摘要
针对矿用钢丝绳无人巡检需求,设计研制了一种沿钢丝绳捻向攀爬的巡检机器人。该机器人所需的驱动力约为传统沿轴向攀爬机器人的0.915倍,携带负载3 kg时,其越障高度比轴向攀爬机器人的越障高度大0.6 mm,障碍物高度为3 mm时,它携带的最大负载比轴向攀爬机器人大0.4 kg。模拟深井环境开展了钢丝绳振动工况下的巡检机器人攀爬实验。研究结果表明:在钢丝绳静止状态下,攀爬机器人展现出稳定的攀爬性能,最大攀爬速度达到8.25 m/min,可连续攀爬500 m;在低频大幅振动工况下,机器人攀爬速度高于静止时的速度;在高频小幅振动工况下,钢丝绳振动会导致攀爬速度小幅度波动。
In response to the unmanned inspection requirements of mining wire ropes,a rope-twisting climbing inspection robot was designed and developed.Compared to traditional axial climbing robots,which required approximately 91.5%of the driving force.When carrying a load of 3 kg,the robot may overcome obstacles with a height 0.6 mm higher than that of axial climbing robots.With an obstacle height of 3 mm,the maximum load capacity exceeds that of axial climbing robots by 0.4 kg.Climbing experiments were conducted under simulated deep mine conditions with wire rope vibrations.The results show that the climbing robots exhibite stable climbing performance when the wire ropes are stationary,achieving a maximum climbing speed of 8.25 m/min and capable of continuous climbing for 500 m.Under low-frequency large-amplitude vibration conditions,the climbing speed of the robot is higher than that when stationary,while under high-frequency small-amplitude vibration conditions,slight fluctuations in climbing speed are observed due to wire rope vibrations.
作者
唐超权
佟秉航
唐玮
张岗
王思远
汤洪伟
刘贝
周公博
TANG Chaoquan;TONG Binghang;TANG Wei;ZHANG Gang;WANG Siyuan;TANG Hongwei;LIU Bei;ZHOU Gongbo(School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou,Jiangsu,221116)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2024年第10期1732-1739,共8页
China Mechanical Engineering
基金
国家重点研发计划(2016YFC0600905)
国家自然科学基金(62073328,62233011)。
关键词
攀爬机器人
捻向攀爬
钢丝绳
巡检
climbing robot
twisting climbing
wire rope
inspection
作者简介
唐超权,男,1982年生,副教授、博士研究生导师。研究方向为仿生机器人设计与控制、巡检机器人设计与控制、移动平台的辅助驾驶与自主导航。E-mail:tangchaoquan@cumt.edu.cn;通信作者:周公博,男,1985年生,教授、博士研究生导师。研究方向为智能化矿山机电装备、无线传感器网络、特种环境机器人。E-mail:gbzhou@cumt.edu.cn。
