基于EtherCAT总线的轻量型爬壁机器人系统

Lightweight Wall-Climbing Robot System Based on EtherCAT Bus

为解决当前大型钢结构件的特种作业人工依赖性高、作业环境差和效率低等问题,设计一种基于EtherCAT总线的轻量型爬壁机器人系统。首先,介绍爬壁机器人系统需求与方案;然后,给出设计爬壁机器人系统硬件和软件;接着,阐述机器人搭载不同工具可用于不同作业任务;最后,经测试验证,该机器人系统功能达到了预期目标。

In order to solve the problems of high manual dependence,poor working environment and low efficiency of special operation of large steel structures,a lightweight wall-climbing robot system based on EtherCAT bus is designed.Firstly,the requirements and schemes of wall-climbing robot system are introduced;Then,the hardware and software of the wall-climbing robot system are given;Then,it expounds that the robot can be used for different tasks with different tools;Finally,the test shows that the function of the robot system has achieved the expected goal.