悬链线上车轮装卸机器人的优化设计

The Optimization Design of Wheel Handing Robot on Catenary

分析悬链输送零件的特点,指出采用机器人能够完成自动装卸任务。对于悬链线上难度较高的正反挂零件,分析悬挂的方式,通过机械臂尺寸的优化,认为正面挂上、斜挂反下的方式,同时基座的高度值等于下部吊杆的高度值时,机械臂的结构尺寸最小,最后分析研究斜挂反下时悬挂车轮的运动过程。

The characteristics of transmission parts with catenary.are analyzes and it is pointed out that the robot could accomplish the automatic load-unload tasks. For more difficult direct-reverse hanging parts on the catenary, the suspension modes are analyzed and the retrievable mode is determined. The optimization of the mechanical arm size is discussed and by analysis, it is considered that the structure size of mechanical arm is the minimum when the height of the base equals to the height of the lower boom. Finally this paper analyzes the motor process of reverse-hang type suspension wheel.