The Design Of Bridge Cable Inspection Robot’s Climbing Device

The cable of bridge is one of the main componets of the cable-stayed bridge. It ispossible to cause the damage of the cable’s surface and internal wires under theeffects of the wind and sun, car vibration and acid rain. The inspection of the cables isstill not automation, thereforce, it’s urgently need to develop a bridge cableinspection robot to ensure the public safety of the cable-stayed bridge.The design ofthe cable climing device is the most important step in developing bridge cableinspection robot.Firstly, the technical parameters of the climbing device is determined based oninvestigation of advantages and disadvantages of domestic and international bridgecable inspection robots’ climbing device. A new type of twelve-wheel anti-rotationand adjustable climbing device is proposed by learning advantages from developedbridge cable inspection robots. A dynamic model of climbing device is set up, and themotion stability, loading capacity as well as anti-rotation capacity of the climbingdevice are analyzed by ADAMS software. The improvement of design and climbingexperiment of climing prototype are also taken into consideration. The main researchcontents are as follows:（1）Layout and stcucture design of the climbing device.（2）Establishing the mechanics model of the climbing device and numericalanalysis and calculation.（3）Using the ADAMS dynamic analysis software to analyze the stability,loading capacity and anti-rotation capacity of the climbing device.（4）The climbing experiment of climbing prototype is carried out.The experimental results show that the climbing device can climb a slope of45degree, but is unstable during climbing due to heavy mass of device. It is necessary tochange its design, which is to further improve the reliability of the climbing device.