Crawling mechanism for peristaltic cable robot

Abstract

The invention discloses a crawling mechanism for a peristaltic cable robot, belonging to the technical field of the detection of the robot. The crawling mechanism for the peristaltic cable robot comprises a peristaltic crawling mechanism and a safe backhaul mechanism, wherein the peristaltic crawling mechanism comprises a driving wheel device, a driven wheel device, a slider-crank mechanism, a control box and a sensor; the driving wheel device is divided into a main upper frame locking wheel device and a main lower frame holding wheel device, the driven wheel device is divided into a subsidiary upper frame locking wheel device and a subsidiary lower frame holding wheel device, and the two frames are respectively connected with a spring by at least two of connecting bolts and nuts; the slider-crank mechanism is connected with the driving wheel device and the driven wheel device; and the safe backhaul mechanism comprises an escape wheel and an escape claw. The crawling mechanism for the peristaltic cable robot provided by the invention is simple and reliable in structure, and provided with an energy resource by itself, the safe backhaul mechanism is simple, and the crawling mechanism can be used for detecting the cable with the large diameter from 120mm to 200mm and the gradient range from 0 degree to 90 degrees.

Description

technical field [0001] The invention belongs to the technical field of detection robots, and in particular relates to a creeping cable robot crawling mechanism for cable detection and maintenance of cable-stayed bridges. Background technique [0002] Cable-stayed bridges are being used more and more due to their beautiful shape and unique structure. However, the cables of cable-stayed bridges need to be inspected for problems such as corrosion and broken wires due to internal steel wire fatigue and cracking of PE sleeves. At the same time, the PE sleeve on the surface of the cable also needs maintenance such as spraying and cleaning. [0003] At present, the cable detection and maintenance work of cable-stayed bridges has been using manual methods. For example, large-diameter steel wire rope non-destructive flaw detectors, spray washing or repairing PE sleeve devices are lifted to high-altitude operations together with maintenance personnel, which has low efficiency and poor...

AI Technical Summary

Problems solved by technology

The disadvantage is that the mechanical structure and control system are complicated, and it is difficult for the robot to automatically return to the ground in an accident. Ascent and descent require umbilical power supply.

Its disadvantage is that the mechanical structure and safety return mechanism are complex, and it has not been widely used.

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