可切换检查坑的地铁车辆车底检测机器人底盘设计(上)

Design of Robot Chassis Moving Between Inspection Pits for Inspecting Metro Vehicle Bottom(Part 1 of 2)

为了满足地铁车辆段在多检查坑检测车辆车底的需求,设计可切换检查坑的地铁车辆车底检测机器人底盘。针对地铁车辆车底检测机器人使用工况,设计四舵轮结构底盘。介绍底盘总体结构、外形尺寸,以及四舵轮驱动单元组成。依据底盘车轮转向阻力矩、驱动阻力矩,确定转向伺服电机和驱动伺服电机功率。阐述巡检、切换检查坑、对接充电桩3种运动控制方式,以及转向角度分配算法。实际运用表明,装用该底盘的机器人在切换检查坑过程中,可实现爬坡、过坑、原地转向等功能,定位准确度高,运行稳定可靠。

In order to meet the needs for detecting vehicle bottom in multiple inspection pits at metro vehicle de⁃pots,a robot chassis moving between inspection pits for inspecting Metro vehicle bottom is designed.The chassis is designed as a four wheel structure for the usage of the metro vehicle bottom detection robot.Introduce the overall structure and dimensions of the chassis,as well as the composition of the four wheel drive unit.Determine the power of the steering servo motor and driving servo motor by calculating the steering resistance moment and driving resistance moment of the chassis wheels.The control methods for inspection,moving between inspection pits,docking charging station movement,and algorithm for steering angle allocation are elaborated.Practical applications have shown that the robot equipped with this chassis can achieve functions such as climbing,passing through pits,and turning in place dur⁃ing the process of moving between inspection pits,with high positioning accuracy and stable and reliable operation.