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在对国内外典型爬缆机器人结构深入研究的基础上,设计了一种抱缆力可调的斜拉索检测机器人。通过电机正反转带动螺旋压紧机构实现抱缆力遥控调节功能,可有效防止机器人抱缆卡死的危险状况。其滚轮结构对缆索直径系列具有更好的自适应性。能充分利用重力锤效应进行位姿控制。轻量化的翻转式框架结构更方便现场安装。在设计好的爬行本体结构基础上,提出了对监控系统的相应功能要求,为下一步控制与监控系统的设计奠定基础。
Based on the deep research on the structure of typical climbing robot at home and abroad, a kind of cable stayed detection robot with adjustable cable holding force was designed. Positive and negative rotation of the motor driven helical compression mechanism to achieve remote control cable force adjustment function, which can effectively prevent the robotic cable stuck dangerous conditions. The roller structure of the cable diameter series has better self-adaptability. Gravity hammer can take full advantage of the position and attitude control. Lightweight flip frame structure more convenient on-site installation. On the basis of the designed crawling body structure, the corresponding functional requirements of the monitoring system are put forward, which lays the foundation for the design of the next control and monitoring system.