电缆隧道架空式巡检机器人行走机构研究与应用

Research and application of walking mechanism of overhead patrolr robot for cable tunnel

随着电缆隧道建设的普及,架空式巡检机器人得到了广泛应用。为保证巡检机器人安全稳定行走,针对电缆隧道特点,设计了一种架空式巡检机器人行走结构。首先,详细阐述机器人行走机构的整体结构;其次,对行走机构的驱动力、爬坡能力和最小转弯半径等相关参数进行研究分析;最后,通过仿真实验和实际机器人测试实验,验证了所设计行走机构的可行性和合理性。

With the popularization of cable tunnel construction,overhead patrol robot has been widely used.In order to ensure the safe and stable walking of patrol robot,an overhead patrol robot walking mechanism is designed according to the characteristics of cable tunnel.Firstly,the structure of the overall robot walking mechanism is elaborated in detail;secondly,the driving force,climbing ability and minimum turning radius of the walking mechanism are studied and analyzed;fnally,the feasibility and rationality of the designed walking mechanism are verifed by simulation experiments and actual robot test experiments.