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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.
In order to detect the steel wire inside the cylindrical suspension cable of cable-stayed bridge, a new type of two-wheeled suspension cable climbing robot is designed. Its mechanical structure and movement mode are briefly described. The climbing model is established and its static characteristics are analyzed. Taking 139mm diameter suspension cable as an example, the design parameters are given.To make the mechanism safe to recover in the event of a circuit system failure, a safety and energy-saving recovery method based on back EMF theory is proposed. The crank-slider driven cylinder design The gas damping mechanism is adopted to dissipate the excess kinetic energy due to gravity when the mechanism is descended and a mathematical model of mechanism is established to simulate the descending speed.The experimental results show that the designed robot can carry 3.5kg weight along the diameter of 65 ~ 205mm Suspension smooth operation, to meet the practical requirements of cable testing.