Cable rope detection robot based on parallelogram independent suspension

Abstract

The invention discloses a cable rope detection robot based on parallelogram independent suspension. The cable rope detection robot comprises a vehicle body, independent suspension devices arranged on the vehicle body and wheels arranged on the independent suspension devices. Each independent suspension device comprises two sets of parallelogram frames which are arranged in parallel, a tensile force transmission shaft connected with the two sets of parallelogram frames and a pre-tightening spring connected with the tensile force transmission shaft, each parallelogram frame is formed by sequentially connecting a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the first connecting rods, the second connecting rods, the third connecting rods and the fourth connecting rods are sequentially connected. One end of each first horizontal connecting rod is connected with an axle of the corresponding wheel, the other ends of the first horizontal connecting rods are connected with the middle connecting rods and meanwhile connected with the tensile force transmission shafts, the connecting ends of the second horizontal connecting rods and the middle connecting rods are arranged on the vehicle body, one end of each pre-tightening spring is connected with the corresponding tensile force transmission shaft, and the other ends of the pre-tightening springs are fixedly connected to the vehicle body.

Description

technical field [0001] The invention is a cable detection robot based on parallelogram independent suspension, which belongs to the field of robot application. Background technique [0002] With the rapid development of economy and transportation, the development of long-span bridges is getting faster and faster. As a new type of modern bridge, cable-stayed bridges have been widely used in the world. 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. Up to now, there have been several unfortunate engineering examples in which all cables of cable-stayed bridges have been replaced due to serious corrosio...

AI Technical Summary

Problems solved by technology

[0003] So far, the inspection and maintenance methods for inclined cables are still relatively backward. In the early days, the hoist was used to move the equipment along the cable, and the test data was recorded or stored for analysis; The friction wheel is pressed to make the robot climb continuously or the air-driven cylinder is clamped to creep and climb. Using the accompanying spraying, magnetic detection and other devices, the coating and internal in...

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