高压线巡检机器人越障机构设计  

Obstacle-navigation mechanism design for high-voltage wire detection robots

作　　者：周俊[1] 冷鸿彬[1] 朱洪俊[1] 

机构地区：[1]西南科技大学制造科学与工程学院,四川绵阳621010

出　　处：《机械设计》2012年第12期25-27,共3页Journal of Machine Design

基　　金：国家"863"高科技资助项目(2002AA421220)

摘　　要：机器人在线行走时需要跨越各种障碍物。文中设计了一种由曲柄滑块机构、摆动导杆机构和槽轮机构组成的越障机构,并阐述了其越障原理。该机构能针对不同的障碍物采取不同的跨越方式完成越障,越障动作简单高效,单自由度控制容易。为高压巡检机器人越障机构的选型提供了一种新的选择。The robot must overcome various obstacles during its trip on the lines.This paper presents a new obstacle-navigation mechanism that is composed of slider-crank mechanism,swing guide-bar mechanism and Geneva mechanism,and illustrates the operation principle.The mechanism can cross obstacles with different ways of obstacle-navigation according to the different obstacles.It is simple and effective with single degree of freedom.It provides a new choice for the type selection of obstacle-navigation mechanism for high-voltage wire detection robots.

关 键 词：曲柄滑块机构 摆动导杆机构 槽轮机构 越障 巡检机器人 

分 类 号：TH13[机械工程—机械制造及自动化]