冲角对换轨机器人准静态脱轨判别研究

Research of Attack Angle on Quasi-static Derailment Criterion of the Rail Changing Robot

针对换轨机器人脱轨系数具有保守性,轮重减载率作为辅助判别指标却没有统一标准的问题,提出以冲角判别换轨机器人脱轨的判别方法。结合脱轨系数与轮重减载率的定义,引入列车准静态脱轨判别准则,建立轮对力矩准静态模型,构建换轨机器人多参数耦合的脱轨判别式,探究不同摩擦因数、不同轮缘角下冲角与脱轨系数的函数关系以及冲角与脱轨判别式的映射关系式。研究结果验证了理论的正确性,增大轮缘角、降低轮轨间摩擦因数有利于降低脱轨危险性,合理解释了脱轨系数达到脱轨标准时,换轨机器人没有发生脱轨的现象,为换轨机器人准静态脱轨的进一步研究奠定理论基础。

To solve the problem that the derailment coefficient of the rail changing robot was conservative,and the reduction rate of wheel load was used as an auxiliary criterion without unified criterion,a method of identifying the derailment of the rail changing robot by impact angle was proposed.Combined with the definition of derailment coefficient and wheel load reduction rate,the quasistatic derailment criterion of train was introduced,the quasi-static model of wheelset moment was established,the multi parameter coupling derailment discriminant of the rail changing robot was constructed,the functional relationship between different friction coefficient,different undercut angle and derailment coefficient,and the mapping relationship between undercut angle and derailment discriminant were explored.The research results verified the correctness of the theory that increasing the wheel flange angle and reducing the friction coefficient between wheel and rail were conducive to reduce the risk of derailment,and reasonably explained that when the derailment coefficient reached the derailment standard,the derailment robot did not occur,which provided a theoretical foundation for the further study of quasi-static derailment of the rail changing robot.