Crawler-type stay cable robot capable of achieving radial balance adjustment

Abstract

The crawler-type stay cable robot comprises a walking module, a radial balance module and an AI defect detection module, the radial balance module is fixedly installed on the walking module, and the AI defect detection module is fixedly installed on the walking module. The walking mechanism can achieve two modes of crawler wheel type walking and climbing type walking, elastic force self-adaption mechanisms are installed on floating supporting plates on the two sides of a walking crawler belt, the robot can provide stable positive pressure in the climbing process, it is guaranteed that the robot can stably run, a transmission mechanism of a compact structure is arranged in a crawler wheel, and the transmission mechanism is compact in structure. Large torque can be provided, and the radial balance module can guarantee the balance of the robot during working. According to the invention, integrated operation of crawler wheel type walking, climbing type walking, dynamic radial balance and stay cable AI detection can be realized, and the working efficiency is greatly improved.

Description

technical field [0001] The invention belongs to the field of machinery, and designs a cable-stayed inspection robot, in particular a crawler-type cable-stayed robot capable of radial balance adjustment. Background technique [0002] The number of cable-stayed bridges in my country has now ranked among the top in the world, and a series of safety problems have also ushered in. A large number of cable-stayed bridges are in urgent need of safety maintenance. At present, the quality inspection of bridge stay cables is generally carried out manually. Workers wear safety ropes and walk on the cables to inspect each steel cable. However, manual inspection has a large risk factor, high inspection difficulty, low efficiency, and labor intensity. high, and it is difficult to detect the relatively hidden defects with the naked eye; the current cable-stayed inspection robots on the market are relatively large in size, low in flexibility, insufficient in stability during work, and expens...

AI Technical Summary

Problems solved by technology

At present, the quality inspection of bridge stay cables is generally carried out manually. Workers wear safety ropes and walk on the cables to inspect each steel cable; while manual inspection has a large risk factor, high detection difficulty, low efficiency, and labor-intensive High, and it is difficult to detect hidden defects with the naked eye; the cable-stayed inspection robots currently on the market are relatively bulky, not flexible, and have insufficient stability during work, and the cost of equipment and maintenance costs are high. It is inconvenient to debug and not suitable for use in the inspection process of bridge stay cables

Application number: CN202110789742.7 discloses an automatic detection system for stay cables. This device improves the convenience and efficiency in the detection process, but cannot adapt to different stay cable surfaces and cannot implement radial balance control , and the work efficiency is low

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