摘要
为了检测斜拉桥圆柱形悬索内部钢丝情况,设计了一种新型的双边轮式悬索爬升机器人,简述了其机械结构及运动方式,建立了爬升模型,分析了其机构的静态特性,并以直径为139mm的悬索为例给出了相关设计参数.为使机构在电路系统故障时能安全回收,提出了一种基于反电动势理论的安全节能回收方法,应用曲柄滑块驱动气缸设计了气体阻尼机构,以消耗机构下降时因重力作用产生的多余动能,并建立了机构数学模型来仿真下降速度.试验结果表明,所设计的机器人能携带3.5kg重物沿直径为65～205mm的悬索平稳运行,满足了悬索检测的实用要求.
To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.
基金
The National High Technology Research and Development Program of China (863Program) (No.2006AA04Z234)
关键词
爬升机器人
节能回收
气体阻尼
悬索
斜拉桥
climbing robot
energy-saving landing
gas damper
cable
cable-stayed bridge
