Balance clamping shock-proof device for stay cable detection robot

Abstract

The invention discloses a balance clamping shock-proof device for a stay cable detection robot. The balance clamping shock-proof device comprises a robot frame and two walking units arranged on the robot frame, and the two walking units are oppositely clamped on a stay cable. Each walking unit comprises a first force arm support which is rotatably arranged at the upper end of the robot frame; a second force arm support rotatably arranged at the lower end of the robot frame, wherein the second force arm support is provided with a rolling wheel, and the rolling wheel abuts against the stay cable; a hinge device hinged between the first force arm support and the second force arm support; and an electric push rod hinged between the first force arm support and the second force arm support . According to the balance clamping shock-proof device for the stay cable detection robot, composition accessories of the shock-proof device are simplified, so that the structure is compact; and the cable diameter variation range which can be detected is larger.

Description

technical field [0001] The invention belongs to the technical field of climbing cable mechanical equipment and facilities, and in particular relates to a balanced clamping and shock absorbing device for a cable-stayed detection robot. Background technique [0002] Cable-stayed cables are the main load-bearing parts that directly transfer the weight of the main girder and deck of the cable-stayed bridge to the tower. The cable material of the cable-stayed bridge is usually a steel cable, and the steel cable jacket is equipped with a PE sheath. The cable-stayed cable inspection robot can automatically climb up the cable-stayed cable, and check the cable-stayed cable PE sheath through the camera mounted on the robot. In recent years, with the increasing number of cable-stayed bridges built in various places, the detection of cable-stayed cables has become more and more important. [0003] The shock-absorbing device of the existing cable-stayed detection robot connects the mova...

AI Technical Summary

Problems solved by technology

[0005] Since the force of the spring of the shock absorber is perpendicular to the surface of the cable, the clamping method of the robot is limited. Although the three-sided clamping method can clamp firmly, it needs to use six electric push rods to form a triangle, and the overall shape of the machine will be affected. It looks large and bulky, which affects daily transportation and practical use;

[0006] The motor and wheels are installed at the innermost part of the machine. Since the robot is larger in size and its center of gravity falls on the center of the robot, that is, the position of the wheels, when the cable with a small diameter is detected, the wheel at the end of one side of the robot will be stuck during acceleration or deceleration. Even if there is a shock absorber, it will generate a large stress on the cable, which may cause damage to the surface of the cable;

Images