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電動連續式爬纜機器人設計理論分析與試驗

注意:本論文已在《上海交通大學學報》2003,37(1):58-61上發表
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張家梁,呂恬生,宋立博,王鈞功
(上海交通大學 機械與動力工程學院,上海 200030)

摘要:纜索自動爬升是在役纜索維護機器人化的最關鍵問題。在分析纜索曲線約束和爬升阻力等工作環境基礎上,提出一種采用鉸鏈結構的電動連續式爬纜機器人結構模型,建立了其彈簧壓緊力、車輪抱緊力等力學模型,并對樣機研制實例進行了驗算。研制的爬纜機器人具有液壓控制的彈簧壓緊裝置,能在纜索上快速安裝和安全收回。在實驗室多次試驗后,該機器人已在南浦大橋進行了現場試驗,結果表明其能高效、可靠地爬升和涂裝實際斜拉橋纜索全長。
關鍵詞:機器人;自動爬升;纜索;液壓控制 

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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