基于SolidWorks的巡线机器人机械本体设计及越障运动仿真

Mechanical structure and obstacle climbing simulation of inspection robot based on SolidWorks

巡线机器人对高压架空输电线路的检测与修复是一种安全,可靠,高效的检测方式。机器的机械本体结构是整个系统的基础,也是目前主要的技术障碍之一。首先介绍了巡线机器人机械本体设计要求和关键技术,然后详细描述了基于SolidWorks软件平台设计的一种带有轮式爬行驱动及夹紧置,过障碍物时可仿人攀援的多关节新型巡线机器人。最后,针对这款机器人运用SolidWorks COSMOS Motion动力学插件进行运动仿真,通过跨越高压电力线的常见障碍物来验证该设计方案的可行性。

Inspection robot,which is used to inspect high-voltage transmission lines,is a safe,reliable and efficient manner used to inspect high-voltage transmission lines.Mechanical structure is the important basis of the whole system and primary technology obstacle at present.At first,it introduces requirements and key techniques of mechanical structure of inspection robot.Then it describes in detail a new kind of multi-link robot designed based on SolidWorks platform.This robot can imitate human to climb obstacle with wheel and clamp device on the robot＇s arm.In the end,we use SolidWorks COSMOS Motion software to analyze and simulate the motion of obstacle climbing.The simulation results show that it is a feasible way to climb obstacles and fulfill the specified inspection task.