铁路货车自动检修系统机器人火焰切割工作站研制  

Development of robot flame cutting workstation for automatic maintenance system of railway freight car

作　　者：李洪涛[1] 杨泽坤 周坤[1] 唐麒龙[1] 杨战利[1] 张利 杨玺 Li Hongtao;Yang Zekun;Zhou Kun;Tang Qilong;Yang Zhanli;Zhang Li;Yang Xi(Harbin Welding Institute Limited Company,Harbin 150028,Heilongjiang,China;Yulin Branch of National Energy Group Railway Equipment,Yulin 719300,Shaanxi,China;Zhuzhou CRRC Times Electric Co.,Ltd.,Zhuzhou 412000,Hunan,China)

机构地区：[1]中国机械总院集团哈尔滨焊接研究所有限公司,黑龙江哈尔滨150028 [2]国家能源集团铁路装备榆林分公司,陕西榆林719300 [3]株洲中车时代电气股份有限公司,湖南株洲412000

出　　处：《机械制造文摘（焊接分册）》2023年第2期35-39,共5页Welding Digest of Machinery Manufacturing

基　　金：黑龙江省头雁团队专项资金资助

摘　　要：基于六轴工业机器人和多信息传感信号融合技术,开发了高精度高体重载三维天轨侧龙门结构铁路货车自动检修系统机器人火焰切割工作站,发明了一种自动检修作业快速分区识别的方法,解决了废旧车体定位基准缺失、随机变形和破损位置不均等问题,解决了货车检修领域中废旧车体切割工序长期依赖人工,难以利用自动化设备作业的行业难题。Based on six-axis industrial robot and multi-information sensing signal fusion technology,a robot flame cutting workstation for automatic maintenance system of railway freight car with high precision and high weight loaded three-dimensional gantry structure on the sky rail side was developed.A method for rapid partition identification of automatic maintenance operation was invented,which overcame problems of missing positioning datum,random deformation and unequal damaged location of discarded car bodies.It solved industrial problems in the field of freight car maintenance that cutting process of scrap car body relied on manual work for a long time and was difficult to use automatic equipment.

关 键 词：货车检修 火焰切割 识别相机 柔性控制 

分 类 号：TG481[金属学及工艺—焊接]