声屏障巡检机器人本体结构及动力学分析

针对目前声屏障人工巡检存在的效率低、难度大等问题,提出了一种新型声屏障巡检机器人结构.对巡检机器人结构的静力学分析,得到巡检机器人满足结构设计要求.对巡检机器人进行动力学分析,得到驱动的基本条件,验证了越障的可行性,结果表明,该巡检机器人有两组行进装置,交替越障可以实现翻越声屏障立柱而连续行进.通过控制气缸的伸缩,可以改变关节杆串联后的状态,来适应声屏障的不同形状.机器大越障前进性能好,能达到预定的巡检设计要求.

Barrier Inspection Robot Body Structure and Dynamic Analysis

Aiming at the problems of low efficiency and difficulty in the current manual inspection of sound barriers, this paper proposes a new type of sound barrier inspection robot structure. The inspection robot has two sets of traveling devices, alternate obstacle crossings can achieve continuous traveling by climbing over the noise barrier columns. By controlling the expansion and contraction of the cylinder, the state of the articulated rods in series can be changed to adapt to the different shapes of the sound barrier. The statics analysis of the inspection robot structure shows that the inspection robot meets the structural design requirements. The dynamics of the robot is analyzed, and the basic driving conditions are obtained, which verifies the feasibility of obstacle crossing, and the performance of obstacle crossing is good, which can meet the predetermined inspection design requirements.