面向强风环境的带式输送机巡检机器人设计与试验
Design and Testing of a Belt Conveyor Inspection Robot for Strong Wind Environments

本文设计了一种面向滨海地区强风条件下工作的带式输送机巡检机器人。本文首先基于Davenport风功率谱生成了9级风的随机风速，计算了巡检机器人克服正向随机9级风风载荷下驱动力，对巡检机器人进行了结构设计，用Solid works软件进行了建模，并试制巡检机器人样机。在ADAMS中进行了正向随机风载荷下巡检机器人通过不同轨道间隙以及通过不同坡度的动力学仿真，结果表明：当驱动力为75 N、90 N、105 N时，巡检机器人分别能爬过最大10？、15？、20？的坡。进行了正向随机风载荷下巡检机器人通过20？坡度的通过性试验，结果表明：机器人运行过程中振动最大值约为0.21 m/s²，最大振幅约为1.9 mm。
In this paper, a belt conveyor inspection robot working under strong wind conditions in coastal areas is designed. Firstly, based on the Davenport wind power spectrum, the random wind speed of the 9-level wind is generated, and the driving force of the inspection robot to overcome the forward random 9-level wind and wind load is calculated. The structural design of the inspection robot is carried out, and the Solid works software is used to model and trial the inspection robot prototype. The dynamic simulation of the inspection robot passing through different track clearances and different slopes under forward random wind load is carried out in ADAMS. The results show that when the driving force is 75 N, 90 N and 105 N, the inspection robot can climb the slopes of the maximum 10？, 15？ and 20？ respectively. The passing test of the inspection robot through 15 mm track gap and 20？ slope under forward random wind load is carried out. The results show that the maximum vibration value of the robot during operation is about 0.21 m/s², and the maximum amplitude is about 1.9 mm.