扣件自动拆装机器人的研发  

Development of an automatic fastener mounting and dismounting robot

作　　者：蔡一杰 刘学海 卢菲 古兴华 秦康 陈斌 CAI Yijie;LIU Xuehai;LU Fei;GU Xinghua;QIN Kang;CHEN Bin(China Railway Wuhan Group Co.,Ltd.,Wuhan,Hubei 430068,China;Gemac Engineering Machinery Co.,Ltd.,Xiangyang,Hubei 100094,China;School of Mechanical Engineering,Hubei University of Technology,Wuhan,Hubei 430068,China)

机构地区：[1]中国铁路武汉局集团有限公司,湖北武汉430068 [2]金鹰重型工程机械股份有限公司,湖北襄阳100094 [3]湖北工业大学机械工程学院,湖北武汉430068

出　　处：《轨道交通装备与技术》2025年第1期44-49,共6页Rail Transportation Equipment and Technology

基　　金：国铁集团科研计划(N2019G053);武铁科信函[2021](50)。

摘　　要：针对当前扣件拆装作业自动化程度较低以及扣件道钉安装扭矩难以控制的问题,设计了一种扣件自动拆装机器人。该机器人具备基于机器视觉的道钉识别定位、电动扳手定扭矩和自动走行功能,可同时拆装8个道钉。文章就扣件自动拆装机器人的工作原理与总体设计方案进行了介绍,详细阐述了该设备电气系统各主要模块的设计方案,阐明了机器人的控制策略,表明该扣件自动拆装机器人能够满足扣件拆装作业的自动化需求。An automatic fastener mounting and dismounting robot is designed to address the low degree of automation of fastener mounting and dismounting operations and the difficulty in controlling the installation torque of fastener spikes.This robot is equipped with machine-vision-based rail spike recognition and positioning,electric wrench torque setting,and self-propelling functions,and can mount and dismount 8 rail spikes simultaneously.This paper introduces the working principle and overall design scheme of the automatic fastener mounting and dismounting robot,elaborates on the design scheme of each main module of the electrical system in the equipment,and explains the control strategy for the robot,indicating that the automatic fastener mounting and dismounting robot meet the requirements of fastener mounting dismounting automation.

关 键 词：自动化扣件拆装 YOLO 双目视觉定位 定扭矩电动扳手 

分 类 号：U213.53[交通运输工程—道路与铁道工程]