履带式排爆机器人结构设计

Structural Design of Crawler Explosive Disposal Robot

排爆机器人代替排爆人员进行排爆作业,是维护社会和谐稳定,保障排爆人员生命安全,建设平安中国目标的必然选择。针对排爆机器人特定工作环境,提出机器人末端执行器、机械臂和移动底盘的设计需求,设计排爆机器人的具体结构、传动形式和驱动方案,进行排爆机器人底盘和机械臂驱动电机的参数计算。结合所有的设计和计算结果,应用SolidWorks三维建模软件对非标零件进行实体建模,标准零件从今日制造中下载然后对虚拟装配模型进行运动仿真,输出末端执行器在抓取爆炸物的过程中线性位移、速度和加速度曲线,分析仿真输出结果,优化排爆机器人结构设计。

Explosive detonation robot instead of explosive detonation personnel to carry out explosive detonation operations,is to maintain social harmony and stability,to protect the lives of explosive detonation personnel,the construction of safe China goal of the inevitable choice.For the specific working environment of the detonation robot,the design requirements of the robot end-effector,mechanical arm and mobile chassis are proposed,the specific structure,transmission form and drive scheme of the mechanical claw are designed,and the parameters of the drive motor of the detonation robot chassis and mechanical arm are calculated.Based on the design and calculation results,SolidWorks 3D modelling software is applied to solid modelling of non-standard parts,standard parts are downloaded from Manufacturing Today and then motion simulation is performed on the virtual assembly model to output linear displacement,velocity and acceleration curves of the end-effector in the process of grasping explosives,analyse the simulation output results and optimise the structural design of the explosive detonation robot.