一种新型铁路轨道检测小车的设计与分析
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摘要
针对目前轨道手工检测效率低下、检测项目单一和高速轨道检测小车普及率不高的现状,为适应光学视觉检测需要,设计了一种可折叠的轻量化半T形检测小车,以同时满足激光检测和三维结构光检测的需求。为解决普遍存在的轨道检测小车车架与钢轨纵向难以保证垂直的问题,设计了柔性侧压机构,使车架不发生偏移。应用D-H法构建运动学模型,求解机构末端侧压轮的正运动学问题,论证了柔性侧压机构的侧压轮能紧贴钢轨内侧面以适应各种轨道的轨距变化。为小车建立力学分析模型,确保小车在静态下不会侧翻、脱轨,验证了机构设计的合理性。制造了物理样机,并进行了现场试验。结果表明,检测小车运行时垂直度好、自调节能力强,满足检测要求。
Aiming at the current situations of low efficiency of manual track detection,single detection items and low penetration rate of high-speed track detection vehicles,a collapsible lightweight semi-T-shaped detection vehicle was designed to meet the requirements of optical vision detection,which could meet the requirements of laser detection and three-dimensional structural light detection.To solve the common problems that were difficult to guarantee the verticality between the track detection trolley frame and the rail longitudinal direction,a flexible side pressure mechanism was designed,which was mounted on the track detection trolley to prevent the frame deviation.Then,the D-H method was used to construct a kinematics model for solving the forward kinematics problems of the side pressure wheel at the end of the mechanism,and proved that side pressure wheel of flexible side pressure mechanism could contact tightly with inner side of rail to adapt the changes of the gauge.In order to ensure that the trolley would not roll over and derail in the static states,the mechanics analysis model of the trolley was established to verify the rationality of mechanism design.Finally,the physical prototype of the detection trolley was made and tested at the railway sites.Field tests show that the detection trolley has good verticality and self-adjusting ability to meet the inspection requirements.
Aiming at the current situations of low efficiency of manual track detection,single detection items and low penetration rate of high-speed track detection vehicles,a collapsible lightweight semi-T-shaped detection vehicle was designed to meet the requirements of optical vision detection,which could meet the requirements of laser detection and three-dimensional structural light detection.To solve the common problems that were difficult to guarantee the verticality between the track detection trolley frame and the rail longitudinal direction,a flexible side pressure mechanism was designed,which was mounted on the track detection trolley to prevent the frame deviation.Then,the D-H method was used to construct a kinematics model for solving the forward kinematics problems of the side pressure wheel at the end of the mechanism,and proved that side pressure wheel of flexible side pressure mechanism could contact tightly with inner side of rail to adapt the changes of the gauge.In order to ensure that the trolley would not roll over and derail in the static states,the mechanics analysis model of the trolley was established to verify the rationality of mechanism design.Finally,the physical prototype of the detection trolley was made and tested at the railway sites.Field tests show that the detection trolley has good verticality and self-adjusting ability to meet the inspection requirements.
引文
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[2]苟慎龙.三自由度轨道检测平台设计与控制系统研究[D].成都:西南交通大学,2017.GOU Shenlong.Design of Three Degrees of Freedom Track Detection Platform and Research on Control System[D].Chengdu:Southwest Jiaotong University,2017.
[3]洪思敏,杨雪荣,成思源,等.基于Pro/Innovator的轨检小车手推换向装置创新设计[J].机床与液压,2015,43(9):28-31.HONG Simin,YANG Xuerong,CHENG Siyuan,et al.Innovation Design of the Hand Assembly of Track Inspection Car Commutate Device Based on Pro/Innovator[J].Machine Tool&Hydraulics,2015,43(9):28-31.
[4]赵政权.高速铁路轨道平顺性测量相关技术问题的研究[D].成都:西南交通大学,2011.ZHAO Zhengquan.Research on Some Technical Problems of the Track Regularity of High-speed Railway[D].Chengdu:Southwest Jiaotong University,2011.
[5]植立才,杨雪荣,成思源,等.传统T形轨检小车走行轮结构的改进设计[J].铁道标准设计,2016,60(1):23-26.ZHI Licai,YANG Xuerong,CHENG Siyuan,et al.Improved Structure Design of Traditional Track Inspection Instrument with T-shape Walking Wheel[J].Railway Standard Design,2016,60(1):23-26.
[6]王新国.便携式轨道检测车[D].南京:南京理工大学,2008.WANG Xinguo.The Convenient Rail Inspection Vehicle[D].Nanjing:Nanjing University of Science and Technology,2008.
[7]马骁.便携式轨道线路状态检测系统研究[D].北京:北京交通大学,2017.MA Xiao.Study on Portable Detection System for Rail Lines Status[D].Beijing:Beijing Jiaotong University,2017.
[8]高艺,马国庆,于正林,等.一种六自由度工业机器人运动学分析及三维可视化仿真[J].中国机械工程,2016,27(13):1726-1731.GAO Yi,MA Guoqing,YU Zhenglin,et al.Kinematic Analysis of an 6-DOF Industrial Robot and Its3D Visualization Simulation[J].China Mechanical Engineering,2016,27(13):1726-1731.
[9]胡敏,杨建国,吴雪逖,等.基于ADAMS的有轨引导小车运动学仿真及设计改进[J].机械设计与制造,2012,(10):81-83.HU Min,YANG Jianguo,WU Xueti,et al.Kinematics Simulation and Design Improvement of Rail Guide Vehicle(RGV)Based on ADAMS[J].Machinery Design&Manufacture,2012,(10):81-83.