Cable climbing robot

Abstract

A cable climbing robot comprises an outer frame and an inner climbing mechanism, wherein a ball screw with opposite turning directions at two ends is connected between upright tubes of each side face of the outer frame through bearings, and every two opposite ball screws are driven by a motor; each side face of the outer frame is provided with a slide block formed in a way that a cross rod connects two vertical rods, and slide block guide wheels at the upper and lower ends of the vertical rods are in contact with top rods and bottom rods of the outer frame; the outer sides of the two vertical rods both are fixedly provided with screw nuts; two pairs of clamping support plates are respectively fixed to two opposite pairs of cross rods, certain ends of the inner sides of the clamping support plates are hinged to guide rods with guide wheels, and extension springs are arranged between the guide rods and the clamping support plates, and the other ends of the clamping support plates are provided with guidance rods; the ends, extending inwards, of the guidance rods are hinged to balance beams, and pressure sensors and compression springs sleeve the guidance rods between the balance beams and the clamping support plates; the upper and lower ends of the balance beams are respectively provided with driven wheels and driving wheels connected with drive motors. The robot can be used for cables with great diameter differences, is good in clamping force and strong in cable climbing and obstacle crossing abilities.

Description

Technical field [0001] The invention relates to a robot, in particular to a robot for inspecting and working on cables. Background technique [0002] With the rapid development of the bridge construction industry, the scale of cable-stayed bridges has become larger and larger. At present, there are more than 200 cable-stayed bridges with a main span of more than 200 meters in the world. The increase in the number and size of cable-stayed bridges brings more challenges to bridge inspections. Cables are the main load-bearing components of cable-stayed bridges, and they are prone to damage or breakage when exposed to wind and sun for a long time. It is necessary to regularly check whether the surface is complete. The cables are suspended on both sides of the cable-stayed bridge, which may be as high as 100 meters. The general manual inspection method is time-consuming and labor-intensive and cannot guarantee personal safety. Although the use of a hoist to detect the cables can ensu...

AI Technical Summary

Problems solved by technology

First, the designed triangular frame structure is fixed, so it cannot be applied to cables with large diameter differences

Second, although the use of inclined-stay springs has a certain ability to overcome obstacles, there is still the problem of possible jamming when the rollers pass through larger obstacles

Third, due to structural limitations, the robot's grip on the cable cannot be changed during the working process. When the robot is stuck or slipping at high altitude, the ground cannot control the robot to recover.

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