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 force.When 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 conducted under simulated deep mine conditions with wire rope vibrations.The results show that the climbing robots exhibite stable climbing performance when the wire ropes are stationary,achieving a maximum climbing speed of 8.25 m/min and capable of continuous climb-ing for 500 m.Under low-frequency large-amplitude vibration conditions,the climbing speed of the robot is higher than that when stationary,while under high-frequency small-amplitude vibration con-ditions,slight fluctuations in climbing speed are observed due to wire rope vibrations.
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