Scroll cable detecting robot

Abstract

The invention discloses a spiral line cable detecting robot which consists of a cart, an upper and a lower supporting hugging devices symmetrically distributed along the cable which are connected together. The robot is characterized in that the active cart is provided with a climbing device and a magnetic absorbing device; two supporting horizontal levers are provided with hugging devices; the climbing device includes a lithium battery fixed in the cart and a DC motor fixed on one side of the driving wheel in the cart; power of the DC motor is supplied by the lithium battery, and the DC motor drives the driving wheel of the cart to rotate by a drive axle, so as to drive the whole robot to spirally climb along a water transmission line of the cable; the hugging devices and the magnetic absorbing device work together to tightly press the driving wheel onto the surface of the cable. The climbing device can rotate for any degree relative to the cart, so as to adapt to the water transmission line with different thread pitch; power supply by the lithium battery is more suitable for the environment of high-altitude operation; the robot is also provided with a descending device, which is safer and more reliable in use. The invention has simple and reasonable structure, is convenient in maintenance, can have high climbing speed, is applicable in detection of the spiral line cable of large cable-stayed bridges as well as lamps and other rod types.

Description

technical field [0001] The patent of the present invention relates to a helical cable detection robot, in particular to a robot for fault detection of helical cable of a long-span cable-stayed bridge, which belongs to the field of robot technology. Background technique [0002] With the rapid development of our country's transportation industry, the development of long-span bridges is getting faster and faster. Cable-stayed bridges and suspension bridges have become the basic forms of modern long-span bridges. After the completion of cable-stayed bridges and suspension bridges, the cables, one of the main stress-bearing components, will be exposed to the air for a long time, and the polyethylene (PE) protective layer on the surface of the cables will show different degrees of hardening and aging. Corroded by moisture and other acidic substances in the air, and even broken wires in severe cases, endangering the safety of the bridge. At present, the maintenance measures for b...

AI Technical Summary

Problems solved by technology

However, the climbing device of the cable detection and maintenance robot has a large structure; the whole machine is powered by a cable, and the length of the connecting cable must be greater than the length of the bridge cable that the robot climbs, and it is obviously affected by the wind when working at heights; The robot is not designed with a relevant descending device. When an accident occurs during the operation, the steel wire rope connected to the robot is used to drag and recover the robot from a height of tens or even hundreds of meters, which is dangerous to a certain extent. The mechanism is only suitable for painting work, not for testing work

[0004] As the span of cable-stayed bridges becomes larger and larger, the cables are more and more affected by wind and rain vibrations. Since the spiral cables and indented pit cables can effectively suppress the wind and rain-induced vibration of the cables, It has been widely used in newly built bridges, but it will also bring a series of new problems. One is that it is extremely difficult to detect the strength of the steel wires inside the cables. Taking the Sutong Bridge as an example, its longest back cable reaches 575m. If it is still used The trolley dragged by the hoist is manually equipped with detection sensors to detect cable broken wires, wear, rust spots, etc., which has serious problems such as high cost, harsh working environment, low work efficiency, and easy damage to the cable surface.

Because the surface of the new wind-proof and rain-vibration-proof spiral cable has circular protrusions with a diameter of 6-10mm, since the material of the raised helix is ​​the same as the cable protective layer, it cannot withstand large external forces, and the hoist drags the trolley. The cable detection and maintenance robot developed by Shanghai Communications and Shanghai Communications cannot be realized at all; the research group has applied for two types of detection robots for optical cables (application numbers are 2006101576019.9, 200620016413.X) and other special robots are not suitable for spiral cables. According to the international online search, there is no report on the detection robot of the spiral cable.

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