| Cable inspection robot is a special robot for non-destructive inspection of cable,which can replace manual inspection and has the characteristics of high efficiency,safety and low cost.When disturbed by external wind vibration,rain vibration and other vibration,the cable will drive the detection robot to vibrate together,which will cause unstable climbing of the robot,and seriously affect the detection efficiency and quality of the robot.Therefore,it is necessary to reduce the vibration of the detection robot to ensure the climbing stability of the robot.In this paper,the reason of robot climbing and skidding is investigated by experiment and the influence of cable vibration on robot climbing performance is analyzed theoretically.Experimental and theoretical analysis show that when the cable vibrates,the robot will slip due to the change of loading force of the robot loading mechanism.In order to improve the climbing stability of the robot,the suppression mechanism of the active variable stiffness and variable damping of the spring-damper coupling system on the vibration of the robot is further analyzed.A novel magnetorheological damper was designed based on the restraining mechanism of active variable damping of robot coupling damping system.Then a variable damping helical springmagnetorheological damper coupling loading mechanism was proposed.The effectiveness of the coupling loading mechanism was analyzed by solving the vibration response.A nitrogen springmagnetorheological damping coupling loading mechanism with variable stiffness and damping was proposed.Firstly,the variable stiffness and variable damping force loading performance of the coupling loading mechanism are analyzed by simulation.At the same time,the climbing stability of the robot is analyzed through simulation analysis and detection of the change of roller friction when the robot climbs using two coupling loading mechanisms,and then the effectiveness of the coupling loading mechanism on vibration suppression is analyzed.In this paper,a spring-magnetorheological damping coupling loading mechanism test platform was established to test the mechanical properties of the helical spring-MR damping coupling loading mechanism and nitrogen spring-MR damping coupling loading mechanism respectively.In order to verify the performance of the helical spring-magnetorheological damping coupling loading mechanism designed,the simulation model of PID vibration control system based on coupling loading mechanism and the simulation model of adaptive fuzzy PID vibration control system based on coupling loading mechanism were respectively built by using Simulink module in MATLAB.The simulation analysis shows that: The PID control algorithm has a good effect,and the adaptive fuzzy PID further improves the control effect.Then,the characteristics of the cable vibration environment were simulated to build a robot-cable coupling system vibration platform.Under the cable vibration condition,the climbing speed of the robot was measured when the spiral spring-Magnetorheological damping coupling loading mechanism was adopted,and the climbing stability of the robot was analyzed by analyzing the change of the climbing speed.The experimental results show that the designed coupling loading mechanism has good damping effect. |
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