斜拉桥缆索检测机器人爬行机构中拉簧的设计

The design about the spring of the climbing structure used on the cable robot

提高斜拉桥缆索检测机器人对缆索表面的夹持能力是改善机器人工作可靠性研究中的一个非常重要的内容。根据这一需求,介绍了缆索检测机器人的爬行机构,重点对爬行机构中上、下推杆的拉簧进行了设计和验证,并通过样机试验,证明了上、下推杆拉簧工作的可靠性,为提高缆索检测机器人的夹持能力,以及改进机器人总体性能提供了一定的参考依据。

The clamping capability on the surface of the cable robot is the important content to improve the unfailing performance. According to this, the climbing structure is introduced. Designing and checking about the spring of the climbing structure is done. The results of the test show that the spring is very reliable. The work done is helpful for improving the clamping capability and op- timize of the robot.