接触网设备检查机器人结构设计

Structural Design of Catenary Equipment Inspection Robots

针对铁路接触网人工拍照检查劳动强度高、危险系数大、检查时间长、效率低、范围广等问题,提出了一种带有伸缩结构的接触网检查机器人,可代替人工完成接触网拍照检查。确定了机器人整体结构、核心部件选型;运用旋量理论和现代矩阵指数积公式建立了运动学模型;利用Matlab Robotics工具箱建立仿真模型,并验证了运动学方程;运用蒙特卡洛法求解机器人工作空间,并绘制点云图;最后,利用Ansys Workbench软件对关键部件进行有限元分析,对强度、刚度进行了校核验证。所设计的机器人减轻了工人工作量;采用轻型材料及关节模块化设计,质量减轻25%;且其末端的多自由度结构使拍摄角度、范围较传统方式增加了2倍,伸缩结构使机器人可以获得较大工作空间,满足工作要求。

Aiming at the problems of high labor intensity,high risk factor,long inspection time,low effi⁃ciency and wide range of manual inspection of railway catenary,a catenary inspection robot with a telescopic structure is proposed,which can replace manual inspection of the catenary.The overall structure of the robot and the selection of core components are determined.The screw theory and the modern matrix exponential prod⁃uct formula are used to establish the kinematics model;the Matlab Robotics toolbox is used to establish the simu⁃lation model and verify the kinematics equation;the Monte Carlo method is used to solve the robot workspace and draw the point cloud map.Finally,Ansys Workbench software is used for finite element analysis of key com⁃ponents,and the strength and stiffness are checked and verified.The designed robot in this study reduces the workload of workers;using lightweight materials and joint modular design makes the mass be reduced by 25%;its terminal multi-degree-of-freedom structure makes the shooting angle and range be increased by 2 times compared with the traditional way;the telescopic structure enables the robot to obtain a larger working space to meet the work requirements.