轨道车辆库检机器人机械臂的结构设计与实现  

Structural Design and Implementation of Manipulator of Rail Vehicle Depot Inspection Robot

作　　者：兰洪财 王勇 李彤 孟琳山 LAN Hong-cai;WANG Yong;LI Tong;MENG Lin-shan(CRRC Qingdao Sifang Vehicle Research Institute Co.,Ltd.,Shandong Qingdao 266011,China)

机构地区：[1]中车青岛四方车辆研究所有限公司,山东青岛266011

出　　处：《机械设计与制造》2023年第12期230-234,共5页Machinery Design & Manufacture

基　　金：工业和信息化部2018年人工智能与实体经济深度融合创新项目(自感知式轨道车辆智能检修机器人系统研发及应用);科技部物联网与智慧城市关键技术及示范项目(2018YFB2101000);山东省交通运输厅科技计划项目(2019B12)。

摘　　要：针对轨道车辆车底日常检查面对的空间狭窄且复杂的工况,基于工业需求,创新设计了一种七关节串联机械臂。这一机械臂采用了模拟试验方式确定设计目标特征和基本结构尺寸,创新应用了第三关节旋转轴线与第二关节旋转轴线垂直的构型、集成化关节驱动、细长的机械臂整体尺寸和碳纤维轻量化连杆设计。这里以实际工况开展了多个阶段的样机应用效果模拟,开展了机械臂动力学仿真校核关节力矩和静力仿真校核机械臂末端最大位移,通过产品应用验证了该机械臂设计特征能够很好地适应空间狭窄且复杂的轨道车辆检查作业环境,实现了设计目标。该方法适应于特殊环境应用需求下的机械臂设计,这里机械臂也可推广到其他应用领域。Aiming at the narrow and complex working conditions faced by the daily inspection of rail vehicles,a seven joint series manipulator is innovatively designed based on the industrial demand.The manipulator adopts the simulation test method to determine the design target characteristics and basic structural dimensions,and innovatively applies the configuration that the rotation axis of the third joint is perpendicular to the rotation axis of the second joint,integrated joint drive,the overall size of the slender manipulator,and the design of carbon fiber lightweight connecting rod.In this paper,the prototype application effect simulation in multiple stages is carried out based on the actual working conditions,and the manipulator dynamic simulation is carried out to check the joint torque and static simulation to check the maximum displacement of the end of the manipulator.Through the product application,it is verified that the design characteristics of the manipulator can well adapt to the narrow and complex rail vehicle inspection environment and achieve the design goal.This method is suitable for the design of manipulator in special environment,and the manipulator in this paper can also be extended to other application fields.

关 键 词：轨道车辆检查 狭窄复杂空间 机械臂 7关节 构型 结构设计 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]