中国天眼馈源支撑缆索检测机器人设计  

Design of Feed Support Cable Inspection Robot for FAST

作　　者：孙翔宇 刘刚峰[1] 杨清阁[2] 孙才红[2] 赵杰[1] SUN Xiang-yu;LIU Gang-feng;YANG Qing-ge;SUN Cai-hong;ZHAO Jie(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150040,China;National Astronomical Observatory,Chinese Academy of Sciences,Beijing 100012,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150040 [2]中国科学院国家天文台,北京100012

出　　处：《科学技术与工程》2023年第3期1119-1129,共11页Science Technology and Engineering

基　　金：国家重点研发计划(2019YEB1312701)。

摘　　要：中国天眼,即五百米口径球面射电望远镜,简称FAST,是中国的重大科技基础设施。而馈源支撑系统是FAST中对馈源舱进行高精度位姿调节的重要部件。为保障FAST的正常运行,必须定期开展馈源支撑系统的安全检测。为此,需要设计能够自主进行馈源支撑缆索缺陷检测的机器人系统。针对机器人在FAST馈源支撑缆索上的工作环境,设计机器人总体方案。根据缆索上障碍多的特点,将检测机器人设计为底部开口、多轮抱索、多节串联形式;根据缆索长、陡的特点,确定两端卷扬机牵引驱动为主、轮驱为辅的驱动形式。依据总体设计方案,分别开展机器人各部分的详细结构设计,保障机器人能够可靠地沿缆索运动与避障;设计主动调整、弹性适应的连接机构实现各节机器人之间连接与相对位置调整。最后,进行机器人整机样机运行实验。实验结果表明,机器人能够稳定地在缆索上运动及避障,验证了所设计的机器人系统沿FAST缆索检测所需的运动能力。The Chinese Celestial Eye,or five-hundred-meter aperture spherical radio telescope,or FAST for short,is a major scientific and technological infrastructure in China.The feed support system is an important part of FAST for high-precision pose adjustment of the feed cabin.In order to ensure the normal operation of FAST,the security inspection of the feed support system must be carried out regularly.Therefore,it is necessary to design a robot system that can independently detect the defects of feed support cables.The overall scheme of the robot was designed based on its working environment on the FAST feed support cables.According to the characteristics of many obstacles of the cables,the inspection robot was designed as the form of bottom opening,multi wheel holding cable and multi section series connection;according to the characteristics of length and steepness of the cables,the driving mode of winch traction drive at both ends as the main and wheel drive as the auxiliary was determined.Based on the overall design scheme,the detailed structural design of each robot section was carried out to ensure that the robot can reliably move along the cable and avoid obstacles.The connection mechanism with active adjustment and elastic adaptation was designed to realize connection and relative position adjustment between robot sections.Finally,the prototype of the robot was tested.The experimental results show that the robot can stably move on the cable and avoid obstacles,and verify the required motion ability of the designed robot system to detect along FAST cables.

关 键 词：检测机器人 多节式结构 开合 避障 牵引驱动 连接机构 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]