隧道巡检灭火机器人结构设计与关键部位强度分析  

Structural Design and Strength Analysis of Key Parts of Tunnel Patrol Fire Extinguishing Robot

作　　者：王辉[1] 杨曜华 王有禄 李文杰[1] 王樱吉 李占龙[1] WANG Hui;YANG Yaohua;WANG Youu;LI Wenjie;WANG Yingji;LI Zhanlong(School of Vehicle and Traffic Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学车辆与交通工程学院,山西太原030024 [2]太原科技大学机械工程学院,山西太原030024

出　　处：《机械工程与自动化》2025年第2期100-103,共4页Mechanical Engineering & Automation

基　　金：山西省大学生创新创业训练计划项目(20230671);太原科技大学创新创业训练计划项目(XJ2023126)。

摘　　要：高速隧道是我国重要的交通要道,为保证车辆的安全通行,需对隧道进行安全巡查。传统的人工巡检需要耗费大量时间和人力;目前市面上的消防机器人,如小型的消防检测机器人,巡检时可能因为地形或外物阻碍,从而无法前进或者导致侧翻。介绍了所设计的隧道巡检灭火机器人,通过先进的结构设计以及自动化和智能化技术应用,可以起到自动巡检、跨越400 mm~600 mm垂直障碍以及节约人力成本的作用,从而更高效地进行隧道巡检。通过对该机器人的结构(云台总成、底盘总成)进行设计,详细展示出拨弹盘、履带总成、顶升装置等结构的设计思路,体现出该机器人的巡检、灭火以及跨越垂直障碍等功能。最后对关键承载部位进行了静力学分析,保证了关键部位的强度、刚度、稳定性能皆满足实际要求。High-speed tunnels are important traffic paths in China.In order to ensure the safe passage of vehicles,safe inspection of tunnels is needed.Traditional manual inspection requires a lot of time and manpower;at present,fire-fighting robots on the market,such as small fire detection robots,may be unable to move forward or rollover due to terrain or external obstacles.The tunnel patrol and fire extinguishing robot designed in this paper can play the role of automatic patrol,cross 400 mm~600 mm vertical obstacles and save labor costs through advanced structural design,automation and intelligent technology,so as to carry out tunnel inspection more efficiently.This paper designs the structure of the robot(cloud platform assembly,chassis assembly)and shows in detail the design ideas of the dial plate,track assembly,top lifting device and other structures,so as to reflect the robot's inspection,fire extinguishing,crossing vertical obstacles and other functions.Finally,the static analysis of the key bearing parts is carried out to ensure that the strength,stiffness and stability of the key parts should meet the actual requirements.

关 键 词：隧道巡检 灭火机器人 结构设计 强度分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]