Design And Analysis Of Climbing Robot For Port Crane

With the continuous development of photogrammetry technology,some scholars have studied the use of photogrammetry techniques to measure crane dimensions.Compared with the existing methods for measuring the size of cranes,this kind of measurement method is simple and cost-effective.The photogrammetry technology can greatly simplify the three-dimensional modeling of cranes without drawings,promote crane safety evaluation and life assessment,indirectly improve the safety of cranes,and has great research significance and application prospects.At present,the application of photogrammetry technology in crane size measurement is still in the research stage,and there are deficiencies in photography.In order to obtain the local size of each structure of the crane,the photographer needs to take a camera to take pictures of each part of the crane.Due to the large size and complicated structure of the crane,the photographer has a large workload and low security,and some parts of the crane could not be photographed.Therefore,this paper designs a climbing robot that can move and climb on the surface of the crane structure,and can carry a camera to take pictures,aiming to improve the photography of photogrammetry technology and promote the development of climbing robots in the crane field.This article studies the key technologies for crane climbing robot design.The details are as follows:1)The crane climbing robot’s operating environment is analyzed,and the mechanical performance requirements and indicators are determined.The overall structure of the robot is introduced.The structure and function of each part are described in detail.At the same time,the process of crane climbing robots crossing the right angles and obstacles is presented.2)The geometry and force conditions of a robot to across a right angle surface and obstacles are studied.The geometric conditions ensure that no interference occurs during the movement of the robot.The force conditions ensure that the robot does not deviate from the surface of the structure during the movement,and there is no continuous slipping or most of the wheel groups turn up.The stress and deformation of crane climbing robot structure are calculated.3)Kinematics and dynamics equations of a robot crossing the rectangular are set up.Dynamic simulation of the crane climbing robot is performed to obtain the movement displacement,velocity and acceleration curves of the robot.They are used to judge whether the climbing process can be achieved,and check whether the motor torque meets the requirements.4)Multi-wheel group steering conditions are proposed.A mathematical model of the turning angle of the robot steering mechanism is established.Two methods for optimizing the dimensions of the steering mechanism are proposed.One is to optimize the rod dimensions directly with the objective function of minimizing the angle error.The other is indirectly optimizing the dimensions of the rods with the objective function of the highest accuracy of the solution for the long rod equations.Both methods can meet the optimization requirements,and the indirect method is reliable.