Research On Structure Design And Control Technology Of Mounted Wheeled Inspection Robot

As our country steps into the aging,minority children stage,our labor force gradually presents insufficient.The research and application of robots is an important way to solve this problem.As an important branch of robots,inspection robots can provide a strong boost to maintain the healthy and stable development of national economy.Inspection robots are also more and more involved in practical applications.In the application process,because of most inspection robots are custom-designed for tasks,the adaptability of robots in special complex environments is insufficient.And the cost of robot is high.It is not conducive to the promotion and application of robots.In view of the above problems,according to the application needs a fire inspection robot suitable for many kinds of urban environments is designed.Main research contents include:Based on the problem of insufficient inspection robot environment adaptability,through summary analysis of the existing part of the inspection robot at home and abroad,this article research goal: develop a obstacle ability outstanding fire inspection robot has been determined.In order to ensure that the inspection robot developed has good functions,the technical route of the robot is planned.According to the technical route,the mechanical structure has been designed,kinematics analysis and simulation has been done,control system has been designed and robot prototype manufacturing and experiment of the inspection robot are completed.In the robot structure: the problem of insufficient for the mobile platform obstacle surmounting of robot ability,method adopts six-wheel drive 6 drive selection,inspection robot using radial bogie structure as the suspension system to improve the inspection robotic obstacle-navigation ability and stability.In order to ensure the stiffness and strength of the robot structure,according to the design results of the rocker arm bogie the mechanical model has been established,and the statics simulation analysis was carried out to check the mechanical properties of the parts.According to the robotic weight and parameter requirements,the driving torque and power required by the inspection robot are calculated,and the selection of the robotic hub motor is completed.Finally,according to the needs,the structure design of the bottom plate,box body and head of the inspection robot is completed.On the robot kinematics analysis and simulation,according to the structure model of the inspection robot,robot steering kinematics model has been established.In order to test the motion performance of the robot and ensure that the robot can meet the parameter requirements,this paper summarizes the complex road surface that the robot may encounter in the process of working,and uses Adams software to establish the motion simulation model of the robot under several typical complex road surfaces and carries out the kinematics simulation analysis.In terms of robot control system,according to the needs of the robot’s mechanical structure and fire inspection,set up inspection robot control system framework,designed the PC interface,completed the main hardware selection work.In order to reduce the error between the actual speed and the theoretical speed of the robot hub motor,the PID algorithm is applied to the motion control.According to the result of the design,set up the inspection robot prototype.In order to verify the obstacle-crossing performance,motion flexibility,motion accuracy and working ability of the robot,the inspection robot prototype was used to carry out the obstacle-crossing experiment and the autonomous line patrol experiment of moving according to a fixed trajectory.Based on the experimental results,the working performance of the robot is analyzed.Finally,based on the analysis summary inspection robot in advantages and disadvantages in the process of design and manufacture,prospected the future work.