拉索检测爬升装置轻量化设计与动力学性能分析

Lightweight Design of Cable Detection Climbing Device and Dynamic Performance Analysis

斜拉桥的自动化、智能化检测是今后的发展趋势,目前已研发的拉索检测机器人都存在质量较大的问题,很难得到工程实际应用。针对课题组前期研制的第一代爬升装置样机质量大、爬升速度较慢等问题,对其进行了受力分析与静应力分析,得出了优化的可能性。提出了零件板厚为优化参数,强度变化率为约束条件的尺寸优化模型,利用差分进化算法求取最优解,得到了机架的最优板厚,同时通过拓扑优化得到各零件最佳结构,以及通过受力分析对螺栓的尺寸与数量进行了优化。优化结果表明爬升装置减重3.9kg,减重比例达到了40%,同时机架的变形量大幅减小,强度满足要求。对优化后的爬升装置进行了动力学仿真分析,结果表明最大爬升角度达到了75度,爬升速度提升了2-4倍,其动力性得到极大的改善。

The automation and intelligent detection of cable-stayed bridges is the future development trend.But the mass of developed cable detection robots is heavy,and it is difficult to get practical application in engineering.In view of the large mass and slow climbing speed of the first-generation climbing device prototype developed by the research group in the early stage,the force analysis and static stress analysis were carried out,and the feasibility of optimization was obtained.The size optimization model was proposed which subject to the constraint conditions of thickness of each component and the strength change rate.The differential evolution algorithm was used to obtain the optimal solution,and the optimal plate thickness of the frame is obtained.At the same time,the optimal structure of each component was obtained through topology optimization,and the size and number of bolts were optimized by force analysis.The lightweight optimization results showed that the mass of the climbing device has been reduced by 3.9kg,and the weight reduction ratio has reached 40%,the deformation of the device has been greatly reduced which meet the strength requirements.A dynamic simulation was performed on the optimized climbing device and the simulation results revealed that the maximum climb angle reached 75 degrees,and the climb speed was doubled.It was verified that the dynamic performance was improved greatly.