摘要
针对电梯导轨检测项目传统检测手段的诸多缺陷,为实现导轨间距、导轨接头处台阶、导轨支架距离及导轨垂直度等项目的自动检测,设计一种电梯导轨多功能检测机器人。文中详细分析机器人的动力学模型,提出机器人整体结构,设计可调机构、磁轮吸附机构,并通过仿真验证吸附力;设计机器人的驱动系统,包括传动方式和驱动部件。对样机进行试验,试验结果表明,该机器人结构设计合理,吸附力强,行走稳定,工作状态良好。
To solve the shortcomings in the traditional detection methods of elevator guide rails,and in order to realize the automatic detection for many items,such as the rail spacing,the step of rail joint,the distance of the rail bracket and the rail verticality,a multi-function detection robot for elevator guide rails was designed.This paper analyzed the dynamic model of the robot,and proposed the overall structure of the robot.The adjustable mechanism and the magnetic wheel adsorption mechanism are designed,and the adsorption force is verified by simulation.This paper also designed the drive system of the robot,including the transmission mode and the driving components.Finally,the prototype is tested,and the results show that the robot has reasonable structure,strong adsorption,stable walking and good working condition.
作者
王璇
肖长青
胡智勇
陈洪国
薛令军
Wang Xuan;Xiao Changqing;Hu Zhiyong;Chen Hongguo;Xue Lingjun(Tianjin Special Equipment Inspection Institute Tianjin 300130)
出处
《中国特种设备安全》
2019年第9期34-41,共8页
China Special Equipment Safety
基金
国家质检总局科技计划项目(批准号:2015QK016)
天津市服务业转型升级专项
关键词
导轨
多功能检测
机器人
动力学模型
Guide rails
Multi-function detection
Robot
Dynamical model
