空间大行程套筒竹节式升降机构的设计研究

Design and research of sleeves bamboo lifting mechanism with large space stroke

针对目前轨道悬挂式巡检机器人升降机构稳定性差、行程小的不足,设计了一种空间大行程套筒竹节式升降机构。结合工作现场的实际需求,给出了空间大行程套筒竹节式升降机构具体的结构设计和驱动控制方案。样机试制和试验结果表明,所设计升降机构运动平稳、震动小,能够满足废弃物处理现场巡检的需求。

In view of the shortcomings of the current rail-suspended inspection robot lifting mechanism with poor stability and small stroke,a bamboo lifting mechanism with a large space stroke sleeve is designed.Combined with the actual needs of the work site,the specific structural design and drive control scheme of the bamboo lifting mechanism with large space stroke are given.The trial production and test results of the prototype show that the designed lifting mechanism has stable movement and low vibration,which can meet the needs of waste treatment site inspection.