The Autonomous Crawling Drive System of Tower Operation Robot Design and Research

Tower operation robot refers to a robot that can be fixed on the main pole and has anti slip and anti fall functions, replacing manual climbing; Utilizing large arm extension and lightweight work arms to replace intelligent mechanical devices for manual live working. Robots can replace manual work and need to solve two problems. One is autonomous walking, and the other is executing task units, both of which are indispensable [1]. The cement tower is a cylindrical body with a thick bottom and a thin top. The research object is a fixed diameter cylindrical body, which moves up and down spirally around the cylinder. Through the study of the mechanism of Archimedean spiral kinematics, the motion structure of the tower operation robot is designed. The autonomous crawling drive system mainly consists of four parts: acquisition unit, power drive unit, main control unit, and communication unit. By using PID incremental control, the robot can crawl and park at a constant speed with load in complex environments, providing a stable working environment for the robot to execute task units.