拆线机器人的轮式爬线机构及顶升装置设计

Design of wheeled thread climbing mechanism and jacking device of a thread removal robot

摘要:

拆线施工机器人是一种爬线机器人，挂在架空线上沿线行进，代替工人完成拆线施工中索道缆绳的铺设。为满足拆线施工机器人在具有一定垂弧度的架空线上爬线行进的需要，对拆线施工机器人的爬线行进机构进行了分析与设计，提出了一种四轮爬线行进机构。该机构利用顶升装置及张紧轮提供额外的压力，以满足拆线施工机器人爬坡时所需的摩擦力。随后，分析了机器人爬坡时的受力情况，给出了顶升装置所提供压力的条件及计算公式。基于所提机构，进行了施工机器人的顶升装置的选型计算及论证，实际应用表明本文的设计可以满足实际需要。

Abstract:

The wire removal construction robot is a wire climbing robot, which is hung along the overhead line to complete the laying of cableway cables instead of workers. Aim at the needs of wire climbing of wire removal construction robot on overhead line with certain vertical radian, the wire climbing mechanism is analyzed and designed, and a four-wheel wire climbing mechanism is proposed. The mechanism uses the jacking device and tensioning wheel to provide additional pressure to meet the friction required by the stripping construction robot when climbing. Then, the stress of the robot when climbing is analyzed, and the conditions and calculation formulas of the pressure provided by the jacking device are given. Based on the proposed mechanism, the type selection calculation and demonstration of the jacking device of the construction robot are carried out. The practical application shows that the design in this paper can meet the practical needs.