【摘要】 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 ,取得满意的效果更多还原

【Abstract】 A new method of inspecting and maintaining high altitude stay cables with a cable 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 coating mechanism or a magnetic detector. The robot was done experiments on the Xupu Bridge and the results show that the robot can climb, coat and test stay cables safely and efficiently.更多还原