纜索表面檢測機(jī)器人本體設(shè)計

摘    要

纜索檢測機(jī)器人是特種機(jī)器人技術(shù)在斜拉橋纜索檢測方面的應(yīng)用。自從1956年在瑞典建成世界上第一座斜拉橋以來，斜拉橋就越來越受到世人的青睞。斜拉橋成為現(xiàn)代建筑的一道亮麗的風(fēng)景。然而，針對目前斜拉橋的人工吊籃檢測的落后方式，如何高效快速的進(jìn)行斜拉橋的纜索的檢測和維護(hù)成為人們急需解決的一個重要問題。
我們課題組這次所設(shè)計的纜索表面機(jī)器人分為三部分：檢測部分、動力部分和攜帶部分。這樣的設(shè)計的最大優(yōu)點(diǎn)就是質(zhì)量輕，便于安裝等。在設(shè)計的過程中，我們要考慮多個問題，最重要的就是小車輪子的自動調(diào)節(jié)和CCD支撐架的手動調(diào)節(jié)。對于小車我采用的是彈簧和螺栓雙重調(diào)節(jié)，對于CCD支撐，我所采用的是滑桿調(diào)節(jié)。

關(guān)鍵詞：斜拉橋纜索，攜帶機(jī)構(gòu)，纜索檢測

ABSTRACT

The cable robot developed in this paper is the first application of special robots to cables of cable-stayed bridges. Cable-stayed bridge which is more and more popular in the world, since the first cable-stayed bridge was built in Sweden in 1956. The cable-stayed bridge has become one of the most beautiful scenes. Then, concerning the artificial maintenance method for cables, how efficient the cable stayed for the rapid detection and the maintenance of the urgent need to resolve to become an important issue.
We designed this discussion group on the cable robot is divided into three parts: detection of power and carrying some parts. This design is the biggest advantages of lightweight, easy to install, and so on. In the design process, we have to consider a number of questions, the most important thing is the wheels of the car and automatically adjust the CCD MOUNTING manual adjustments. I use the car for the spring and bolt is a double-conditioning, the CCD support, I have adopted the regulation is the slider.

Keywords： cable-stayed bridge cable, carrying bodies, Cable Detection

目   錄
摘    要 I
ABSTRACT II
1 緒論 1
1.1 斜拉橋纜索檢測機(jī)器人的設(shè)計意義 1
1.2 國內(nèi)外的研究現(xiàn)狀： 2
1.2.1 纜索機(jī)器人分類 2
1.2.2 纜索檢測機(jī)器人發(fā)展現(xiàn)狀 4
1.3 纜索檢測機(jī)器人的工作原理 5
2 纜索檢測機(jī)器人總體方案設(shè)計 7
3 爬行機(jī)構(gòu)的設(shè)計 10
3.1 主要技術(shù)指標(biāo) 10
3.2 斜度阻力 10
3.3 纜索檢測機(jī)器人模型分析 11
3.3.1 纜索檢測機(jī)器人結(jié)構(gòu)模型 11
3.3.2 力學(xué)模型 12
4 主要零件的設(shè)計 14
4.1 從動輪的設(shè)計 14
4.2 從動輪軸的設(shè)計 15
4.2.1 選擇軸的材料 15
4.2.2 軸上的受力分析 15
4.2.3 軸的疲勞強(qiáng)度安全系數(shù)校核計算 16
4.3 從動軸承的選擇 17
4.3.1 選擇軸承類型 17
4.3.2 計算當(dāng)量動載荷Pr： 17
4.4 壓縮彈簧的設(shè)計計算 18
4.4.1 壓縮彈簧的原始條件 18
4.4.2 壓縮彈簧的參數(shù)計算 18
4.4.3 驗算 18
4.5 CCD支撐的設(shè)計 19
4.5.1 總體設(shè)計 19
4.5.2 CCD拍攝范圍的計算 20
5 纜索檢測機(jī)器人小車部分的裝夾過程 22
6 發(fā)展和展望 23
7 總結(jié) 24
8 感謝 25
參 考 文 獻(xiàn) 26