钻井平台上台阶机器人的设计与优化

Design and Optimization of Step-Climbing Robot at Drilling Platforms

钻井平台上经常出现高度不规则的台阶。为了提高机器人单次攀爬台阶的高度,从结构变形和底盘抬升等方面入手,提出一种可以依托立柱登上不同高度台阶的机器人。使用有限元软件对机器人的关键零部件进行了仿真,并设置质量最小、工作时变形最小为约束条件对机器人结构进行优化。试验结果表明:机器人可以依托带托盘的立柱和滚珠丝杠结构实现攀爬台阶的功能,立柱的高度和丝杠的长度可以影响机器人攀爬台阶的高度;机器人的限质量为35 kg时,升降铝板最合适的厚度为6.5 mm;机器人依托立柱悬挂时会出现变形,将升降铝板从与立柱相切的安装位置沿中线方向移动4.0 mm,可以在保证完成上台阶动作的同时,最大限度地减小变形。研究结果可为需要攀爬较高台阶的机器人设计提供参考。

There are often highly irregular steps on drilling platforms.To increase robot’s single step climbing height,a robot structure that can make use of a column to climb the steps with different heights was proposed from the aspects of structural deformation and chassis uplift.Then,the key components of the robot were simulated using the finite element software.What’s more,the robot was structurally optimized under the constraint of mass minimization and deformation minimization while working.The experimental results show that the robot can take advantage of the column with tray and the ball screw structure to achieve the function of step climbing,and its step climbing height is affected by column height and screw length.When the limit weight of the robot is 35 kg,the most suitable thickness of the lifting aluminum plate is 6.5 mm.Deformation will occur when the robot is suspended on the column.Moving the lifting aluminum plate by 4.0 mm from the installation position tangent to the column along the centerline direction can minimize the deformation while ensuring the completion of the step climbing action.The research results can provide reference for the robots that have to climb high steps.