枕簧智能组装机器人系统方案设计与分析

Design and Analysis of Intelligent Assembly Robot System for Bolster Spring

目前,铁路货车转向架检修过程中的枕簧组装均采用人工作业模式,存在作业强度大、操作空间狭窄、有安全隐患和效率低等问题,迫切需要自动化和智能化组装设备。基于转向架枕簧的组装工况分析,研发一种智能组装机器人系统,代替人工实现枕簧的自动组装。机器人系统包括顶升装置、中转机器人、中转平台、组装机器人和斜楔支撑机器人等5个模块,通过模块的交互与协同控制完成枕簧的自动组装。介绍了机器人系统的总体方案和各模块方案设计。利用ADAMS软件对六轴机器人进行轨迹仿真分析,得到机器人系统工作的最优轨迹。

At present,the assembly of bolster springs in the inspection and repair of railway freight car bogies is manual operation mode.There are problems such as high work intensity,narrow operation space,potential safety hazards and low efficiency.It is urgent for automation and intelligent assembly equipment.Based on the analysis of the assembly conditions of the bogie bolster spring,an intelligent assembly robot system was developed to replace the manual automatic assembly of the bolster spring.The robot system included five modules:a jacking device,a transfer robot,a transfer platform,an assembly robot,and a wedge support robot.The automatic assembly of the bolster springs was completed through the interaction and collaborative control of the modules.The overall scheme of the robot system and the scheme design of each module were introduced.ADAMS software was used to simulate and analyze the trajectory of the six-axis robot,and the optimal trajectory of the robot system was obtained.