Structure Design And Performanceanalysis Of Rail Changer Robot

China's high-speed rail,which has the title of "world's first",is relatively weak in terms of track maintenance equipment,which seriously restricts the further development of rail transit.Track maintenance mainly refers to the replacement of rails.At present,the track replacement equipment used by the main trunk line is mainly a traditional rail-changing vehicle.The degree of intelligence is low,the degree of mechanization is not high,a large number of operators are required,and the down-going situation is easy to occur during the work.The low performance is low.Therefore,the performance of the traditional rail-changing vehicle is low,and it is no longer suitable for the current track construction in China.The high-automatic rail-changing car is a longitudinal rail-changing car developed by CRRC in 2016.However,the rail-changing car is only suitable for urban rail change,and is not suitable for the replacement of long-distance and large-size rails such as trunk lines.The update of the rail replacement equipment based on the track main line is imminent.This topic combines the structural characteristics of the main line truss type rail changing vehicle and the urban longitudinal rail changing vehicle to design a rail derailed robot suitable for the main line track replacement and high degree of automation.The main research contents of this paper are as follows:(1)Overall structural design of the derailed robot.The structure of the main line truss type rail changing vehicle and the urban longitudinal rail changing vehicle is improved,and a rail derailed robot suitable for the main line rail replacement is designed,and the rail changing construction equipment scheme is given.(2)Mechanical arm reliability analysis.The technical parameters of the mechanical arm are sorted out,and the structural strength calculation of the mechanical arm and the mechanical boom is performed in combination with the structural mechanics and the rigid structure theory.The stability check of the mechanical arm and the mechanical arm is completed,and the mechanical arm is statically stabilized by ANSYS software.Mechanical analysis,and the simulation analysis results are compared with the previous theoretical calculation results to verify the rationality of the mechanical arm design.(3)Analysis of derailment safety of the derailed robot.Aiming at the fact that the derailment coefficient of the derailed robot is conservative,and the wheel load shedding rate is used as the auxiliary discriminant index but there is no same standard problem,the discriminant method for determining the derailment of the derailed robot is proposed.Combined with the definition of derailment coefficient and wheel load shedding rate,The criterion of quasi-static derailment of trains is introduced,the quasi-static model of wheelset moments is established,and the derailment discriminant of multi-parameter coupling of derailed robots is constructed.The relationship between different friction coefficients,the angle of attack under different rim angles and the derailment coefficient and the angle of attack are discussed.The mapping relationship of the derailment discriminant is compared with the derailment performance of the truss type rail change vehicle to verify the safety of the derailment robot derailment.