接触网吊柱安装机器人静力学分析及结构优化  

Statics Analysis and Structure Optimization of Catenary Davit Installation Robot

作　　者：杨三龙 饶道龚 李广平 杨利利 YANG San-long;RAO Dao-gong;LI Guang-ping;YANG Li-li(Institute of Automobile and Motorcycle Parts of Research Institute of Zhejiang University-Taizhou)

机构地区：[1]浙江大学台州研究院汽摩配研究所,浙江台州318000

出　　处：《筑路机械与施工机械化》2020年第12期74-77,91,共5页Road Machinery & Construction Mechanization

基　　金：浙江省重点研发计划项目(2019C01018)。

摘　　要：针对高铁隧道内接触网上部结构件的自动化安装需求,开发了一套接触网上部机构智能化安装设备,设计10关节机器人以满足隧道空间内吊柱大尺度转运和高精度吊装要求。首先设计了接触网吊柱安装机器人构型布局,建立其三维数字模型和静力学模型,计算出机器人1~9个关节所受载荷情况。以第4个关节为例,研究其位移变形及应力状况,并通过Workbench优化模块Response Surface,在SolidWorks中以三维模型壁厚为优化参数,以仿真结果的最大位移、最大应力及本体质量为优化目标,对该关节展开结构优化设计。最后对机器人整体进行静力学分析,研究优化前、后的整体变形和应力,验证优化效果。优化设计结果表明,机器人构型结构满足吊柱安装精度要求,机器人各关节的强度和刚性大幅提高。In order to meet the requirements of automatic installation of catenary structure in high-speed railway tunnel,a set of intelligent installation equipment for catenary mechanism has been developed,and 10-joint robot has been designed to meet the requirements of large-scale transfer and high-precision hoisting of suspenders in tunnel space.In this paper,firstly,the configuration and layout of the catenary davit installation robot have been designed,and its three-dimensional digital model and static model have been established,and the load of 1-9 joints of the robot has been calculated.Taking the fourth joint as an example,the deformation and stress status of the joint have been studied.Through the Workbench optimization module Response Surface,the model wall thickness is taken as the optimization parameter in SolidWorks,and the maximum displacement,maximum stress and mass of the simulation results are taken as the optimization objectives,so as to carry out the structural optimization design of the joint.Finally,the static analysis of the whole robot is carried out to study the overall deformation and stress before and after optimization,and the optimization effect is verified.The results of optimization design show that the structure of the robot meets the requirements of the installation accuracy of the suspender,the strength and rigidity of each joint of the robot are greatly improved.

关 键 词：接触网吊柱 机械人 三维建模 静力学分析 

分 类 号：U414.03[交通运输工程—道路与铁道工程]