摘要
地铁车辆车门拆装系统安装在既有地铁车辆架大修库内,系统运用AGV小车、激光SLAM导航、UWB定位、助力机械臂、协作机器人、视觉定位、真空吸盘、人工辅助机器人等技术,实现自动运行,辅助人工实现架修车辆车门拆装.在系统终端,自动实现车门的定位、抓取、放置.人工检修结合车门拆装系统,能实现地铁车辆架大修提质增效,进一步缓解地铁车辆架大修需求与既有检修能力不匹配之间的矛盾.
Abstract
The subway vehicle door disassembly and assembly system is installed in the existing shed for intermedi-ate repair and heavy repair of subway vehicle.The technologies such as AGV car,laser SLAM navigation,UWB posi-tioning,assistive robotic arm,collaborative robot,visual positioning,vacuum suction cup,and manual assistive robot in this system is used to achieve automatic operation and assist manual disassembly and assembly of vehicle doors.At the system terminal,automatic positioning,grabbing,and placement of car doors are achieved.The combination of manual maintenance and door disassembly and assembly system can improve the quality and efficiency of intermedi-ate repair and heavy repair of subway vehicle,further relieve mismatch conflicts between the demand for intermediate repair and heavy repair of subway vehicle and the existing maintenance capabilities.
NETL
NSTL
万方数据