摘要
铁路编组站已逐步走向全面自动化,但是驼峰车辆溜放依旧保持着人工摘钩的传统作业方式,较大影响了编组站的作业效率和技术水平。通过对货车车辆在编组站驼峰溜放作业时的工况以及受力进行分析,建立车组解编时驼峰提钩点位置数学计算模型,推算驼峰提钩的有效位置,利用图像识别、雷达测速、工业机器人等技术手段,研究获取驼峰主体信号、勾计划、目标定位、速度测控等信息的方法以及机器人的作业模式和系统能耗,分析研制过程中的关键技术,进而确定采用行走式机器人来实现编组站驼峰摘钩作业自动化的可行性。
At present,the railway marshalling station has gradually moved towards full automation,but the traditional operation method of manual unhooking of hump vehicles is still maintained,which greatly affects the operation effi⁃ciency and technical level of the marshalling station.This paper analyzed the working conditions and forces of truck vehicles through hump slip operation in marshalling station,established the mathematical calculation model of hump lift point position,calculated the effective position of hump lift hook,studied the methods of obtaining information of hump main signal,hook plan,target location and speed measurement and control,as well as the robot's operation mode and system energy consumption by means of image recognition,radar speed measurement and industrial robot,analyzed the technical difficulties in the process of development,and then determined the feasibility of using walking robot to realize the automation of hump hook picking in marshalling station.
作者
周琪
ZHOU Qi(Institute of Science and Technology,China Railway Wuhan Group Co.,Ltd.,Wuhan Hubei 430071)
出处
《河南科技》
2021年第1期113-116,共4页
Henan Science and Technology
关键词
驼峰
自动提钩
编组站
机器人
hump
automatic hook lifting
marshalling station
robot
