基于闭环五连杆的电厂巡检机器人腿部结构设计  

Leg Structure Design of Power Plant Inspection RobotBased on Closed Loop Five Link

作　　者：罗信驰 迟金玲 白晋伟 杨蕊舟 张新欣 郑宇浩 LUO Xin-chi;CHI Jin-ling;BAI Jin-wei;YANG Rui-zhou;ZHANG Xin-xin;ZHENG Yu-hao(School of Mechanical Electronic&Information Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《机械工程与自动化》2024年第3期74-77,共4页Mechanical Engineering & Automation

基　　金：中国矿业大学(北京)大学生创新训练项目(202304017)。

摘　　要：为优化电厂巡检,提出了使用电厂巡检机器人进行巡检工作;对于电厂复杂环境的巡检,需要巡检机器人能够完成跨越障碍、降低自身高度等动作,经过多方对比,设计了一种具有两个自由度的闭环五连杆轮腿式机构作为巡检机器人的腿部机构,基于整体比例给出了各杆件的尺寸,通过SolidWorks软件对足端进行了运动曲线模拟,经校核足端曲线能够满足机器人跨越的要求。此外对轮腿结构轮子的安放位置进行了分析,选定了轮腿结构的形式并对整体结构在SolidWorks软件中进行建模,得到整体结构的三维图及二维图,并对轮腿机构的变形过程进行了说明。In order to optimize power plant inspection,a power plant inspection robot was proposed.For the inspection of the complex environment of the power plant,the inspection robot should be able to complete the actions such as crossing obstacles and reducing its own height.After multi-comparison,a closed-loop five-link wheel leg mechanism with two degrees of freedom is designed in this paper as the leg mechanism of the inspection robot,and the size of each rod is given based on the overall proportion.And through SolidWorks software for foot motion curve simulation,the foot curve can meet the requirements of robot crossing.In addition,the positioning position of the wheel leg structure is analyzed,the form of the wheel leg structure is selected and the overall structure is modeled in SolidWorks software,getting the three-dimensional and two-dimensional diagram of the overall structure,and the deformation process of the wheel leg mechanism is described.

关 键 词：电厂巡检 轮腿式机器人 闭环五连杆机构 SOLIDWORKS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM621[自动化与计算机技术—控制科学与工程]