Design And Study Of Climbing Robot Along The Direction Of Steel Wire Rope Strands

Many in-depth environments in industry,such as mine shaft,elevator shaft and high-altitude chimney,are very difficult to monitored in the safety of industrial production because of the complex working environment and the difficulty of manual inspection.In order to ensure the normal operation of infrastructure and the safety of staff in deep environment,a patrol robot which can climb along the wire rope quickly is constructed to monitor the deep environment in real time instead of staff.The mechanical design and performance evaluation of the inspection robot is mainly focuses on in this paper.The main research work is summarized as follows:1)The climbing performance of different climbing modes of robots is analyzed.After investigating the possible climbing modes of the current climbing robot along the wire rope,the kinematic performances of different climbing modes of the robot are analyzed and compared,including the contact area between the active wheel and the steel wire rope,the contact process between the active wheel and the steel wire rope,the driving force required by the two motion modes and the obstacle-crossing performance of the two robots.When the driving wheel torque of the robot is 0.1N?m and the total weight of the robot is 1.3kg,for the common obstacles caused by wire rope breakage,the robot climbing along the direction of wire rope strand can overturn the bulge obstacle with a height of 3mm under a load of 4.5kg,which is 0.4kg more than the robot climbing along the direction of wire rope axial.2)The structure and control system of the robot climbing along the direction of wire rope strands are designed.According to the requirement of inspecting the deep environment,a fast climbing robot is designed,which can climb along the direction of wire rope strands.Each robot is composed of several identical mobile modules.The number of mobile modules is determined by the load to be borne.Each mobile module consists of six wheels in two groups of gear trains.Each wheel is driven independently by a DC decelerating motor.The mobile modules can realize automatic rapid docking and separation.The wheel coefficient items and the endurance ability of the robot when the robot climbs along the direction of wire rope strands,the arrangement of multiple groups of wheels in the robot,the docking mechanism between the mobile modules of the robot,and determines the motion parameters of the robot is designed.Finally,the static analysis of the main force components of the robot is carried out,and the prototype is made.3)Climbing experiment and performance of robot prototype is analyzed.For the performance experiment of the robot,a experimental platform is built to simulate the vibration condition of the wire rope in the deep environment.The experimental platform can simulate the high-frequency small amplitude vibration of 0~50Hz and the low-frequency large amplitude vibration of 0~25cm.The simulation range can cover the actual vibration condition of the wire rope.The experimental results show that the robot can climb on the wire rope quickly and reliably,not only in the actual vibration condition.Moreover,The robot can also climb along the wire rope at the speed of 9.8m/min under the low-frequency and large-amplitude vibration conditions with amplitude of 0~20 cm and vibration frequency of 0~0.5 Hz and the high-frequency and small-amplitude vibration conditions with amplitude of 0~2 cm and vibration frequency of 20~50 Hz.Through the research of the climbing robot along the direction of wire rope strands,a fast moving node is designed for the deep environment inspection system to help staff monitor the deep environment in real time,improve the application system of robot technology and wireless sensor network health monitoring technology in the deep environment,and provide safety guarantee for industrial production.