Periodic inspection of bridge cables is essential, and cable-climbing robots can replace human workers to perform risky tasks and improve inspection efficiency. However, cable inspection robots often fail to surmount large obstacles and cable clamps. The purpose of this paper is to develop a practical cable inspection robot with stronger obstacle-surmounting performance and circumferential rotation capability.
A cable inspection robot with novel elastic suspension mechanisms and circumferential rotation mechanisms is designed and proposed in this study. The supporting force and spring deformation of the elastic suspension are investigated and calculated. Dynamic analysis of obstacle surmounting and circumferential rotation is performed. Experiments are conducted on vertical and inclined cables to test the obstacle-surmounting performance and cable-clamp passing of the robot. The practicality of the robot is then verified in field tests.
With its elastic suspension mechanisms, the cable inspection robot can carry a 12.4 kg payload and stably climb a vertical cable. The maximum heights of obstacles surmounted by the driving wheels and the passive wheels of the robot are 15 mm and 13 mm, respectively. Equipped with circumferential rotation mechanisms, the robot can flexibly rotate and successfully pass cable clamps.
The novel elastic suspension mechanism and circumferential rotation mechanism improve the performance of the cable inspection robot and solve the problem of surmounting obstacles and cable clamps. Application of the robot can promote the automation of bridge cable inspection.
