Design Of Robot Control And Detection Module For Cable Maintence

Cable-stayed bridge is widely used in modern bridge construction.Its spanning ability is strong and its appearance is beautiful,but as important components and mechanical parts,cables' exposure to the bad environment for a long time and nonstandard installation may cause surface sheath damage or internal steel corrosion,which endangers bridge safety.In this context,a robot for cable maintenance of cable-stayed bridge is proposed in this paper,combining with the latest technology of cable detection and repair.The cable maintenance robot designed in this paper can check the cable sheath worn surface and internal wire broken wires,cooperating with another student's repair structure,can repair the sheath damage to a certain extent,can improve the service life of the cable,reduce maintenance costs,improve automation cable maintenance.On the basis of reading a lot of cables maintenance,non-destructive testing related literature and previous research of the team,the design scheme of the cable maintenance robot is determined,and then the following are designed: the robot main structure;the base station;flaw detection structure;Rescuing structure.Based on STM32F103,the main controller of the robot is designed,and the repair process of the cable and the rescue process are made,and the robot control base station is designed.Based on 1.2G wireless communication technology,a cable surface visual inspection system is designed.The cable surface is captured by four cameras,which is stored in the memory card through the DVR device and transmitted to the ground base station via a remote wireless transmission device.Aiming at the defect of cable internal steel wire,the magnetic leakage flaw detection module is developed and the flaw detection mechanism is designed by using the detection method of leakage magnetic flaw detection,and then uses Ansoft Maxwell to model the steel leakage magnetic flaw.Then,through experiments and comparing the results of sliding average method and sliding mean variance method,it is found that the sliding mean variance method has higher recognition degree for the defect of cable steel wire.The prototype of cable maintenance robot is developed.The magnetic flux leakage test shows that the mechanism can detect the internal defects of cables.In conjunction with other students in the research group,the repair experiment was conducted to verify that the repair effect meets the design requirements.