气动爬缆机器人气压分析与试验  

Pressure Analyses and Experiments of a Pneumatic Cable-Climbing Robot

作　　者：张家梁[1] 吕恬生 宋立博[2] 姚香根[2] 

机构地区：[1]东华大学机械工程学院,上海200051 [2]上海交通大学机械与动力工程学院,上海200030

出　　处：《上海交通大学学报》2003年第1期54-57,共4页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划 (863 )资助项目(863 5 12 980 3 10 )

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地进行了现场试验 .仿真和试验表明 ,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。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.

关 键 词：气动爬缆机器人 铰链结构 气体压力损失 气缸受力 斜拉桥 结构模型 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]