双滑块机构在爬升机械手中的应用

The Application of Double-slider Mechanism for Climb Robot

本机构由两组曲柄滑块机构串接而成,双作用气缸驱动,实现机械手的主爬升运动。本机构结构简单,动作灵活,可以实现正反爬升动作,能在气缸较小的行程内实现大的爬升距离,并具有力的放大作用。给出了机构的结构原理、机构尺度与行程的关系,以及驱动力的计算方法。

The mechanism driven by a bidirectional pneumatic cylinder for climb robot is composed of two groups of slider-crank mechanism in series. With the characteristics of simple contruction and flexible motion, it can act in two-way direction to obtain longer climb displacement within shorter piston strike of pneumatic cylinder, and has the force amplifying function. The principle of construction, relation of its dimension and climb displacement and calculating method of driving force are given in this paper.