货物列车摘钩机器人系统设计与实现

Design and Implementation of Unhooking Robot System for Freight Train

摘要:

货物列车在编组站解编时的摘钩作业目前主要由人工完成，存在劳动强度大、危险性高等问题，为此设计了一摘钩机器人系统以实现自动摘钩。根据摘钩作业的任务需求，确定了摘钩机器人系统的总体设计方案，并对控制系统进行了选型设计；基于D-H参数法建立了机器人的运动学模型，并根据作业空间约束条件，规划了摘钩路径；为避免机器人摘钩过程中，因末端手爪抓握不稳定导致的摘钩失败，设计了基于专家PID控制算法的抓握力反馈控制系统；最后在实验室开展了摘钩机器人的自动摘钩试验，试验结果表明：所设计的摘钩机器人系统能够实现稳定、快速地摘钩控制，平均用时约12.23 s，为编组站摘钩自动化作业提供了一种有效的解决方案。

Abstract:

The uncoupling operation of freight trains at marshalling stations is currently mainly completed manually, which has problems such as high labor intensity and high danger. Therefore, an uncoupling robot system was designed to achieve automatic uncoupling operation. Based on its task requirements, the overall design scheme of the uncoupling robot system was determined, and the control system was selected and designed. A kinematic model of the robot was also established based on the D-H parameter method, and the uncoupling path was planned according to the constraints of the workspace. To avoid uncoupling failure caused by unstable grip of the end effector during the robot's uncoupling process, a grip force feedback control system based on expert PID control algorithm was designed. Finally, an automatic uncoupling test was conducted in the laboratory. The test results show that the designed uncoupling robot system can achieve stable and fast uncoupling control, with an average time of about 12.23 seconds, providing an effective solution for automatic uncoupling operation in marshalling stations.