大倾斜度缆索机器人的研制

摘要

A new method of inspecting and maintaining high-altitude stay cables with a cab l e robot is presented in this paper，to meet urgent needs of its automation. The robot is driven along the cable by a electric running mechanism held by wheels, or a pneumatic worming mechanism clamped by air cylinders, with an air spray coa ting mechanism or a magnetic detector. The robot was done experiments on the Xup u Bridge and the results show that the robot can climb, coat and test stay cable s safely and efficiently.%针对现代斜拉桥对安全和美观的越来越高要求，提出用大倾斜度缆索机器人进行高 空缆索检测和维护的新方法。采用电驱动摩擦轮压紧使机器人沿缆索连续爬升或气驱动气缸 夹紧蠕动爬升，利用随带的喷涂、磁检测等装置，实现了在役缆索的涂装、内部检测等作业 ，已在上海徐浦大桥上成功进行了现场试验，取得满意的效果。