Design of Pneumatic Cable Maintenance Robot

摘要

Aimed to coating, cleaning and inspection of cable for cable-stayed bridges, a pneumatic worming cable maintenance robot is presented. This paper puts forward a design method of modularizing which can simplify the design course greatly. It is composed of cable climbing mechanism, working mechanism and controlling system. The key problems of new climbing mechanisms and painting mechanism applying to cables are developed. Movement of the robot and clamping of climbing mechanism are driving by electrical and pneumatic system to identify malfunctions and make sure automation. The shortcomings such as low efficiency, high cost, less safety of artificial methods that are normally adopted in cable-stayed bridges are overcome. Furthermore, some experiments in robot lab proved this robot had perfect performances under different conditions; it was of foundation for the cable maintenance robot applying to automatic painting of cables.