铁道车辆液压锚定机械手

针对铁道车辆在港口、厂矿等装卸时需要固定的要求,研制出铁道车辆液压锚定机械手。机械手最大锚定力为450 kN,在非工作状态时设备最高点不高出轨面。机械手采用液压驱动,由升降臂、伸缩臂和末端手爪组成。升降臂采用双杆结构的四连杆机构,并对伸缩缸、支撑杆等关键部件进行强度校核。液压系统采用节能设计,并利用液压锁实现机械手的位置锁定。采用程序互锁和行程时间联合冗余控制,以保障系统的可靠性。现场使用表明,机械手在1.5 m水平距离内可实现车辆空间位置自动寻找、自动摘挂车钩、定位和位置锁定,达到设计目标,可实现安全高效生产。

Hydraulic Anchorage Manipulator for Railway Vehicles

In view of the anchorage requirements of railway vehicles in the ports,factories and mines,the hydraulic anchorage manipulator for railway vehicles is developed.The maximum anchorage force of the manipulator is 450 kN,and every part of the manipulator is no higher than rail surface in non-operating mode.The manipulator is driven by fluid power and composed of lifting arm,extension arm and end effector,where lifting arm is double-pole-structure four-bar mechanism.And strength check is accomplished for critical components such as the hydraulic extension cylinders and support bars,etc.Energy saving design method is applied to hydraulic system,therefore hydraulic locks are used to lock the position of the manipulator.Procedure interlocking control and stroke-time joint redundancy control are used to guarantee system reliability.The field operation indicats that,in the horizontal range of 1.5 m,the manipulator can automatically search position in the operating space,connect or disconnect with hooks,determine and lock position.The design objectives as well as safety and efficiency in production are achieved.