Research On Fastener Batching Robot System In Automatic Fine Adjustment Of Ballastless Track

With the rapid development of high-speed railway,the regular monitoring and maintenance of ballastless track is becoming more and more important.The automatic fine adjustment of wj-8 fastener for ballastless track can solve the problem of track fine adjustment.Through the research of automatic batching technology in fine adjustment method,the working efficiency of the whole machine can be effectively improved.Taking wj-8 fastener of ballastless track as the target object,this paper establishes an automatic batching system based on multi axis batching robot and designs the robot.The main research contents are as follows:Firstly,Select the wj-8 fastener target,analyze the functional requirements of the batching system,establish the batching system construction method,and calculate and optimize its batching efficiency.Based on the batching technical index,the main structure of the robot is established from bottom to top,and the modular end actuator is analyzed.The key electrical equipment of the robot is selected through theoretical calculation,and the virtual model assembly of the whole machine is completed.Based on this,a multi station automatic batching system with the batching robot as the core is preliminarily established.Then,a multi-disciplinary pipelined design platform is integrated and applied to the development of robot key structures.The fluidity of structural materials is analyzed based on simp pseudo density method,the structural parameter characteristics are optimized and analyzed by PDS probability design method,and the parameter transfer relationship is analyzed based on response surface method.On this basis,the structural parameters are optimized under multi constraint conditions by using MOGA multi-objective genetic algorithm with four static and dynamic indexes as optimization objectives,and the static and dynamic finite element verification is carried out under dangerous working conditions of robot,The closed-loop optimization design of the key structure of the robot is realized.Thirdly,based on the D-H representation,the robot link relationship is established,and its physical space model is transformed into a mathematical model by Euler transformation method,and then the forward kinematics and inverse kinematics are analyzed.The Jacobian matrix is used to establish the relationship between the action speed of each joint and the speed of operation space.The kinematics virtual simulation platform is established through the robot tool toolbox,and then the kinematics theoretical calculation is verified.The robot workspace simulation analysis is carried out based on the Monte Carlo method.According to this,the robot trajectory under different postures is planned and designed based on the joint coordinate method.Finally,based on the LAN Grange function method,the indexes of the robot dynamic equation are calculated and analyzed.The virtual model of the robot is established in the multibody dynamics platform Adams.The driving function and code are edited according to the trajectory planning,and the dynamic experimental simulation is carried out.The curves of robot human joint angle,kinetic energy,joint force and torque under the two trajectory planning are extracted,and the dynamic indexes of the robot under the requirements of batching design are checked,The expected batching function design is completed.This paper establishes an on-board automatic batching system based on multi axis batching robot for wj-8 fasteners of ballastless track,which plays a positive role in improving the batching efficiency of track fine adjustment,reducing labor cost and improving batching quality,and provides technical support for the research and development of ballastless track fine adjustment vehicle.