Design And Implementation Of Intelligent Assembly Robot Based On Rail Fastener

With the establishment of the goal of "building a powerful transportation country" and promoting the implementation of ” The Belt and Road Initiative”,railway plays an increasingly important role in promoting the economic development of China and even the world.However,in the process of rapid development of the railway,there are still unsatisfactory places: in the current process of track laying,the assembly of track fasteners is mainly manual,and the construction work is heavy and tedious.Research and improve the assembly work of fastener to make it intelligent,which can improve the assembly quality of fastener while liberating manpower.This work is of great social value.Through the investigation on the construction site of railway laying and consulting the relevant national standards of railway construction.After understanding and analyzing the assembly process of fastener,the mechanical structure design,fastening method analysis and control hardware and software design are respectively carried out according to the characteristics of fastener assembly.Finally,the intelligent assembly robot based on rail fastener is designed.In terms of mechanical structure,the robot has designed a mechanical transportation structure including two mechanical arms and multi finger fastener clamping claws,which can realize the self-adaptive and firm grasping of five different shapes of fasteners,and accurately transport the fasteners to the sleeper bolts according to the coordinate information;in the aspect of identification and detection,the determination of fastener construction position is realized by laser sensor detection;the recognition of five different fastener types and coordinate positioning with error less than 1mm are realized by computer vision algorithm.In the aspect of fastener fastening,the constant torque standard fastening of fastener is realized by using the angle method to control the fastening tool electric wrench.In the aspect of control,PLC is the main controller,and the function control of robot is programmed by modularized software.The experimental results show that the system can realize a complete set of assembly work,including type identification,coordinate detection,clamping,transportation and placing fastening,and the construction effect can meet the needs of rail fastener assembly work.