摘要
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。
After an exploratory research of cable robot, a new stayed cable inspection robot featured at clamping force remote control was introduced. Screw driven by a remote controlling DC motor could adjust clamping force when the robot seized up and stopped on the cable. Especial roller structure enhanced adaptability for a series of cable diameter. The robot climbing pose could self-adaption through gravity. The ligtening and dumping frame structure made assembly on site more easily. Based upon this design, the monitor function requirements was summarized, which have laid the foundation for designing the monitor and control system.
出处
《机械设计与研究》
CSCD
北大核心
2012年第3期21-23,共3页
Machine Design And Research
基金
宁波市交通委资助项目(201108)
关键词
机器人
机构
斜拉索
检测
robot
mechanism
stayed-cable
inspection
