Design and Analysis of a Kind of Self- lock Pole- climbing Robot

Wang Caidong; Fan Guofeng; Wang Xinjie; Tang Yiming

doi:10.16578/j.issn.1004.2539.2015.10.014

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Design and Analysis of a Kind of Self- lock Pole- climbing Robot

更新时间：2022-10-20

- Design and Analysis of a Kind of Self- lock Pole- climbing Robot
- Vol. 39, Issue 10, Pages: 60-63(2015)
- 作者机构：
  
  1. 郑州轻工业学院机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.10.014
  CLC：
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[1]王才东,范国锋,王新杰,汤一明.一种自锁式爬杆机器人的设计与分析[J].机械传动,2015,39(10):60-63.

Wang Caidong, Fan Guofeng, Wang Xinjie, et al. Design and Analysis of a Kind of Self- lock Pole- climbing Robot. [J]. 39(10):60-63(2015)
[1]王才东,范国锋,王新杰,汤一明.一种自锁式爬杆机器人的设计与分析[J].机械传动,2015,39(10):60-63. DOI： 10.16578/j.issn.1004.2539.2015.10.014.

Wang Caidong, Fan Guofeng, Wang Xinjie, et al. Design and Analysis of a Kind of Self- lock Pole- climbing Robot. [J]. 39(10):60-63(2015) DOI： 10.16578/j.issn.1004.2539.2015.10.014.

摘要

针对传统爬杆机器人携带重物能力有限,故障后易造成意外伤害等问题,应用自锁原理设计一种新型自锁式爬杆机器人。介绍了机器人的结构设计方案与工作原理,进行了机器人的自锁条件分析、载重能力计算和运动稳定性分析。在此基础上,对机器人在变直径圆柱杆上爬行过程的控制方法进行分析。分析结果表明,设计的机器人能够携带重物在变直径圆柱杆上稳定爬行,满足电线杆高空作业要求。

Abstract

According to the problem of the loading capacity is limited and the accidental injury is easy happened,a self- lock pole- climbing robot is designed based on self- lock principle. The structure scheme and working principle of the robot are introduced. The self- locking conditions and motion stability are analyzed. The carrying capacity of robot is calculated. The control method for the robot climbing on variable diameter pole is analyzed. The results show that the robot can climb variable diameter pole stably,which meets the requirements for telegraph pole aerial work.

关键词

爬杆机器人自锁条件变直径圆柱杆

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