Design of continuous climbing pneumatic cable maintenance robot

摘要

Aimed to coating cables for cable-stayed bridges, a continuous climbing pneumatic cable maintenance robot is developed. Climbing mechanism driven by pneumatic system is devised and design scheme of pneumatic system which take the synchronized proportional speed distribute loop as core is presented. These make the robot move continuously and stably. The principal and subordinate type monitoring control system can make sure that robot can automatic detect malfunctions and deal with them by itself. Some experiments in robot lab have proved this robot had perfect reliability, speed's continuity and stability and adaptability for cable, it is of foundation for the cable maintenance robot applying to automatic painting of cables.