隧道综合巡检机器人设计及研究  

Design and Research of Tunnel Comprehensive Inspection Robot

作　　者：孙炳 刘丹丹 刘宜胜[1] 陈志丹 SUN Bing;LIU Dandan;LIU Yisheng;CHEN Zhidan(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;Academia Sinica,United Science&Technology Co.,Ltd.,Hangzhou 310051,China)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江众合科技股份有限公司中央研究院,杭州310051

出　　处：《自动化与仪表》2024年第2期76-80,85,共6页Automation & Instrumentation

基　　金：浙江省重点研发项目(2022C01064)。

摘　　要：为解决城轨隧道病害检测采集的问题,设计了一台隧道综合巡检机器人。对机器人的实现功能进行规划与设计,确定实现方式,并使用SolidWorks软件设计并建立机器人不同模块的结构模型;对底盘驱动模块进行电机计算与校核,利用ANSYS Workbench对底盘进行有限元静力学分析;对机器人样机进行生产加工组装,并在真实隧道环境中进行测试实验。实验测试结果表明,机器人结构与控制部分设计合理,可实现对隧道内壁与道床的病害数据采集,机器人运动性能达到预期的目标。To solve the problem of detecting and collecting diseases in urban rail tunnels,a tunnel comprehensive inspection robot has been designed.Plan and design the implementation functions of the robot,determine the implementation method,and use SolidWorks software to design and establish structural models of different modules of the robot.The chassis drive module is calculated and checked by motor,and the chassis is analyzed by finite element statics using ANSYS Workbench.Produce,process,and assemble the robot prototype,and conduct testing experiments in a real tunnel environment.The experimental test results show that the structure and control part of the robot are designed reasonably,which can achieve the collection of disease data on the inner wall of the tunnel and the track bed,and the robot’s motion performance meets the expected goals.

关 键 词：隧道综合巡检机器人 病害检测采集 结构设计 测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]