一种轨道式巡检机器人底盘的设计与实现

Design and Realization of an Orbital Inspection Robot Chassis

针对矩形轨道连接产生的台阶缝隙以及机器人通过弯道时运行方向发生变化会影响运行稳定性的现象,设计了一种快拆轨道式巡检机器人底盘。该机器人底盘主要由承载主框、驱动轮悬挂装置、定位装置、弯道悬挂装置、云台承载装置等组成。通过合理布置的悬挂结构减小连接缝隙及弯道速度变化对机器人运行稳定性的影响。采用ANSYS校核分析和实物测试的方式,提出并验证了轨道式巡检机器人底盘能够迅速挂载到轨道上、利用自身的结构减小轨道连接误差,并且能平稳通过弯道。

The connection of rectangular orbit will produce gap at connecting step,and the movement direction will change when the robot passes through the curve,which will affect the operation stability.Aiming at solving the problem,a quick release orbital inspection robot chassis is designed.The robot chassis is mainly composed of a load-bearing frame,a driving wheel suspension device,a positioning device,a curve suspension device,and a pan load-bearing device.The influences of joint gap and curve speed variation on the robot operation stability is greatly reduced by a reasonable arrangement of the suspension structures.ANSYS analysis and physical verification is used to verify that the proposed orbital inspection robot chassis can be mounted on the track quickly,reduce the orbit connection errors,and pass through the curve smoothly.