摘要
针对目前声屏障人工巡检存在的效率低、难度大等问题,提出了一种新型声屏障巡检机器人结构。对巡检机器人结构的静力学分析,得到巡检机器人满足结构设计要求。对巡检机器人进行动力学分析,得到驱动的基本条件,验证了越障的可行性,结果表明,该巡检机器人有两组行进装置,交替越障可以实现翻越声屏障立柱而连续行进。通过控制气缸的伸缩,可以改变关节杆串联后的状态,来适应声屏障的不同形状。机器大越障前进性能好,能达到预定的巡检设计要求。
Aiming at the problems of low efficiency and difficulty in the current manual inspection of sound barriers,a new type of sound barrier inspection robot structure was proposed.The statics analysis of the inspection robot structure was carried out which showed that the inspection robot meets the structural design requirements.The dynamics of the robot was analyzed,and the basic driving conditions were obtained,which verifies the feasibility of obstacle crossing.Resuts show that the inspection robot has two sets of traveling devices,alternate obstacle crossings can achieve continuous traveling by climbing over the noise barrier columns.By controlling the expansion and contraction of the cylinder,the state of the articulated rods in series can be changed to adapt to the different shapes of the sound barrier.The performance of obstacle crossing is good,which can meet the predetermined inspection design requirements.
作者
邓斌
左荣
王奇
何沛恒
DENG Bin;ZUO Rong;WANG Qi;HE Pei-heng(Engineering Research Center for Advanced Drive Energy-saving Technology, Ministry of Education, Southwest Jiaotong University, Chengdu 610031, China)
出处
《科学技术与工程》
北大核心
2021年第18期7526-7531,共6页
Science Technology and Engineering
关键词
声屏障
巡检机器人
结构分析
关节杆
动力学分析
sound barrier
inspection robot
structure analysis
articulated rod
dynamic analysis