一种履带式爬绳机器人的设计及分析

Design and Analysis of the Crawler Rope Climbing Robot

丘陵地区地势较为复杂,传统交通工具难以实现运输要求。基于此,设计一种履带式爬绳机器人。该机器人整体采用双绳结构,从结构上解决了机器人在绳索上运行过程中的倾斜和侧翻问题。基于连续式爬绳装置原理,设计了履带式爬绳机构,实现了爬绳机器人在绳索上的稳定运行。履带式爬绳机构采用链传动和爬绳足相结合的结构,将爬绳足安装在带耳片的链条上。完成了爬绳机器人整体的结构设计和控制系统的开发,并对爬绳机器人关键零部件和整体框架开展有限元分析,验证了爬绳机器人结构的可靠性。该履带式爬绳机器人解决了复杂地形运输问题,为丘陵地区运输等领域提供了新方案。

The terrain in hilly areas is more complex,and it is difficult for traditional transportation to achieve the transportation requirements.A crawler rope climbing robot with an overall double-rope structure is designed,which structurally solves the problem of tilting and overturning during the robot's operation on the rope.Based on the principle of continuous rope climbing device,the crawler type rope climbing mechanism is designed to realize the stable operation of the rope climbing robot on the rope.In the crawler rope climbing mechanism,the structure combining chain drive and rope climbing foot is adopted,and the rope climbing foot is mounted on the chain with lugs.The structure design of the rope climbing robot and the development of the control system are completed,and the finite element analysis of the key parts and overall frame of the rope climbing robot are carried out which verified the reliability of the rope climbing robot structure.The crawler rope climbing robot solves the problem of transportation in complex terrain and provides a new solution for transportation in hilly areas and other fields.