挂轨巡检机器人绳索式剪叉升降机构的设计研究  

Design and research of rope type scissor lifting mechanism of rail-hanging inspection robot

作　　者：安华成 周骥平[1] 高龙琴[1] 徐钟林 AN Huacheng;ZHOU Jiping;GAO Longqin;XU Zhonglin(School of Mechanical Engineering,Yangzhou University,Yangzhou 225127,China;Jiangsu Clean-star Laboratory Environmental Protection Technology Co.,Ltd.,Yangzhou 225127,China)

机构地区：[1]扬州大学机械工程学院,扬州225127 [2]江苏科仕达实验室环保科技有限公司,扬州225127

出　　处：《现代制造工程》2022年第2期129-134,共6页Modern Manufacturing Engineering

摘　　要：针对目前挂轨巡检机器人升降机构的特点和不足,从运动稳定性和展开性能出发,设计了一种绳索式剪叉升降机构。对比分析了剪叉升降机构不同驱动方式的优、缺点,给出了剪叉升降机构具体的结构设计方案,对所设计的剪叉升降机构进行了运动学仿真分析,验证了方案的可行性。试制样机试验结果证明所设计的剪叉升降机构运动平稳,展开性能优异,能够满足巡检机器人的工作需求。In view of the current characteristics and shortcomings of the lifting mechanism of the rail-hanging inspection robot,a rope type scissor lifting mechanism was proposed based on the motion stability and deployment performance.The advantages and disadvantages of different driving modes of the scissor lifting structure were compared and analyzed,and the specific structural design scheme was given.The kinematics simulation analysis of the designed scissor lifting mechanism was carried out to verify the feasibility of the scheme.Finally,the test results of the prototype prove that the designed scissor lifting mechanism moves smoothly and has excellent deployment performance,which meets the work requirements of the inspection robot.

关 键 词：巡检机器人 升降机构 绳索式 卷线盘 剪叉单元 

分 类 号：TH122[机械工程—机械设计及理论]