一种多滚轮框架式爬索机器人的设计与分析

Design and analysis of a frame cable inspection robot with multi-rollers

在对比分析典型爬杆(索)机器人本体结构爬缆原理优缺点的基础上,提出了一种新的多滚轮框架式爬索机器人结构。该机器人结构通过双头螺杆调整8个呈90°夹角布置圆柱滚轮的间距,获得了比双边弧形轮对抱结构更好的缆索直径适应性。理论推导表明,多滚轮结构的当量摩擦因数不随缆索直径变化而变化,且其当量摩擦因数随夹缆接触角增大而增大,因此其具有比双边弧形轮结构更好的爬缆摩擦能力。通过实物样机试验,验证了该机器人本体结构的优点和具有垂直爬升缆索的能力。

Through comparative analysis of typical robot struc- ture for climbing cable, this paper puts forward a new multiple rollers frame climbing cable robot structure. Spacing arrangement of eight cylindrical rollers shaped 90° can be adjusted through two double-headed screws. Theoretical derivation indicates that the e- quivalent friction coefficient of multiple roller structure remains constant regardless of cable size. And the coefficient change be- comes larger while the cable clamp contact angle becomes larger. So it is better than bilateral arc-shaped wheel cable climbing struc- ture in adaptability of cable diameter and climbing capability. Through the physical prototype testing, this robot structure has a stable vertical climb cable capacity.