The Design And Realization Of Mechanical Structure And Control System For Bridge Cable Detection Robot

The cable is one of the main force members of the cable-stayed bridge.The state of the cable is closely related to the safety of the bridge.Therefore,it is necessary to be routinely detected on a regular basis.In order to make routine detection more convenient,the development of automation equipment for bridge cable testing has been highly concerned.The most common items of bridge cable routine inspection are the good condition of the cable surface protective layer and the vibration swing of the cable.The manual detection is usually high costly,low efficiency,low accuracy and high risk.Therefore,the development of a cable crawling detect robot along the cable automatically,as equipped with the appropriate detection equipment platform to complete the task of detecting the cable has become a top priority.This paper introduces a new type of bridge cable detection robot mechanical structure and control system design and implementation of specific methods.On the basis of full investigation,the design index and design scheme of the robot are put forward.On this basis,a new structure design scheme of cable detection robot drove by electric is proposed,and through experiments to verify the feasibility of the design.In this design,the robot is designed with symmetrical frame structure,small size,light weight,easy loading and unloading,and other characteristics,can be achieved in the variable diameter of the cable,overcome the existing cable detection robot weight is too large,the detection of stuck and spiral crawling and other issuesAccording to the proposed design indicators and design program,the mechanical structure of the robot is analyzed,and the climbing force and adhesion force required for the operation of the cable are determined.The required clamping motor,electric push rod,electromagnetic brake and electromagnet selection basis are given.Three-dimensional modeling of the robot is carried out by using SolidWorks 3D modeling software,the rationality of each component design is finally determined.On the basis of determining the rationality and feasibility of the overall structure,complete the drawings design of a full set of mechanical parts,customize the required accessories,complete the processing parts of the components.Complete the assembly and commissioning of the robot prototype.According to the special environment of this robot operation,The design of the touch screen for the man-machine interaction interface,PLC for the control core,PT2264/2272 for the wireless transmitter/receiver module,relay circuit for the action of the drive module wireless remote control systen.With the distance of 400m,the robots can be controlled steadily by remote control.In this paper,the design of the cable detection robot has been completed prototype development.Laboratory test and on-site test on Pumiao Bridge in Nanning City results show that the design is successful,the development of the prototype has reached the design requirements and performance requirements,and achieved satisfactory results.Techno logy related to this design has applied for six national patents of witch:three invention patents have been announced,three utility models have been authorized.