| Railways occupy an important position in the economic and social development of our country.With the development of high-speed heavy-duty technology of railway trains,the bearing "hot shaft" phenomenon occurs from time to time during the operation of the wheel axle,and the bogie pillows,side frames,diagonal wedges and springs and other components have frequent failures,which directly affect the safe operation of the railway,so the axles and bogies must be fully tested before installation.Domestic train and vehicle manufacturers often use overhead crane lifting or manual transfer in the inspection process of axles and bogies,resulting in low detection efficiency,high labor intensity and low degree of automation.In view of the above problems,an intelligent train axle and bogie handling robot is designed with the following research content:Firstly,the intelligent train axle and bogie handling robot equipment model is constructed.The equipment is divided into hardware part and software part,the equipment adopts PLC controller as the control core,computer monitoring,expert system for intelligent judgment,integrated a variety of sensors to collect road condition information,through the steering wheel system to complete the movement,electromagnetic navigation mode for navigation,special pusher to push the wheel axle and bogie,and finally realize the automatic transportation of train axle and bogie.Secondly,the path planning algorithm of intelligent train axle and bogie handling robot is studied.Through the research on the core ideas and execution process of Dijkstra algorithm and A~* algorithm,based on the weighted value,occupancy value and traditional Dijkstra algorithm,the path planning algorithm is continuously improved,so as to evaluate the degree of path use and prevent collision conflicts of some paths caused by excessive occupancy.Finally,the scheduling strategy of intelligent train axle and bogie handling robot is studied.Based on the possibility of chasing conflicts,opposite conflicts,node conflicts and other phenomena in the multi-robot scheduling process,the two adjustment methods of speed and path are compared to compare them,and a composite adjustment scheme(centered on path and speed)is proposed to avoid the negative impact caused by a single scheduling scheme.The intelligent train axle and bogie handling robot studied has completed the research content of the topic after research testing and field application,and has realized the project goal of efficient,reliable and intelligent automatic transmission process of train axle and bogie in the detection process,and brought economic benefits to related enterprises. |
