爬杆作业机器人设计

摘要

在市政工程中，有大量的安装及维修等工作需要爬杆作业。对于较粗的杆件，人工攀爬和工程车作业都比较方便，但是对于一些直径较细，强度较小的杆件比如路灯杆等，人工攀爬较为困难。因此本文设计了一爬杆机器人，可以在没有障碍的光杆上爬行，对人工攀爬较难的作业具有较大的现实意义。

本文设计的爬杆机器人由曲柄滑块机构、并联盘形凸轮机构、移动凸轮机构以及上下机械手爪等组成，通过弹簧的预紧力来实现机器人手爪对杆的抱紧，通过曲柄滑块机构、凸轮机构等实现攀爬动作，同时机器人只需一个驱动源就能带动整个机器人的运动，能攀爬变直径的杆，工作简单可靠，运动灵活，可以广泛应用于各种高空作业。

关键字：爬杆机器人，变直径杆，夹紧，攀爬

ABSTRACT

In the municipal engineering, there are a large number of installation and repair work needed to climb rod operation, For the coarse bar,artificial climbing and vehicle operation is convenient, artificial climbing is difficultfor for some small diameter low strength member such as a road lamp pole,so this paper designs a pole climbing robot,which can crawl on no obstacle bar,it has great practical significance for artificial climbing

The pole climbing robot consist of songCrank slider mechanism, parallel plate cam mechanism.moving cam mechanism, the robot tight the wallHold by the spring pretightening force.so as to realize Climbing action. at the same time the robot can drive by a robot motion and at the same time all devices were designed perfectl. In this text.its mechanism electric control principle and various features .it can be widely applied to various kinds of high-altitude operation.

Key words：pole-climbing robot，variable-diameter pole sepal，pole-climbing

1绪论 ----------------------------------------------------------------------------------------------------------------------- 1

1.1研究目的 -------------------------------------------------------------------------------------------------------- 1

1.2国内外研究现状 --------------------------------------------------------------------------------------------- 1

1.3研究内容 -------------------------------------------------------------------------------------------------------- 3

1.4设计要求 -------------------------------------------------------------------------------------------------------- 4 2爬杆作业机器人总体方案设计 ------------------------------------------------------------------------- 5

2.1机械方案设计------------------------------------------------------------------------------------------------- 5

2.2电气控制系统设计------------------------------------------------------------------------------------------ 7

2.3小结 --------------------------------------------------------------------------------------------------------------- 8 3机械系统设计------------------------------------------------------------------------------------------------------- 9

3.1减速机构设计------------------------------------------------------------------------------------------------- 9

3.2曲柄滑块机构设计-----------------------------------------------------------------------------------------17

3.3凸轮机构的设计 --------------------------------------------------------------------------------------------23

3.4机械手爪设计------------------------------------------------------------------------------------------------24

3.5电动机选择 ---------------------------------------------------------------------------------------------------26 4电气控制 --------------------------------------------------------------------------------------------------------------28

4.1系统论述 -------------------------------------------------------------------------------------------------------28

4.2直流电机单元电路设计与分析-----------------------------------------------------------------------29

4.3直流电机PWM控制系统的实现-----------------------------------------------------------------------36 5结论与展望----------------------------------------------------------------------------------------------------------43 参考文献 -----------------------------------------------------------------------------------------------------------------44 致谢 -------------------------------------------------------------------------------------------------------------------------45