气动步进蠕动式水闸钢丝绳攀爬机器人研制  

Development of Pneumatic Robot for Climbing Sluice Wire Rope

作　　者：方贵盛 张港 郑高安 姚林晓 FANG Gui-sheng;ZHANG Gang;ZHENG Gao-an;YAO Lin-xiao(College of Mechanical and Automotive Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, Zhejiang 310018;School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou, Henan 450045;Robot Institute of Zhejiang Advanced Water Conservancy Equipment Engineering Research Center, Hangzhou, Zhejiang 310018)

机构地区：[1]浙江水利水电学院机械与汽车工程学院,浙江杭州310018 [2]华北水利水电大学机械学院,河南郑州450045 [3]浙江省先进水利装备工程研究中心机器人研究所,浙江杭州310018

出　　处：《液压与气动》2021年第2期170-176,共7页Chinese Hydraulics & Pneumatics

基　　金：浙江省水利厅科研项目资助(RC1963);浙江省科技厅公益技术研究项目(LGG21F03005)。

摘　　要：针对现有水闸钢丝人工养护存在工作效率低、安全性能差等问题,提出了一种用于水闸钢丝绳清洗、检测和涂油等养护作业的气动步进蠕动式机器人。该机器人采用分体式结构,由上部装置和下部装置构成,每部分装置主体结构均由气缸构成。采用气动方式驱动气缸实现机器人夹紧、移动和导向功能。采用PLC控制实现机器人沿钢丝绳自主爬升、下降和悬停。通过改变气缸直径的大小和夹紧气缸的行程,实现机器人在不同直径钢丝绳上带不同负载攀爬作业。通过调节节流阀进出气大小和伸缩气缸行程,控制机器人的攀爬速度。样机测试结果表明,该钢丝绳攀爬机器人结构小巧、稳定性好、适应性强,为下一步研制水闸钢丝绳自动维护作业结构奠定了基础。In order to solve the problems of low efficiency and poor safety of existing sluice wire rope manual maintenance,a pneumatic robot for sluice wire rope cleaning,detection and oiling is proposed.The robot adopts a split structure,which is composed of the upper part and the lower part.The main structure of each part of the device is composed of air cylinders.The pneumatic cylinder is driven to realize the clamping,moving and guiding functions of the robot.PLC control is used to realize the robot climbing,descending and hovering along the wire rope.By changing the diameter of the cylinder and the stroke of the clamping cylinder,the robot can climb with different loads on different diameter wire ropes.The climbing speed of the robot can be controlled by adjusting the inlet and outlet air volume of throttle valve and the stroke of telescopic cylinder.The results of the prototype show that the wire rope climbing robot has small structure,good stability and strong adaptability,which lays a foundation for the further development of automatic maintenance structure of sluice wire rope.

关 键 词：水闸 钢丝绳攀爬机器人 气动 蠕动式 

分 类 号：TH138[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]