Suspended crawler-type cable climbing robot

Abstract

The invention relates to a suspended crawler-type cable climbing robot. The suspended crawler-type cable climbing robot comprises a hexagonal machine frame (1), wherein the hexagonal machine frame (1)is formed by butting left and right half machine frames; each half machine frame is formed by fixedly connecting three panels; three sets of suspended crawler-type clasping mechanisms (4) are arranged on the inner side of the hexagonal machine frame (1); one set of suspended crawler-type clasping mechanism (4) is arranged on a middle panel of one half machine frame; the other two sets of suspended crawler-type clasping mechanisms (4) are arranged on left and right panels of the other half machine frame; the three sets of suspended crawler-type clasping mechanisms (4) are arranged in 120-degree angles. The suspended crawler-type cable climbing robot is simple in structure, light in weight, large in effective load and strong in obstacle crossing ability, and is applicable to outer surface inspection of cable bodies such as suspension cables of suspension bridges and stay cables of cable-stayed bridges in a high-altitude environment.

Description

technical field [0001] The invention relates to a suspension crawler-type cable-climbing robot, which is mainly used for automatic inspection of the surface state (aging, damage, spiral line falling off, etc.) field of robotics. Background technique [0002] The cable (pull) cable system of suspension bridge and cable-stayed bridge is the "lifeline" of the whole bridge, and its anti-corrosion effect is related to the service life of the cable body, and then related to the safety of the bridge superstructure. At present, almost all bridge cables use high-density polyethylene (HDPE, referred to as PE) sheath as the protective layer. Because most of the large bridges are located in rivers, seas, large water bodies or deep mountains and canyons, they are exposed to wind, rain and sun. In the environment, the service conditions of the PE sheath are harsh and complex, and aging and damage are inevitable. In addition, the slings of the suspension bridge are connected to the main ...

AI Technical Summary

Problems solved by technology

The currently used cable PE sheath inspection methods are mainly manual inspection and robot inspection. Manual inspection is limited by bridge traffic, high-altitude danger, and low efficiency. Adoption, some enterprises and research institutions have carried out research and application, such as Shanghai Jiaotong University (patent No. 99252056.8), Jiangsu Fasten Material Testing and Analysis Co., Ltd. (patent No. CN201010529828.8) The climbing robot has initially solved the Cable body inspection needs, but there are still complex structures, bulky, cable power supply, low efficiency, or poor ability to cross obstacles, easy to break down at high altitudes, etc., making the inspection work not smooth, often need to prepare another rescue robot in case of high-altitude jamming accident handling

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