Design And Implementation Of Bolt Wrench Robot

With the continuous enhancement of China's comprehensive national strength and scientific and technological level,the domestic high-speed railway has developed rapidly.In addition,the implementation of the national "One Belt And One Road" strategy will further promote the development of railway industry in China.High-speed trains,bullet trains and trains are increasingly demanding on the quality of the railways.Therefore,it is of great significance to produce a bolt wrench with light weight,safety,high efficiency,reliability,controllable torque and moderate price.In this paper,the author investigated the tools of railway elastic bolts and studied the technology of bolt tightening at home and abroad.Based on the related technology and the mechanical structure of the bolt wrench robot,this paper studies the tightening algorithm suitable for this paper.The research results improve the efficiency of line work and reduce the working intensity of railway workers,It has improved the connection quality of the rail link bolt kit and adapted to the demand of high-speed railway development in China.Specific research work and results are as follows:1)The mechanical structure design of the bolt wrench robot.According to the design of lightweight and intelligent requirements,the overall structure of the bolt wrench robot is designed by using Jialing 170 F gasoline engine,electromagnetic clutch,coupling and gear shaft,energy storage body,reversing mechanism,T-shaped shaft and so on Set up its mechanical structure.2)Research on the algorithm of bolt wrench robot.Aiming at the problems of high weight,low intelligence and low efficiency when using the bolt wrench,a torque angle control algorithm is put forward,which improves the efficiency,reliability and intelligence of the bolt wrench.3)Bolt wrench robot hardware design.The MC9S12XS128 16-bit processor from Freescale Semiconductor was selected as the main control chip,and a seven-stage three-digit digital tube and buttons with self-locking were selected as human-machine interaction modules.At the same time,a Bluetooth module was used to realize bolt wrenches and notebooks.Communication.From the perspective of functionality,stability and reliability,electromagnetic compatibility immunity design is added to the hardware.4)The software design of the bolt wrench robot.The lower computer Code Warrior compiler environment and C language programming,the upper computer using VC6.0 compiler environment and C++ language.The software design idea adopts modularization and message triggering ideas.5)Experiment with bolt wrench robots.Finally,complete the laboratory debugging of the bolt wrench robot and complete the EMC test.Test results show that the controller basically meets the set requirements.In order to verify the practical application of the torque angle control algorithm,a static torque bolt wrench was used for the comparison test.Experimental results show that the torque-based angle control algorithm can well meet the design requirements.