Research On Lifting Platform Of Hanging Rail Inspection Robot

It is of great practical significance to develop cable tunnel inspection robots and carry out cable tunnel inspection operations.The hanging rail type inspection robot basically runs according to the preset orbit during the inspection,and observes the tunnel through the pan/tilt camera.However,the internal environment of the underground cable tunnel is complicated,and some cables are bound to be restricted by the running track.The distance is too far or blocked and cannot be detected.The traditional rotating pan/tilt can no longer meet the application requirements.In order to obtain a wider field of view,the pan/tilt camera needs to have a lifting function.Based on the internal environment of the tunnel,this paper determines the technical indicators of the lifting device.Combined with the research status at home and abroad,this paper designs a new flexible lifting gimbal device that can be used to carry the inspection robot.The mechanical lifting arm of the device consists of four open cylindrical shells.The rod composition and the lifting gimbal device have the advantages of small contraction volume,large working stroke,and low power consumption.The research work in this paper is mainly carried out from the following aspects:(1)Analyze the lifting principle of the lifting gimbal device,and establish a virtual prototype of the lifting gimbal device in SolidWorks;(2)The mechanical properties of the flexible lifting arm-open cylindrical shell rod are studied.Its main failure modes are strength damage and buckling,as well as various damage damage caused by buckling.In this paper,the linear buckling and nonlinear buckling analysis of the lifting device are carried out by combining the material mechanics.The influence of the mechanical parameters such as the thickness of the open cylindrical shell,the center angle of the section,the radius and the length on the buckling load capacity of the lifting mechanism is studied by ANSYS;(3)According to the simulation analysis,the open cylindrical shell rod with corresponding parameters is selected for experimental analysis.This paper combines material mechanics from three aspects: strength requirement,stiffness requirement and stability requirement.It is divided into four parts: bending deformation experiment,pressure bar stability test,torsion deformation test and combined deformation test to study the lifting device under various loads.Based on the test scheme,the experimental platform was designed and built,and a circuit measurement and control system based on LabVIEW PC software platform was designed to collect data on the deformation caused by the lifting device under load;(4)Collect experimental data and summarize the experimental data.Through the processed origin curve,the change of the load when the lifting mechanism is generated at different heights is analyzed.This will analyze the reliability and stability of the lifting device and provide reference for the production of the lifting gimbal prototype.