论文部分内容阅读
吸附行走机构是各种用途爬壁机器人的核心部件,机构的吸附可靠性和行走灵活性是影响爬壁机器人的重要因素。首先总结分析了吸附行走机构工作原理及设计的关键点,针对吸附行走机构基本设计要求,介绍了一种液压控制的重载爬壁吸附行走机构,阐述了重载爬壁吸附行走机构的永磁吸附履带机构、动力驱动单元等组成部分设计和技术参数,通过对其受力分析得出了重载吸附行走机构动力驱动单元的关键动力参数,并介绍了配套的液压系统与控制系统的功能元件选型和控制模块设计,在不同的转向半径和吸附对象上进行了运行试验,分析了重载吸附行走机构转向能力与液压动力的关系,研究吸附对象厚度参数对重载吸附行走机构吸附能力的影响,经过试验分析表明,设计的重载爬壁吸附行走机构具有较好的稳定性、液压控制吸附行走机构的重载负载能力强。
Adsorption walking mechanism is the core component of climbing robot for various purposes. Adsorption reliability and walking flexibility of the mechanism are important factors that affect the climbing robot. Firstly, the key points of the working principle and design of the suction walking mechanism are summarized and analyzed. Aiming at the basic design requirements of the suction walking mechanism, a hydraulically-controlled heavy-duty climbing adsorption walking mechanism is introduced, and the permanent magnetism Adsorption track mechanism, power drive unit and other components of the design and technical parameters, through the force analysis of the heavy-duty adsorption walking mechanism power drive unit of the key dynamic parameters, and introduced the supporting hydraulic system and control system components Selection and control module design, the running test was carried out on different turning radii and adsorption objects, the relationship between steering ability and hydraulic power of heavy-duty adsorption traveling mechanism was analyzed, and the adsorption parameters After the test analysis, it shows that the design of the heavy-duty wall-climbing adsorption walking mechanism has good stability and the hydraulically controlled suction walking mechanism has a high load capacity.