【作者】 王亚斌；

【导师】 周忆；

【作者基本信息】 重庆大学 ， 机械电子工程， 2008， 硕士

【摘要】 缆索机器人是一种能够携带相关设备攀爬缆索并对其进行高空作业的爬行机器人。它的出现是近年来各学科技术发展、人类对生产方式不断探索和改进的必然产物。这种自动化装备不但可以完成斜拉桥缆索的检测、清洗、喷涂、彩装等任务,而且还可以应用在其它类似缆索结构的生产领域,经济效益十分可观。本论文以实现斜拉桥缆索的智能、快速检测为目标,通过分析研究,提出了一种新型、电驱动的斜拉桥缆索检测机器人的结构方案。该机器人在设计上采用对称框架式结构,体积小、重量轻,除了能实现斜拉桥缆索的高效检测功能外,经过改装,还可以完成其它的高空作业任务。机器人的主体部分近似一个等边三角形,由三个相同型号的电机驱动,通过对称均布于本体两侧的六个轮子实现机器人的运动。机器人驱动系统采用同步带传动,检测速度要求大约为1.5m/min左右,通过各驱动轮上的编码器实现系统的闭环运动控制。在提出总体结构方案的基础之上,本文还对机器人进行了运动学和运动同步分析,综合考虑机器人向上爬行和向下爬行的运动要求,推导出了机器人的驱动附着条件,从而对电机的选型计算和零部件的设计提供了必要的依据和参考。同时,本论文还运用了三维设计软件Pro/ENGINEENR建立了机器人的实体模型,并结合机器人的结构特点,运用该软件中的Mechanica模块对机器人的关键零部件进行了结构优化设计,使其结构达到了轻质优化的目的,大大降低了机器人机体质量。最后,在该软件的机构设计模块中对机器人进行了运动仿真分析,模拟机器人的运动过程,检验各元件之间的干涉情况和机器人的运行轨迹。更多还原

【Abstract】 Cable robot is a kind of climbing robot which can carry some relevant devices to do work in the high sky. The emergence of this robot is an inevitable result of the quick development of science and technology and the continual exploration and improvement of the produce fashion in recent years. This automatic device not only can accomplish the tasks of inspection, cleaning, spray, decoration of the cable-stayed bridge’s cable, but also can be applied to in the other produce fields which resemble to the structure of cable. All this will take to great economic benefits.The aim of this paper is to realize the intelligent and quick inspection of the cable-stayed bridge’s cable, base on the analysis and research,we bring forward the structure scheme of a kind of new type and electricity-driven cable inspection robot. In the design, this robot takes on symmetric frame structure, has a small cubage and a light mass,in addition to accomplish the high efficiency inspection of the cable, this robot can do other high space tasks through simple refit. The main body of this robot resembles to an equilateral triangle, under the driving of the three same motor, it can move on the cable through the six wheels which symmetrically installed on the both sides of the main body. The robot’s driving system adopts synchronization belt, the speed of inspection is 1.5m/min, and it can accomplish the close loop control by the signal of coder which installed on the three driving wheels.Base on the structure scheme, this paper analyzed the kinematics and motion synchronization, deduced the robot’s driving condition and adhesive condition through entirely considering the motion demand when the robot climbs up and down the cable, the necessary conditions and reference for the choice of motor and the design of key parts were provided. Meanwhile, three-dimensional model of the robot was established by means of Pro/Engineer soft, combined to this robot’s structure characteristic, this thesis also optimized the robot’s key parts’structure by using the module of Mechanica in the Pro/Engineer soft, and to do like this, the parts’whole structure were more reasonable, the whole mass of this robot was highly reduced. At last, the robot’s motion simulation analysis was done in the structure design module of this three-dimensional soft, and all this would let us simulate the motion process of this robot and verify the intervention among all the parts and the motion trace of the robot.更多还原