便携式缆索机器人的研制
|
摘要
缆索护套损伤是影响桥梁缆索服役寿命的重要原因之一,现有缆索外观检测方法不能满足快速检测的工程应用需求。研制了一种携带方便、安装快捷的缆索外观检测机器人,对机器人进行了爬升动力学分析,给出了电机和减速机详细的选型计算过程,并对机器人结构件进行了有限元分析。试验结果表明,便携式缆索机器人质量和攀爬速度达到了设计要求,可在垂直和倾斜缆索上平稳运行。
The damage of cable sheath is one of the important reasons for the durability of cable systems. The existing inspection methods of cable appearance cannot meet the need of engineering applications. A kind of portable and installed quickly cable inspection robot is introduced in this paper. The selection of robot dynamics analysis, motor reducer, the finite element analysis on the robot platform are also included. The test results show that the mass and climbing speed of the portable cable robot meet the design requirements and can run smoothly on vertical and inclined cables.
The damage of cable sheath is one of the important reasons for the durability of cable systems. The existing inspection methods of cable appearance cannot meet the need of engineering applications. A kind of portable and installed quickly cable inspection robot is introduced in this paper. The selection of robot dynamics analysis, motor reducer, the finite element analysis on the robot platform are also included. The test results show that the mass and climbing speed of the portable cable robot meet the design requirements and can run smoothly on vertical and inclined cables.
引文
[1] 袁建明,武新军,康宜华,等.可重构斜拉索磁性无损检测机器人技术研究[J].武汉理工大学学报(交通科学与工程版),2008,32(3):442-445.
[2] 张韶军.成套技术预防桥梁索缆病害[J].养护与管理,2010(10):62-65.
[3] 陕西公安局,长安大学.JTG H11-2004公路桥涵养护规范[M].北京:人民交通出版社,2005.
[4] 徐海虹,朱从明.斜拉桥运营期的斜拉索检查方法的比较分析及建议[J].现代交通技术,2012,9(2):37-40.
[5] 罗均,赵波,吕恬生.缆索Ⅰ号机器人样机爬升机构的分析及试验[J].中国机械工程,2001,12(2):121-122.
[6] 张家梁,吕恬生,罗均.大倾斜度缆索机器人的研制[J].高技术通讯,2001,11(1):88-90.
[7] 吕恬生,张家梁,罗均.气动蠕动式缆索爬升机器人的基本结构[J].机械与电子,2000(3):38-40.
[8] 张家梁,吕恬生,罗均,等.气动蠕动式缆索维护机器人的研制[J].机器人,2000,22(5):397-401.
[9] LUO J,XIE S,GONG Z,et al.Development of cable maintenance robot for cable-stayed bridges[J].Industrial Robot,2007,34(4):303-309.
[10] LUO J,XIE S,GONG Z.Cable maintenance robot and its dynamic response moving on the horizontal cable[C]//ICAR'05.Proceedings.12th International Conference on Advanced Robotics.Seattle,WA,USA:IEEE,2005:514-517.
[11] 徐丰羽.斜拉桥拉索检测机器人关键技术研究[D].南京:东南大学,2009.
[12] 王亚斌.斜拉桥缆索检测机器人运动学及结构研究[D].重庆:重庆大学,2008.
[13] 余朝阳.斜拉索检测机器人的研究[D].广州:华南理工大学,2009.
[14] 魏武,孙洪超.蛇形机器人桥梁缆索攀爬步态控制研究[J].中国机械工程,2012,23(10):1230-1236.
[15] 王晓琳,陆绍辉,李东平,等.一种轻型碳纤维爬索机器人及其检测系统研究[J].广西科技大学学报,2017(4):25-31.
[16] KIM H M,CHO K H,JIN Y H,et al.Development of cable climbing robot for maintenance of suspension bridges[C]//2012 IEEE International Conference on Automation Science and Engineering (CASE).Seoul:IEEE,2012:606-611.
[17] MAHDAVI S,NOOHI E,AHMADABADI M N.Path planning of the nonholonomic pole climbing robot ut-pcr[C]//2006 IEEE International Conference on Robotics and Biomimetics.Kunming:IEEE,2006:1517-1522.
[18] MAHDAVI S,NOOHI E,AHMADABADI M N.Basic movements of a nonholonomic wheel-based pole climbing robot[C]//2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Zurich,Switzerland:IEEE,2007:1-6.
[19] 张家梁,吕恬生.管外摩擦轮自爬升机构的研究[J].现代机械,1999(3):33.
[2] 张韶军.成套技术预防桥梁索缆病害[J].养护与管理,2010(10):62-65.
[3] 陕西公安局,长安大学.JTG H11-2004公路桥涵养护规范[M].北京:人民交通出版社,2005.
[4] 徐海虹,朱从明.斜拉桥运营期的斜拉索检查方法的比较分析及建议[J].现代交通技术,2012,9(2):37-40.
[5] 罗均,赵波,吕恬生.缆索Ⅰ号机器人样机爬升机构的分析及试验[J].中国机械工程,2001,12(2):121-122.
[6] 张家梁,吕恬生,罗均.大倾斜度缆索机器人的研制[J].高技术通讯,2001,11(1):88-90.
[7] 吕恬生,张家梁,罗均.气动蠕动式缆索爬升机器人的基本结构[J].机械与电子,2000(3):38-40.
[8] 张家梁,吕恬生,罗均,等.气动蠕动式缆索维护机器人的研制[J].机器人,2000,22(5):397-401.
[9] LUO J,XIE S,GONG Z,et al.Development of cable maintenance robot for cable-stayed bridges[J].Industrial Robot,2007,34(4):303-309.
[10] LUO J,XIE S,GONG Z.Cable maintenance robot and its dynamic response moving on the horizontal cable[C]//ICAR'05.Proceedings.12th International Conference on Advanced Robotics.Seattle,WA,USA:IEEE,2005:514-517.
[11] 徐丰羽.斜拉桥拉索检测机器人关键技术研究[D].南京:东南大学,2009.
[12] 王亚斌.斜拉桥缆索检测机器人运动学及结构研究[D].重庆:重庆大学,2008.
[13] 余朝阳.斜拉索检测机器人的研究[D].广州:华南理工大学,2009.
[14] 魏武,孙洪超.蛇形机器人桥梁缆索攀爬步态控制研究[J].中国机械工程,2012,23(10):1230-1236.
[15] 王晓琳,陆绍辉,李东平,等.一种轻型碳纤维爬索机器人及其检测系统研究[J].广西科技大学学报,2017(4):25-31.
[16] KIM H M,CHO K H,JIN Y H,et al.Development of cable climbing robot for maintenance of suspension bridges[C]//2012 IEEE International Conference on Automation Science and Engineering (CASE).Seoul:IEEE,2012:606-611.
[17] MAHDAVI S,NOOHI E,AHMADABADI M N.Path planning of the nonholonomic pole climbing robot ut-pcr[C]//2006 IEEE International Conference on Robotics and Biomimetics.Kunming:IEEE,2006:1517-1522.
[18] MAHDAVI S,NOOHI E,AHMADABADI M N.Basic movements of a nonholonomic wheel-based pole climbing robot[C]//2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Zurich,Switzerland:IEEE,2007:1-6.
[19] 张家梁,吕恬生.管外摩擦轮自爬升机构的研究[J].现代机械,1999(3):33.