Research Of Pneumatic Pole-climbing Robot

Pole-climbing robot is a device that is specially designed for climbing poles(such as street poles,billboard poles,lightning rods,etc.)and can carry some specific work equipment instead of manually completing certain dangerous aerial work tasks.The Pole-climbing robot used in this study is driven by compressed air and has such functions and advantages as light weight,adaptability to diameter changes,automatic centering and so on.First of all,this paper describes the overall design of the climbing rod robot,and the program is divided into three sub-programs:clamping program,climbing program,centering program.Then,this article gives a detailed description of the three sub-programs.(1)Clamping program:The clamping mechanism surrounds the target pole and three cylinders are installed at an interval of 120°,Cylinder piston rod extends to achieve the function of clamping.(2)Climbing program:This article based on the peristaltic climbing principle,through the upper clamping mechanism,the vertical movement mechanism,the lower clamping mechanism for alternating action to achieve the climb.In addition,this paper based on the pressure control system and double-acting spring reset cylinder to achieve the need for continuous positioning.(3)Centering program:In this paper,the thrust control system is designed so that the thrust generated by the piston rod of the cylinder and the extension length of the piston rod of the cylinder satisfy the preset function.This paper explores the effects of flow resistance and volume on charge-discharge rates and applies this to thrust control systems.Then we show the experimental results for different frequencies of motion,with the cylinder of the thrust control system exhibiting the preset "spring" stiffness at each frequency.Finally,this article gives a real machine demonstration and experiment,showing two different sizes of pneumatic pole-climbing robot.This verifies the feasibility of the robot.