Electric-drive creeping type cable robot

Abstract

The invention discloses an electrically driven squirmy cable robot, which belongs to the technical field of the robot. The cable robot comprises a climbing device, a clamping mechanism and an adjusting device for internal taper sleeve; wherein, the climbing device consists of a driving motor, an upper machine plate, a lower machine plate, a driving lead screw, a nut, a polished rod, a sensor and a triggering tablet; wherein, the clamping mechanism consists of an external taper sleeve, a top pin, an internal taper sleeve, a bottom cover, a pressure spring and a short shaft fixedly connected with the internal taper sleeve; wherein, the adjusting device for internal taper sleeve consists of a motor, a lead screw, a nut for tapered wedge and a bracket and the adjusting device for internal taper sleeve is respectively fixed on the upper machine plate and the lower machine plate through the bracket. The electrically driven squirmy cable robot provided by the invention has compact structure, is easy to be manufactured, has small driving motor power and is suitable for the maintenance work of detecting, coating, cleaning, etc., the cable.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a cable robot, in particular to an electrically driven peristaltic cable robot for working on cables of a long-span cable-stayed bridge. Background technique [0002] As a new form of modern bridge, cable-stayed bridge has been widely used in the world. As one of the main stress-bearing components of cable-stayed bridges, the cable is exposed to the air for a long time, and the polyethylene sheath on the surface of the cable will be hardened and cracked to varying degrees after being exposed to wind, rain and sun. Serious problems such as rust spots and broken wires are caused by the bundles; at the same time, due to random wind and rain vibrations, the steel wires in the cables produce slight friction, which in turn causes serious broken wires, burying serious hidden dangers for the cable-stayed bridge. Since the cable-stayed bridge is a new type of bridge that has only emerged in...

AI Technical Summary

Problems solved by technology

There are serious problems in this kind of operation method of the hanging basket trolley: the weight of the trolley is heavy, and the hanging basket trolley and two staff members weigh seven to eight hundred kilograms. In order to reduce the lifting force, hard nylon wheels are used to press on the cable. This will not only scrape off the primer layer, but also scratch the PE protective layer on the cable surface, and even cut the steel wire in severe cases; the construction period is long and the cost is high, and the cleaning and coating of all the cables on a bridge takes several months. , and various costs are high; the working environment of the workers is extremely harsh, and the staff work at a height of more than 100 meters, not only facing strong winds and difficult communication, but also casualties.

In addition, although a large tension is applied to both ends of the cable, the cable still has a certain degree of disturbance due to its own weight and creep.

[0004] In the prior art, there have been studies on robots outside pipes and wire detection robots. The pipes crawled by these robots outside pipes can generally only be used for rigid pipes on the horizontal plane, and the traction force is small. For cable-stayed bridges with higher elevations and less flexibility Large cable, its climbing ability is obviously not enough

In 1987, the IEEE International Conference on Robotics and Automation analyzed No. III of the series of external robots developed by Toshio Fukuda in Japan. Its traction force is small, the speed is slow (the average speed is only 0.018m / min), and it is not adjustable, which is far from meeting the requirements of cable maintenance. Large load, high efficiency, greater flexibility, the need for high-altitude operations in the field

There are also reports on wire detection robots in journals such as the Journal of the Robotics Society of Japan, but the thickness and inclination of the wires are obviously not comparable to the cables on the bridge

In addition, in recent years, a variety of pneumatic and electric cable robots developed by Shanghai Jiaotong University have been greatly improved compared with the previous ones, which basically meet the general use requirements, but also have the disadvantages of complex structures, and the consumption of a large amount of energy for rising and falling.

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