Design of Clamping Mechanism for Transmission Tower Climbing Robots

Lijun Wang; Ruxuan Wang; Yangbin Wang; Xiangyang Li; Zhiguang Zhang; Lijian Li

doi:10.16578/j.issn.1004.2539.2022.04.017

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Design of Clamping Mechanism for Transmission Tower Climbing Robots

Design· Calculation | 更新时间：2022-09-25

- Design of Clamping Mechanism for Transmission Tower Climbing Robots
- Journal of Mechanical Transmission Vol. 46, Issue 4, Pages: 118-126(2022)
- 作者机构：
  
  1.华北水利水电大学机械学院，河南郑州 450045
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.04.017
  CLC：
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王丽君,王儒轩,王洋滨等.输电铁塔攀爬机器人夹持机构设计[J].机械传动,2022,46(04):118-126.

Wang Lijun,Wang Ruxuan,Wang Yangbin,et al.Design of Clamping Mechanism for Transmission Tower Climbing Robots[J].Journal of Mechanical Transmission,2022,46(04):118-126.
王丽君,王儒轩,王洋滨等.输电铁塔攀爬机器人夹持机构设计[J].机械传动,2022,46(04):118-126. DOI： 10.16578/j.issn.1004.2539.2022.04.017.

Wang Lijun,Wang Ruxuan,Wang Yangbin,et al.Design of Clamping Mechanism for Transmission Tower Climbing Robots[J].Journal of Mechanical Transmission,2022,46(04):118-126. DOI： 10.16578/j.issn.1004.2539.2022.04.017.

摘要

针对输电铁塔危险部位的检修工作，设计了一种新型攀爬机器人；根据攀爬机器人的运动环境和夹持方式，设计了一种由磁吸附和机械夹持结合的复合结构，以保证夹持的可靠性和准确性。该夹持手爪由一个电机驱动，通过齿轮传动带动螺旋升降机上下运动，从而实现爪部对角钢的夹紧；同时，通过电磁铁吸附角钢，实现对角钢的双重夹持，可有效抵御攀爬机器人在铁塔上的坠落危险。介绍了夹持机构的设计过程，建立夹持机构的三维模型，对其进行了静力学分析和仿真；并通过实验验证了其合理性。

Abstract

Aiming at the maintenance of dangerous parts of transmission tower，a new climbing robot is designed. According to the motion environment and clamping mode of the climbing robot，a composite structure combining magnetic adsorption and mechanical clamping is designed to ensure the reliability and accuracy of clamping. The clamping claw is driven by a motor and drives the screw elevator to move up and down through gear transmission，so as to realize the clamping of the claw to the angle steel. At the same time，the electromagnet adsorbs the angle steel to realize the double clamping of the angle steel，which effectively resists the danger of overturning and falling off of the climbing robot on the iron tower. The design process of electromagnetic adsorption clamping gripper is introduced，the three-dimensional model of gripper is established，the static analysis and simulation of gripper are carried out，and its rationality is verified by experiments.

关键词

攀爬机器人夹持机构仿真分析

Keywords

Climbing robotsClamping mechanismSimulation analysis

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