气动蠕动式缆索维护机器人的研制

A STUDY OF PNEUMATIC WORMING CABLE MAINTENANCE ROBOT

  • 摘要: 本文研制了一种用于斜拉桥缆索的检测、清洗和涂装等维护作业的气动蠕动式缆索机器人.该机器人分上体和下体两部分,由气缸实现移动、夹紧和导向功能.其能用于大直径范围的缆索,牵引力大,安全可靠.

     

    Abstract: In the past decades, a large number of cable-stayed bridges have been constructed in various distracts in the world, but there is not any method which is safest and economically efficient for stay cable maintenance. This paper deals with the mechanism and control method of a pneumatic worming robot, which can be used for cable maintenance work as inspection, cleaning or coating. This robot consists of two modules with two moving, six holding and six leading cylinders, controlled by a PLC. It can climb on a diameter stay cable range from 80 to 140 mm, with 150 Kg holding force.

     

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