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Circumferentially rotatable inspection robot with elastic suspensions for bridge cables

Jie Li (Department of Mechanical and Electronic Engineering, School of Mechanical Engineering, Southeast University, Nanjing, China)
Chenyang Yin (Department of Mechanical and Electronic Engineering, School of Mechanical Engineering, Southeast University, Nanjing, China)
Yunde Shi (Department of Mechanical and Electronic Engineering, School of Mechanical Engineering, Southeast University, Nanjing, China)
Suya Dai (Department of Mechanical and Electronic Engineering, School of Mechanical Engineering, Southeast University, Nanjing, China)
Xingsong Wang (Department of Mechanical and Electronic Engineering, School of Mechanical Engineering, Southeast University, Nanjing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 21 January 2022

Issue publication date: 30 June 2022

263

Abstract

Purpose

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.

Design/methodology/approa/ch

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.

Findings

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.

Originality/value

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.

Keywords

Acknowledgements

This work was supported by the Science and Technology Project of Quality and Technical Supervision Bureau of Jiangsu Province (KJ175933), the National Prevention Key Technology Project for Serious and Major Accidents in Work Safety of China (jiangsu-0002-2017AQ), National Natural Science Foundation of China (61903081) and Natural Science Foundation of Jiangsu Province (BK20170690).

Citation

Li, J., Yin, C., Shi, Y., Dai, S. and Wang, X. (2022), "Circumferentially rotatable inspection robot with elastic suspensions for bridge cables", Industrial Robot, Vol. 49 No. 5, pp. 981-993. https://doi.org/10.1108/IR-11-2021-0261

Publisher

:

Emerald Publishing Limited

Copyright © 2022, Emerald Publishing Limited

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