自动摘钩机器人模型的设计与制作

发布时间：2018-01-13 21:24

本文关键词：自动摘钩机器人模型的设计与制作　出处：《西南交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：目前中国铁路处在高速发展时期,随之而来的是高速铁路逐步成网,以及铁路货运量的大幅提高。编组站作为铁路货运网的重要节点,其工作效率将直接影响整个铁路货运网。而当前,编组站的驼峰线上依旧采用传统的人工摘钩模式分解列车,这极大的影响了编组站的工作效率,由此可见,设计一款适用于驼峰摘钩的机器人来协助或替代驼峰线上的工人去完成危险且繁杂的摘钩作业,可以大幅减少返工现象,有效提高编组站的工作效率。论文根据我国铁路货车类型以及所使用车钩的特点,结合驼峰线摘钩作业的工作流程,给出了一种可供驼峰线使用的自动摘钩机器人解决方案。并根据此解决方案设计制作了自动摘钩机器人模型。同时还设计制作了列车和车钩模型,和自动摘钩机器人模型构成完整的自动摘钩模型系统,用于研究和演示整个摘钩过程。自动摘钩机器人模型使用到直流电机、步进电机、舵机等多种驱动设备,并根据漫反射激光传感器,超声波传感器,红外传感器等反馈设备传回的信号最终实现自动摘钩机器人模型对列车模型的摘钩作业。论文的主要内容涵盖自动摘钩机器人的总体设计;自动摘钩机器人模型以及列车模型的设计与制作过程;模型控制系统电路板的设计制作,模型控制软件的编写等。模型制作过程主要包含模型承载机构以及自动摘钩机器人执行机构的设计与制作;控制系统制作包括主控芯片、驱动芯片的选型,控制电路的设计,PCB的设计制作等内容;模型控制程序使用C语言分模块编写,实现了对自动摘钩机器人模型的控制,自动摘钩机器人模型、列车模型和监控计算机之间的通信。本论文的研究成果可为自动摘钩机器人的设计提供参考,整个自动摘钩模型系统可用作课堂教学演示或玩具开发。
[Abstract]:At present, China's railway is in a period of rapid development, followed by the high-speed railway network gradually, as well as a large increase in railway freight volume. Marshalling station as an important node of the railway freight network. Its working efficiency will directly affect the entire railway freight network. At present, the hump line of the marshalling station still uses the traditional manual decoupling mode to decompose the train, which greatly affects the working efficiency of the marshalling station, so it can be seen. Designing a robot suitable for hump hooks to assist or replace the workers on the hump line to complete dangerous and complicated hook removal can greatly reduce the rework phenomenon. According to the types of railway freight cars and the characteristics of couplers used in China, combined with the hump line hook removal work flow. This paper presents a solution of automatic hook removal robot for hump line. According to this solution, the model of automatic hook removal robot is designed and made. At the same time, train and coupler model are also designed and manufactured. The model is used to study and demonstrate the whole process of hook removal. The model is used in DC motor, step motor, steering gear and so on. And according to diffuse reflection laser sensor, ultrasonic sensor. Finally, the signal from the feedback equipment such as infrared sensor can be used to unhook the train model. The main contents of this paper include the overall design of the automatic hook removal robot. The design and manufacture process of the automatic hook robot model and the train model; The design and manufacture of the circuit board of the model control system, the programming of the model control software, etc. The model making process mainly includes the design and manufacture of the model bearing mechanism and the execution mechanism of the automatic hook removal robot. The design of the control system includes the main control chip, the selection of the drive chip, the design of the control circuit and the design and manufacture of the PCB. The model control program is written in C language, which realizes the control of the model of the automatic hook removal robot and the model of the automatic hook removal robot. The research results of this paper can be used as a reference for the design of automatic hook removal robot, and the whole model system can be used for classroom teaching demonstration or toy development.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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