Research On Wheeled Cable Climbing Device For Cable-stayed Bridge

China is the country that owns the largest number of cable-stayed bridges.Cable stayed bridge as the main force components,due to long-term exposure in the air by the sun,rain,cable bridge across the sea is also vulnerable to air erosion.Cable-stayed bridges built early have reached the stage of overhaul.Therefore,in order to ensure the safety of cable-stayed bridges,the cables must be regularly tested,maintained and even replaced.At present,the testing and maintenance of the cables are usually carried out by manual methods,which not only have high working intensity,low efficiency,but also have poor safety.For this reason,there has been a real need for a cable climbing device for cable inspection and maintenance.At present,the main cable driving robot detection methods are wheeled,peristaltic,magnetic adsorption and so on.Wheeled climb can be continuous movement,fast,simple structure,easy control,but the carrying capacity is low,climb stability needs to be improved.The creep and adsorption climbing stability,load capacity,but the movement is not continuous,slow,complex structure,their own weight.In this paper,a new type of cable climbing device with novel structure,compactness,light weight,stable climbing and strong load capacity is designed according to the analysis of existing cable detection robots.This article focuses on the following aspects of work.(1)Combined with the structural characteristics of the existing climbing device and the defects of the wheel climbing device,the design indexes are proposed.The establishment of a wheeled cable climbing device through Solidworks,and a detailed description of the characteristics of the device.(2)According to the principle of the cable climbing device,the dynamic analysis of the cable climbing device is carried out to calculate the driving-attachment condition of the cable climbing device.The numerical analysis of the cable climbing device was carried out to determine the relevant parameters of the presenting mechanism and the driving system.(3)The model of the climbing device designed by Solidworks is imported into ADAMS to simulate the virtual prototype.The results show that the device can achieve a continuous smooth movement along the cable,and has a certain obstacle clearance ability to meet the needs of carrying equipment for aerial work.(4)The design of control system based on STM32 MCU is established.Hardware system consists of a microcontroller,motor drive module,speed module,serial communication module,power module.The main software system to complete the main program design,speed adjustment program design,climbing mode programming and serial communication program design.(5)Completed the development of the physical prototype,in the cable tilt angle of 30 ° ~ 90 ° case,the cable climbing device for a large number of indoor crawling test.The test results show that the cable climbing device developed in this project shows good performance in climbing ability,load capacity and obstacle clearance ability,and has basically achieved the desired design effect.Although the device appeared a slight winding around the phenomenon of rotation,but the wheel can still fit the surface of the cable stable operation.