A cable crawling robot

Abstract

The invention relates to a cable climbing robot, which comprises an outer framework, clamping mechanisms and climbing mechanisms, wherein the clamping mechanisms and the climbing mechanisms are arranged on the outer framework; the outer framework is a cubic framework; each edge of the upper surface and the lower surface of the outer framework is respectively connected with an inner edge frame through a radial frame, and one clamping mechanism and one climbing mechanism are respectively arranged at each side surface of the outer framework; in each clamping mechanism, a ball screw is connected between vertical rods at the side surface of the outer framework, and two edges of the ball screw have opposite screwing directions; two screw nuts of the ball screw are respectively hinged to connecting rods; the other end of each of the two connecting rods is hinged to the back part of a clamping support plate, and rolling wheels are arranged at the upper end and the lower end of the clamping support plate and are matched with the radial frame; in each climbing mechanism, a guide rod is hinged to one end of the inner side of the clamping support plate; a guide wheel is arranged on the guide rod; a leading rod is arranged at the other end of the inner side of the clamping support plate, and is hinged to a balance beam; a pressure sensor and a compression spring sleeve the leading rod, and a driving wheel and a driven wheel are respectively arranged at the upper end and the lower end of the balance beam and are connected by a synchronous belt. The cable climbing robot has the advantages that the cable climbing robot can be used for cables with large diameter differences; the clamping force is good; the cable climbing capability and obstacle crossing capability are higher, and the seizure and slippage can be avoided.

Description

technical field [0001] The invention relates to a robot, in particular to a cable crawling 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 is getting bigger and bigger. At present, there are more than 200 cable-stayed bridges in the world with a main span of more than 200 meters. The increase in the number and size of cable-stayed bridges brings more challenges to bridge detection. The cable is the main load-bearing component of the cable-stayed bridge, and it is exposed to the wind and the sun for a long time, and it is prone to damage or even breakage. 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 o...

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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