps execute the first installation steps again.
Fastener and fastener are placed into buckle successively by the first installation module, the location information that the fastener for basis lacksAt the position of part missing；And by torque wrench tightening fastener parts, fastener is fixedly mounted on the railroad track；
Specifically, according to fastener missing location information, successively by fastener and fastener be placed into fastener missing positionSet place；Behind the position that fastener missing is calculated, the first installation module control machinery arm is flat from rail vehicle 2 or rail runningFastener and fastener are taken out in hopper entrained by platform, and fastener and fastener are sequentially placed at the position of fastener missing；And clamping device 1-2 clamping torque wrenches are controlled, and fastened by fastener contacting piece, and then complete the peace of entire fastenerPretend industry.
Wherein, it during placement, can be protected by real time information that image collecting device 1-3 is provided to be accurately positionedDemonstrate,prove installation accuracy and installation quality.
Second installation module, the location information that the fastener for basis loosens, by torque wrench to the button set on looseningFastener 5 on part 4 is fastened.
Specifically, behind the position that fastener missing is calculated, torque is clamped in the second installation module control clamping device 1-2Spanner fastens the fastener 5 on the fastener 4 of loosening, and then completes the installation exercise of fastener fastening.
Further, railway intelligence fastener installation mechanical arm further includes the torque sensor being set on torque wrench.Wherein,Torque of the torque sensor for detecting torque wrench in real time, specifically, to torque wrench preset in advance prefastening torque value, when up toTo after predetermined torque value, torque wrench is automatically stopped and sends feedback reset notification signal to controller, and controller receives resetControl machinery arm returns in situ after notification signal, to terminate whole installation process, and carries out standard for fastener installation exercise next timeStandby work.
Preferably, image collecting device 1-3 includes camera sensor or camera.In the present embodiment, image collectorIt sets 1-3 and selects camera sensor, wherein camera sensor includes CCD (conjunction of charge lotus root) devices and CMOS (complementary metal oxideConductor) device more accurately judges fastener can obtain the image of the railroad track 3 of high definition quality convenient for subsequent controllersThe position of missing, and then can guarantee the installation quality and installation effectiveness of fastener.
Preferably, fastener 5 includes bolt, nut or screw.In the present embodiment, fastener 5 selects screw bolt and nut,Specifically, after on the position that fastener 4 and bolt are sequentially placed into fastener missing, nut is pre-installed by clamping device 1-2Nut is tightened according to regulation torque value on bolt, then by torque wrench, simple in structure, production technology is easy and fixes effectFruit is good, conducive to installation effectiveness and installation quality is ensured.
In conclusion the present invention provides the fastener installation methods that a kind of railway intelligence fastener installs mechanical arm, including：PositionDemarcating steps are set, the location information of fastener missing is calculated according to the image information of the railroad track of acquisition；Installation steps, rootAccording to fastener missing location information, successively by fastener and fastener be placed into fastener missing position at；Fixing step passes throughFastener is fixedly mounted on the railroad track torque wrench tightening fastener parts.Believed according to the image of collected railroad trackBreath and a large amount of machine learning, can accurately judge the position of rail clip missing, and fastener and fastener are sequentially placedThe position lacked to fastener, fastens finally by torque wrench, to realize the automation Fast Installation of rail clip, on the one hand pacifiesInstallation quality that is efficient and can effectively ensure that fastener is filled, the efficiency of urban rail transit construction is substantially increased, is also conducive to ensure railThe safety of road transport development；On the other hand artificial input is substantially reduced, effectively reduces installation cost, good economy performance.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；AlthoughPresent invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be usedWith technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit andRange.