A cable detection robot system for cable-stayed bridge

Abstract

The invention discloses a cable-stayed bridge cable detection robot system which comprises a machine frame. Multiple power climbing mechanisms are arranged on the machine frame and are distributed in the peripheral direction, each power climbing mechanism comprises a power mechanism and two climbing mechanism bodies, the two climbing mechanism bodies are vertically arranged and are connected through a synchronous drive mechanism, each climbing mechanism body comprises rolling wheels capable of rolling on cables, the rolling wheels of one climbing mechanism body are driven to rotate by the corresponding power mechanism, and the synchronous drive mechanism can drive all rolling wheels of the two vertically-arranged climbing mechanism bodies to synchronously rotate. The machine frame comprises multiple sub supporting frames, each power climbing mechanism is installed on the corresponding sub supporting frame, every two adjacent sub supporting frames are connected through a connecting device, and the distance between every two adjacent sub supporting frames can be adjusted through the corresponding connecting device. The cable-stayed bridge cable detection robot system has very high adapbility and can work on the cables different in diameter, the sub supporting frames are connected by using the connecting devices, and overall size adjustment of the robot system is facilitated.

Description

technical field [0001] The invention belongs to the field of climbing robots, and in particular relates to a cable detection robot system for a cable-stayed bridge. Background technique [0002] The cable-stayed bridge is the most important type of long-span bridge, and the cable is the main load-bearing part of the cable-stayed bridge. The internal steel wire of the cable-stayed member cable is prone to breakage under the long-term action of the bridge dynamic load, rain vibration, and wind vibration. , so the detection of cable-stayed bridges is very important. The detection of cables is not perfect at present. In the early days, the manual method of dragging the trolley with the hoist was used, which resulted in heavy workload, low efficiency and poor safety. [0003] There are two main types of cable detection robots for cable-stayed bridges, namely, motor-driven wheeled robots and pneumatic peristaltic robots. The former moves continuously, has a compact structure, is...

AI Technical Summary

Problems solved by technology

Many similar robots are composed of two parts, and only one of them is equipped with a motor as the active part, and the other part is used as the driven part, which acts as a pressing force. This method may be more convenient to install, but the climbing ability is limited, the stability is poor, and it does not Conducive to changing the overall size of the robot

There are also some similar robots that are composed of three parts, but they are often larger in size along the axis of the cable, and the deflection of the cable itself has a serious impact on the movement of the robot.

There are also some robots whose structure is too simple and rely too much on the effect of tension springs to adapt to different cables. Although they have a good ability to overcome obstacles, due to the lack of overall rigidity, the robot is easy to shake near the cables during movement, which affects the quality of inspection.

Generally speaking, many similar products currently have a contradiction between the ability to overcome obstacles and the smoothness of motion

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