爬楼机器人机械结构设计与仿真

Mechanical Structure Design and Simulation of Climbing Robot

摘要: 当前爬楼机器人存在的主要问题影响着相关产品的性能，制约了产品的推广。首先针对爬楼能力弱、操作空间受限的技术性能问题，设计了一款可替换的模块化爬楼机器人；其次结合楼梯结构特性，基于丝杠和电动推杆构建三个抬升支架，设计了合理的抬升式爬楼模块；最后运用UG软件建立了爬楼机器人三维模型，并对其关键模块进行了有限元分析和运动仿真。该型机器人底部采用可替换模块，提高了更多应用场景的适应性，可以有效提高人们生活质量和工作效率。

Abstract: At present, the main problems of climbing robots affect the performance of related products and restrict the promotion of products. Firstly, aiming at the technical performance problems of weak climbing ability and limited operating space, a replaceable modular climbing robot is designed; Secondly, combined with the structural characteristics of the stairs, three lifting brackets are con-structed based on the lead screw and electric push rod, and a reasonable lifting climbing module is designed; Finally, the three-dimensional model of the climbing robot is established by UG software, and the finite element analysis and motion simulation of its key modules are carried out. The re-placeable module is adopted at the bottom of the robot, which improves the adaptability of more application scenarios and can effectively improve people’s quality of life and work efficiency.