Remote Control Switch Polishing System Based On Human-Conmputer Interaction

Turnout polishing operation is an important part of turnout production.Due to the complex structure,numerous models,random defect distribution,and narrow space polishing operation of turnouts,existing automation equipment cannot adapt to changing operating conditions,and it is difficult to intelligently identify and locate turnout defects,as well as independently plan the grinding trajectory of narrow spaces.Therefore,currently,turnout polishing heavily relies on manual polishing and worker experience,However,due to the harsh on-site environment and the harm to workers’ health,manual polishing operations have caused difficulties in recruiting workers for turnout polishing and low production efficiency in the industry.To address these issues,a remote control switch polishing system based on human-computer interaction has been developed,enabling operators to remotely control the polishing robot to complete switch polishing operations.The specific work is as follows:(1)By analyzing the operation scenario of the turnout polishing robot,a remote control turnout polishing system based on human-computer interaction was constructed,and a manual controller for the remote control polishing robot was designed.The key components of the polishing system were selected.(2)The remote operation motion control of grinding robot based on hand controller is studied,the remote operation motion control flow of grinding robot is designed,the kinematics model of human-computer interaction robot system is established,the motion control mode of humancomputer interaction robot based on hand controller control is proposed,and the motion accuracy control problem of grinding robot in different operation stages is solved.(3)We have studied the remote operation force control of a polishing robot based on a hand controller.The actual polishing force is sensed by the robot’s end force sensor and fed back to the operating handle of the hand controller.The operator judges whether the grinding feed rate is appropriate by sensing the magnitude of the polishing force,and adjusts it through the hand controller to complete the polishing process of the given cutting amount.This achieves a human-machine interactive polishing force closed-loop control based on the hand controller.(4)Numerical simulation was conducted on a human-machine interactive remote control turnout polishing system using the MATLAB simulation tool,verifying the feasibility of the aforementioned humanmachine interactive remote control turnout polishing system.At the same time,based on the experimental platform of the constructed humanmachine interaction remote control switch polishing system,remote control polishing accuracy and polishing experiments at different spatial positions were conducted.The results showed that the system can achieve human-machine interaction robot polishing operations,improve the accuracy of polishing operations,reduce the labor intensity of operators,and provide useful reference for the research and application of switch polishing robots.