巡检机器人自动上下线系统制动装置研究

针对现有巡检机器人自动上下线系统作业风险高、无保护装置的特点,提出了一种巡检机器人自动上下线系统的制动装置,使自动上下线系统运行更加安全。设计了制动装置的三维模型,分析了制动装置的制动过程。建立制动装置的静力学模型,求解制动装置的制动稳定状态。使用ADAMS软件仿真制动装置制动过程中的动态特性,求解制动装置的制动时间与制动距离,证明了制动装置设计的合理性。通过现场实验,验证了该制动装置在机器人自动上下线过程中具有良好的可靠性与更高的安全性,具有工程应用和推广价值。

Research on Braking Device of Automatic Up and Down Lines System of Inspection Robot

In order to solve the problems of the automatic up and down lines system of inspection robot, such as high risk and without protecting devices during the operation, a kind of braking device of the system of inspection robot was designed, which made the operation of the automatic up and down line system safer. A three-dimensional model of the braking device was designed and the braking process was analyzed. The static model of the braking device was established to solve the stable state of the braking device. The dynamic characteristics in the braking process were simulated by ADAMS software, the braking time and braking distance of the braking device were calculated, and the rationality of the braking device design was proved. The results show that the braking device has good reliability and higher safety in the process of the automatic up and down lines, and has the value of engineering application and promotion.