电动连续式爬缆机器人设计理论分析与试验

注意：本论文已在《上海交通大学学报》2003，37（1）：58－61上发表
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张家梁，吕恬生，宋立博，王钧功
(上海交通大学 机械与动力工程学院，上海 200030)

摘要：缆索自动爬升是在役缆索维护机器人化的最关键问题。在分析缆索曲线约束和爬升阻力等工作环境基础上，提出一种采用铰链结构的电动连续式爬缆机器人结构模型，建立了其弹簧压紧力、车轮抱紧力等力学模型，并对样机研制实例进行了验算。研制的爬缆机器人具有液压控制的弹簧压紧装置，能在缆索上快速安装和安全收回。在实验室多次试验后，该机器人已在南浦大桥进行了现场试验，结果表明其能高效、可靠地爬升和涂装实际斜拉桥缆索全长。
关键词：机器人；自动爬升；缆索；液压控制 

Design Theory Analyses and Experiments of a Running Cable-Climbing Robot

ZHANG Jia-liang, LÜ Tian-sheng, SONG Li-bo, WANG Jun-gong
(School of Mechanical and Power Eng., Shanghai Jiaotong Univ., Shanghai 200030, China)

Abstract: Cable automatic climbing was the key problem of the maintenance robotization for in-service cables. Based on analyzing cable curve restrictions and climb resistances, the paper presented a mechanism model of an electric running cable-climbing robot with turning joints. Then, the mechanical models of its spring press forces and wheel enclasped-forces were created and the engineering examples were simulated. Finally, an engineering prototype machine controlled by a hydraulic cylinder was developed, it could be mounted on the cable and taken back quickly and safely. After the robot was tested in the lab, the experiments were done on the Nanpu Bridge. The results indicated that the robot could climb and paint all stay cables on the cable-stayed bridge efficiently and reliably.
Key words: robot; automatic climbing; cable; hydraulic pressure control

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