气动爬缆机器人气压分析与试验

注意：本论文已在《上海交通大学学报》2003，37(1):54－57上发表
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张家梁，吕恬生，宋立博，姚香根
(上海交通大学 机械与动力工程学院，上海 200030)

摘要：针对索径变化较大、表面情况恶劣的缆索，提出了一种采用铰链结构的气动蠕动式爬缆机器人结构模型，建立了该机器人气缸受力与高空气压损失等理论模型，并对样机研制实例进行了验算。研制了工程样机并在上海徐浦大桥上成功进行了现场试验。仿真和实验表明，机器人气体压力损失与施工距离、高度、系统耗气量、气管倾斜度等成正比例非线性变化；机器人下降时速度较上升时均匀性好，能在斜拉桥缆索上安全高效爬升。
关键词：气动机器人；缆索；压力损失；斜拉桥

Pressure Analyses and Experiments of a Pneumatic Cable-Climbing Robot 

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

Abstract: Aiming at the maintenance of the cables of variable diameters and rough surface to some extent in overall length, a mechanism model of a pneumatic worming cable-climbing robot was put forward. Then, the mechanical models of the cylinder airloads and the pressure loss of the altitude air-pipe were created and the engineering examples were simulated. Finally, an engineering prototype machine was developed and experiments were done on the Xupu Bridge. It indicated that the air-pipe pressure loss of the robot was nonlinear and direct proportional to its operation distance, height, air consumption and gradient of the pipe; the robot could climb down at an evener velocity than that up, and could climb stay cables safely and efficiently.
Key words: pneumatic robot; cable; air pressure loss; cable-stayed bridge

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