轨道固定螺栓自动化预紧机器人设计与仿真

Design and Simulation of a Robot for Pre-Tightening Track Fixing Bolts

摘要: 铁路道钉作为轨道的固定连接件，其在运行过程中会发生松动的现象，螺栓松动、预紧力不足等很有可能对列车的运行产生严重的危害，需定期进行预紧维护。本文以螺栓自动化预紧的功能需求为基础，设计总体方案，然后根据轨道的结构，确定了螺栓拧紧和机器人构型方案。其次，在完成三维建模后，对机器人运动学进行了建模，并通过仿真验证了模型的正确性。最后，使用Adams进行仿真分析，对机器人功能进行校验。本文所设计的螺栓预紧机器人系统将为轨道道钉的自动化维护方案提供重要参考。

Abstract: As critical connecting components of tracks, railway bolts may become loose during operation. Issues such as bolt loosening and insufficient pre-tightening force can pose serious risks to train operations, necessitating regular pre-tightening maintenance. Based on the functional requirements for automated bolt pre-tightening, this paper designs an overall solution. According to the structure of the track, the bolt tightening and robot configuration schemes are determined. Subsequently, after completing 3D modelling, the robot kinematics are modelled, and the correctness of the model is verified through simulation. Finally, simulation is conducted using Adams to validate the robot functionality. The bolt pre-tightening robot system designed in this paper will provide an important reference for automated maintenance solutions of track bolts.