列车摘钩机器人的设计与试验

Design and Experiment of Train Uncoupling Robot

针对国内编组站驼峰的人工摘钩问题,设计了一种双机械臂协同作业的关节型列车自动摘钩机器人。在SolidWorks软件中建立列车摘钩机器人的三维模型,并将模型导入ADAMS软件进行动力学仿真,得到机器人摘钩机械臂的摘钩大臂和摘钩小臂的位置和力矩曲线。在试验室进行摘钩机械臂的阶跃响应试验以及提钩杆空载和负载200 N的摘钩试验。试验结果表明:摘钩机械臂具有良好的运动性能,在阶跃试验中,摘钩大臂的上升时间为0.62 s,超调量为0.08‰;摘钩小臂的上升时间为0.35 s,超调量为0.04‰,二者的超调量小,动作平稳。在带负载的摘钩过程中,当负载力在设计范围内,机器人能顺利完成摘钩动作。

Aiming at the problem of manual uncoupling of hump in marshalling station in China,an articulated train automatic uncoupling robot with two mechanical arms working together was designed.The 3D model of the train uncoupling robot was established in SolidWorks software,and the model was imported into ADAMS software for dynamic simulation,and the position and torque curves of the uncoupling large arm and the uncoupling small arm of the robot were obtained.The step response test of the uncoupling robot and the coupler lifting test with no load and 200 N load were carried out in the laboratory respectively.The test results show that the uncoupling mechanical arm has good performance,in the step test,the lifting time of the uncoupling large arm is 0.62 s,and the overshoot is 0.08‰;the lifting time of the uncoupling small arm is 0.35 s,and the overshoot is 0.04‰.The overshoot is small and the movement is smooth.In the process of coupler with load,the robot can successfully complete the uncoupling action when the load force is within the design range.