| Cable of cable-stayed bridges is the main load-bearing components, because of thelong-term exposure in the air, cable wire would be severely damaged. Cable robotdesigned in this paper can carry detecting instrument to finish cable detection task. Therobot uses structure frame. The main feature is the realization of the function holdingcable force, when the robot is working, Which greatly improving the ability to crossobstacle and the ability to adapt to the cable.This paper analyzed the stress state of cable robots to crawl up and crawl down, anddeduced the robot’ s driving condition and adhesive condition. Mathematical model ofcable force adjusting device was established, which is analysed in matlab. Analysing thecapability of the cable robot over obstacles, and parameter expression of maximumobstacle height is obtained.Using the Solidworks software to establish the model of robot. The design of themain parts are optimized. And then the dynamics simulation analysis in ADAMS is carriedout, the dynamic curve is obtained.In this paper, the cable inspection has carried on the simulation and experiment. First,analysis of the magnetic field distribution in a single broken wire by using ANSYSsoftware, showed that leakage flu2x wire in the magnetic leakage field were redistributionin the wire section and the outer surface of the steel wire. Secondly, the magnetic fieldsimulation of a cable no broken wire, the simulation results of leakage magnetic field inair contrast. Analysis of the distribution cable surface magnetic induction intensity inmagnetic interference, provides simulation data as the experiment.Cable magnetic flux leakage detection is divided into strong magnetic detection, theweak magnetic inspection and micro magnetic detection, the biggest drawback is the needto power cable strong magnetic detection strong excitation system, greatly increase theweight of equipment. In this paper, based on the theory of micro magnetic detection,magnetic detection experiment platform by cable, choose the magnetic resistance sensor asthe detecting element, to explore the feasibility of the cable’s micro magnetic nondestructive testing, the fracture length, broken wire position and direction of themagnetic field on the cable defect detection signal was analyzed, and the influence of thetest results prove the feasibility of the cable’s micro magnetic, verify the feasibility ofdeveloping light energy saving inspection equipment, to offer a scientific basis for thedesign of the cable testing instrument. |
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