Automatic climbing mechanism for track inhaul cable and control system thereof

Abstract

The invention discloses an automatic climbing mechanism for a track inhaul cable. The mechanism comprises an outer framework, and a climbing and walking device and compacting and adjusting devices which are arranged on the outer framework; the outer framework is cylindrical, and one surface of the outer framework is made into a hinged mode and can be freely opened and closed; the climbing and walking device comprises n sets of driving wheel groups with track inhaul cable climbing and walking device structures and m sets of guide wheel groups, and the n sets of driving wheel groups and the m sets of guide wheel groups are arranged on the mounting face of the outer framework through a guide core shaft or uniformly or symmetrically; the number of the compacting and adjusting devices is n+m, the compacting and adjusting devices are arranged on the mounting face of the outer framework respectively, n and m are numbers which are between 2 and 20 and can be divided exactly by 2 or 3, and m also can be 0; and a climbing control system of the mechanism consists of an upper computer and a human-computer interface thereof, a radio transceiving device and a lower computer. The climbing mechanism can stably and reliably climb and decline on the surface of the inhaul cable, the walking device is convenient to compact, balance and adjust the inhaul cable, and the control system of the climbing mechanism is advanced, has simple and convenient operation and can realize wireless or wired control.

Description

Technical field: [0001] The invention relates to cable maintenance equipment, in particular to a cable automatic climbing mechanism and a control system for a cable maintenance robot working on cables of a cable-stayed bridge, belonging to the technical field of robots. Background technique: [0002] The cable inspection and maintenance robot is an intelligent machine that uses the cable as a supporting point, can automatically climb and descend along the cable, and can take pictures, damage detection and various maintenance of the cable. It is the latest technology and development direction for the detection and maintenance of bridges or other building cables. The cable automatic climbing system is the basis of the cable inspection and maintenance robot. The shortcomings of the existing cable automatic climbing system technology mainly include: [0003] 1. When the electric climbing method is adopted, the wheeled climbing walking device is used, the walking reliability and...

AI Technical Summary

Problems solved by technology

[0003] 1. When the electric climbing method is adopted, the wheeled climbing walking device is used, the walking reliability and stability are poor, and the load-bearing capacity of the climbing mechanism is poor. When the cable used in the project is steep (the angle with the ground is greater than 60 degrees), Or when the surface damage of the cable is serious, the wheeled walking and climbing mechanism is difficult to walk on the cable, and it is impossible to perform inspection and maintenance work;

[0004] 2. The control of the climbing mechanism adopts ordinary wired control, which needs to drag the power line and control line. The climbing mechanism has poor climbing ability and poor adaptability to working conditions.

When the cable used in the project is long (greater than 200 meters), the climbing mechanism with wire walking cannot reach the far end of the cable for inspection and maintenance, and cannot be used in harsh working conditions such as wind and rain

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