巡检机器人2自由度弹性缓冲机构的设计与研究  

Design and Research of 2 Degrees of Freedom Elastic Buffering Mechanism of Inspection Robot

作　　者：张万里 高贵军 ZHANG Wanli;GAO Guijun(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Nationallocal Joint Laboratory of Mining Fluid Control Engineering,Taiyuan 030024,China;Shanxi Research Center of Mining Fluid Control Engineering,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,太原030024 [2]矿山流体控制国家地方联合工程实验室,太原030024 [3]山西省矿山流体控制工程技术研究中心,太原030024

出　　处：《煤炭技术》2024年第11期232-237,共6页Coal Technology

基　　金：山西省重点研发计划项目(202102100401004);山西省科技合作交流专项(202104041101005)。

摘　　要：针对现有的绳牵引式巡检机器人自身抖动较大影响图像识别准确率的问题,设计了一种有效减少巡检机器人自身抖动的2自由度弹性缓冲机构,用于连接绳索和巡检机器人。介绍了巡检机器人的现状,对带式输送机往复巡检系统总体方案进行了研究和设计。据此,使用ADAMS建立虚拟样机模型,重点仿真分析机器人在水平匀速巡检工况下,2自由度弹性缓冲机构的减振效果,并得出其最佳弹性系数。最后搭建实验测试平台,通过实验和仿真的结果表明:2自由度弹性缓冲机构能够大幅减少巡检机器人主体的上下抖动,提高巡检机器人图像及其他传感器识别准确率。In order to solve the problem that the self-jitter of the existing rope-drawn inspection robot greatly affects the accuracy of image recognition,a 2 degrees of freedom elastic buffer mechanism that effectively reduces the self-jitter of the inspection robot was designed to connect the rope and the inspection robot.The current situation of the inspection robot was introduced,and the overall scheme of the reciprocating inspection system of the belt conveyor was studied and designed.Accordingly,ADAMS was used to establish a virtual prototype model,focusing on the simulation and analysis of the vibration damping effect of the 2 degree of freedom elastic buffer mechanism of the robot under the condition of horizontal constant speed inspection,and its optimal elastic coefficient was obtained.Finally,an experimental test platform is built,and the results of experiments and simulations show that the 2 degrees of freedom elastic buffer mechanism can greatly reduce the up and down jtter of the main body of the inspection robot and improve the recognition accuracy of the inspection robot image and other sensors.

关 键 词：绳牵引式巡检机器人 2自由度弹性缓冲机构 弹性系数 整体设计 ADAMS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]