Design of Twisting Climbing Wheeled Inspection Robot for Mining Wire Ropes

被引：0
作者：
Tang, Chaoquan [1 ]
Tong, Binghang [1 ]
Tang, Wei [1 ]
Zhang, Gang [1 ]
Wang, Siyuan [1 ]
Tang, Hongwei [1 ]
Liu, Bei [1 ]
Zhou, Gongbo [1 ]
机构：
[1] School of Mechanical and Electrical Engineering, China University of Mining and Technology, Jiangsu, Xuzhou
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2024年 / 35卷 / 10期
关键词：
climbing robot; inspection; twisting climbing; wire rope;
D O I：
10.3969/j.issn.1004-132X.2024.10.003
中图分类号：
学科分类号：
摘要：
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 forec. Whcn 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 condueted under simulated deep minc conditions with wire rope vibrations. The results show that the climbing robots exhibite stable climbing Performance when the wire ropes arc stationary, achieving a maximum climbing speed of 8.25 m/min and capablc of continuous climbing for 500 m. Under low-frequency large-amplitude Vibration conditions, the climbing speed of the robot is higher than that whcn stationary, while under high-frequency small-amplitudc Vibration conditions, slight fluetuations in climbing speed are observed due to wire rope vibrations. © 2024 Chinese Mechanical Engineering Society. All rights reserved.
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页码：1732 / 1739
页数：7
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