双云台快速移动轨道巡检机器人的研究  

Double Platform Fast Moving Track Inspection Robot

作　　者：朱蓉[1] 谢一源 郭凯[1] 罗立轩 翁钰 朱煜铭 Xie Yiyuan;Guo Kai;Luo Lixuan;Weng Yu;Zhu Yuming;Zhu Rong(GuiLin University of Electronic Technology,Guilin 541000)

机构地区：[1]桂林电子科技大学,广西桂林541000

出　　处：《中阿科技论坛（中英文）》2020年第4期114-116,共3页China-Arab States Science and Technology Forum

摘　　要：在移动类机器人的研究领域,轨道类巡检机器人是典型的特种移动机器人在对安全性有一定要求的场合应用最为广泛,电力巡检机器人是国内外机器人领域的研究热点。但目前的轨道机器人大多数为水平或垂直的运动巡检,其大多是沿用了自行走输送机器人的工字型轨道。存在重量大,价格高,不易实现小半径转弯的情况,在电力机房等设备密集的场合,较难满足实际需求。市场上也有环形或S型可过弯的巡检机器人,但受机器人底盘结构的限制,需用配套的异性轨道才能实现过弯,且运行速度较为缓慢,检测质量分散。机器人底盘的运动性能是其工作效率的基础,本篇为解决上述的问题,通过改变传统的轨道机器人的底盘结构,对其运动方式进行创新,使其实现快速移动、精准定位、顺畅过弯的效果。并要求其适应简单形状的轨道,降低轨道的铺设成本,最终设计出一款轻便,高效的轨道巡检机器人。In the research field of mobile robots,orbit inspection robots are typical special mobile robots widely used in occasions with certain safety requirements.Electric inspection robots are hot research topics in the field of robots at home and abroad.However,most of the current orbit robots are horizontal or vertical movement inspections,most of which are along the I-shaped track using self-propelled conveyor robot.There are cases where the weight is high,the price is high,and it is not easy to achieve a small radius turn.It is difficult to meet actual needs.There are also circular or S-shaped bendable inspection robots on the market,but due to the limitations of the robot chassis structure,it is necessary to use the matching heterosexual track to achieve the bend,the running speed is relatively slow,and the detection quality is scattered.The motion performance of the robot chassis is the basis of its work efficiency.In order to solve the above problems,this article changes the traditional chassis structure of the orbital robot,innovating its movement method to achieve the effect of rapid movement,precise positioning and smooth cornering to make it adapt to the simple shape of the track and reduce the cost of laying the track,and finally designs a light and efficient track inspection robot.

关 键 词：轨道巡检 运动快速 弯道自适应 双360°云台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]