一种车载三脚架部署机器人结构仿真设计

Structural Simulation Design of a Vehicle-Mounted Tripod Deployment Robot

摘要

为解决高速公路故障车辆人工摆放警示三脚架时，作业人员暴露于高速车流的安全隐患，研发车载式自动折叠警示三脚架部署机器人，实现三脚架自主移动、自动展开与精准投放的自动化作业。研究以高灵活性、高路面适应性为核心原则，依据电动转向、电池供电等功能要求，采用模块化设计构建车架与车轮、三脚架部署、车架与电池三大核心系统，增设减震装置提升复杂路面运行稳定性。车架与车轮系统搭载麦克那姆轮实现四轮独立全向驱动，三脚架部署系统通过双伺服电机协同驱动多连杆机构，配合磁吸定位与铰接副预紧完成三脚架收展，车架与电池系统采用双电池包并联供电。经参数优化标定，机器人直行车速≥0.8m/s、最小转弯半径≤0.2m，磁吸块吸附力≥15N且断电0.3s内释放，可在湿滑、碎石路面瞬时启停，适配应急车道狭小空间作业。研究完成机器人整体结构仿真设计与核心参数设定，其结构合理、性能优异，可有效替代人工完成高危作业，各项指标满足高速公路应急需求，为道路应急警示设备自动化发展及同类车载机器人研发提供设计方案与参数参考。

Abstract

To address the safety risks of workers being exposed to high-speed traffic when manually deploying warning tripods for faulty vehicles on highways, a vehicle-mounted automatic folding tripod deployment robot was developed to achieve autonomous movement, automatic unfolding, and precise placement of tripods. The research focused on high flexibility and strong road adaptability as core principles. Based on functional requirements such as electric steering and battery power supply, modular design was employed to construct three core systems: the frame and wheels, tripod deployment, and frame-battery integration. Additional shock-absorption devices were added to enhance operational stability on complex road surfaces. The frame and wheels system utilized mecanum wheels for independent omnidirectional driving with four wheels, while the tripod deployment system employed dual servo motors to drive a multi-link mechanism in coordination with magnetic adsorption positioning and hinge joint pre-tensioning to achieve tripod extension and retraction. The frame-battery system adopted parallel power supply from dual battery packs. After parameter optimization and calibration, the robot achieved a straight-line speed ≥ 0.8 m/s, a minimum turning radius ≤ 0.2 m, magnetic adsorption force ≥ 15 N with release within 0.3 s of power loss, enabling instant start-stop on slippery or gravel roads and adapting to confined emergency lane spaces. The study completed simulation design of the robot’s overall structure and core parameter settings, demonstrating reasonable structure and superior performance. It effectively replaces manual labor in high-risk operations, meets all emergency requirements for highways, and provides design solutions and parameter references for the automation of road emergency warning equipment and the development of similar vehicle-mounted robots.

关键词

警示三脚架部署 / 麦克那姆轮 / 高速公路应急

Key words

warning tripod deployment / mecanum wheel / highway emergency

参考文献

[1] 唐国栋, 祝威威. 高速公路交通安全设施设计关键点研究[J]. 工程建设与设计, 2025,(11):92-94.DOI:10.13616/j.cnki.gcjsysj.2025.06.027.

[2] 王伟. 高速公路交通安全设施安全评价应用研究[J]. 中国储运, 2024,(12):104-105.DOI:10.16301/j.cnki.cn12-1204/f.2024.12.055.

[3] 梁洸强, 薛文超等. 六足机器人行走机构设计[J]. 装备制造技术, 2025,(01):31-34+43.

[4] 陆术华, 李新, 严天昊, 等. 仿生可折叠机构的设计与仿真[J]. 机械工程师, 2026,(01):45-49.

[5] 夏任波. 三轴对称分布式全向移动机器人机械结构设计[J]. 今日制造与升级, 2025,(12):29-31.

基金资助

广西大学生创新性训练项目(202513520005)

广西高校中青年教师科研能力提升项目(2024KY0897)