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针对目前设计的架空高压巡检机器人越障步骤多,跨越障碍运行不稳定问题,提出一种基于磁悬浮运行方式的机械机构,该机构越障步骤少,越障过程平稳,可跨越间隔棒、防震锤和直线夹等障碍。该开合机构利用丝杆螺母实现机器人主体的张合运动,从而实现越障。对该机构进行运动学分析,验证了此设计的理论可行性;建立了巡检机器人的三维模型及障碍物模型,运用Solidworks Motion插件对巡检机器人越障进行仿真分析,并对越障机构的机械结构进行优化,通过对越障机构末端执行件弯连杆的速度与加速度曲线图分析,显示该越障机构可以较好地越过障碍。 相似文献
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提出了一种由4组平行四边形机构串联组成的新型三臂式巡检机器人机构,该机构能够通过调节机器人的姿态来满足越障过程中的重力平衡要求。给出了机器人越障流程规划,并对转向越障中的关键步骤进行了分析,利用二分逼近优化算法搜寻满足重力平衡条件的越障姿态,给出了满足重力平衡约束条件的运动学逆解求取方法,实现了机器人重力平衡约束条件下的转向越障运动。分析结果表明,该新型三臂式巡检机器人具有转向跨越障碍的能力。 相似文献
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《新技术新工艺》2019,(8)
为了保证输电线路的安全稳定运行,需要定期对其进行巡检,针对具有防震锤、悬垂线夹、耐张线夹、带有转弯跳线杆塔的复杂的高压输电线路目前没有应用于实际线路的巡检机器人的问题,设计了一种新型的、具有多种方式越障的三臂机器人。该机器人由旋转副、移动副、行走刹车于一体的前臂与2个具有刹车功能和旋转副的异位随动后臂构成,通过前后臂的配合实现越障巡检的能力。然后针对具有防震锤、悬垂线夹等障碍的输电线路,详细设计了机器人的越障方法,最后建立了巡检机器人的仿真运动模型,通过仿真分析,验证其避障过程,结果表明该机器人机构设计合理、避障样式多样化及越障过程简洁化,因此该机器人具有很好的环境适应性,在保证速度的同时能够安全稳定运行。 相似文献
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介绍了一种双臂四轮输电线路巡检机器人系统,机器人系统由地面基站和巡检机器人本体组成,地面控制基站和巡检机器人之间采用无线通讯方式,实现数据与图像的无线传输。详细分析了机构构型及结构特点,机器人由前、后手臂及控制箱体三部分组成,每个手臂上均包括行走机构、翻转机构、俯仰机构、夹紧机构及回转机构,并对机器人跨越防震锤和单悬垂金具等障碍物的越障过程进行了详细分析,采用遥控与局部自主相结合的设计思想,设计了机器人的控制系统,并基于Windows软件平台设计了人机交互平台。试验结果表明机器人具有爬坡角度大,越障能力强,行走时保护性好等优点。 相似文献
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一种新型管外旋转机构的设计研究 总被引:4,自引:0,他引:4
基于挠性体摩擦传动的欧拉公式和链传动理论,提出并设计了应用于X射线检测实时成像管道机器人图像采集系统中的一种新型管外同步旋转机构,并给出了管外同步旋转机构旋转平稳性和承载能力主要影响因素及其定量分析,完成了样机的制造。该机构满足了X射线实时成像检测技术的工艺要求。 相似文献
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主泵中空法兰螺栓在线检测装置轨道平台作为整个装置的运行基准,其位姿调控是实现精准超声检测的核心技术;将装置末端超声探头定位、倾摆、偏航误差映射为轨道平台的几何形态误差;提出基于形位测度思路的轨道平台调控机制。即将环形轨道、主泵筒体映射为并联机构的动、静平台,轨道平台与主泵主体六自由度相对位姿调控过程分解为具有几何意义的水平度、同心度有序调节过程;基于方位特征理论构型组合方案,综合出对应水平度调节的一平移两转动(1T2R)并联机构及同心度调节两平移一转动(2T1R)并联机构构型。所综合并联机构构型确保了轨道平台安装调整过程具有可调性、解耦性,其研究思路及可操作性设计方法可为多自由度调节机构设计提供思路。 相似文献
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Seung-Cheol Kim Gyung-Bum Kim 《The International Journal of Advanced Manufacturing Technology》2011,55(1-4):285-292
Optical alignment is of importance in spectrum inspection which is inevitable in the manufacturing process for optical filters. In the past, mechanisms with several manual axes have been used to realize such alignment, but these axes are coupled to each other. Accordingly, a lot of time and expertise is required to regulate the stage of the mechanism. Inconsistent values of optical spectrums result from manual movement of the mechanism. In this paper, a novel mechanism for effective optical alignment has been developed and includes minimum axes which are not coupled to each other. Also, an automatic spectrum inspection device has been newly implemented to improve the time for optical alignment and the quality of spectrum inspection. It has been confirmed that the proposed spectrum inspection device is faster, more precise, and reliable than those based on conventional handwork. 相似文献
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Construction of an automation system for the inspection and packing processes of a screw/bolt production line 总被引:1,自引:0,他引:1
Young-Man Jeong Yong-Seok Kim Seung-Soo Kim Soon-Young Yang 《Journal of Mechanical Science and Technology》2013,27(6):1825-1834
In this paper, a packing automation system was constructed and a prototype was manufactured to test its performance for the inspection and packing process automation of a screw/bolt production line. The packing automation system is composed of an automated inspection system and an automated packing system. An inspection system using machine vision inspection and the slant method was proposed, developed and applied. The system was also developed and applied as the MICOM system in the PLC system to improve inspection errors due to the delays in the inspection process. The feeder to supply work to the inspection device was proposed, developed and applied as a slide feeder by applying a vertical transfer mechanism. The slide method was designed to minimize friction and thus improve upon the disadvantages of the existing bowl feeder. An automated packing system based on a one-station method for two-sided vinyl automatic packing was proposed, developed and applied. The one-station method maximizes the speed of the packing processes, such as automatic supply, cutting, spreading, charging, closing and sealing, that occur over a short distance. Performance of the system was evaluated by producing a prototype and setting up a packing automation system. The performance test was validated based on the inspection handling speed, transfer speed of the slide feeder, packing speed of the automatic packing system and charging accuracy, verifying the applicability and practicality of the automated system for the screw/bolt production line. 相似文献
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