CN206157570U - Take detecting system's light -duty carbon fiber to climb all alone robot - Google Patents
Take detecting system's light -duty carbon fiber to climb all alone robot Download PDFInfo
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- CN206157570U CN206157570U CN201621146735.6U CN201621146735U CN206157570U CN 206157570 U CN206157570 U CN 206157570U CN 201621146735 U CN201621146735 U CN 201621146735U CN 206157570 U CN206157570 U CN 206157570U
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Abstract
The utility model provides a take detecting system's light -duty carbon fiber to climb all alone robot, is including crawl mechanism, the control unit, driving system, video acquisition unit, radio data transmission means and detection mechanism, it includes by four couples of attachment arm and two light -duty carbon fiber frames of two -half structure that the carbon fiber mounting panel is formed to creep the mechanism, a pair of action wheel and a pair of from the driving wheel, and action wheel and adopt the bilateral 4 round tight two motor drive forms of pressing from both sides from the driving wheel links through four couples of attachment arm, the control unit includes the host computer, detection mechanism is including no linear acceleration transducer, distance survey unit, this no linear acceleration transducer installs on light -duty carbon fiber frame, can creep the in -process and stop in the optional position of cable and measure cable suo li climbing all alone robot to transmit the host computer to through radio data transmission means. Should climb the all alone suo li of robot and detect the accuracy height, and adopt the preparation of the light -duty material of carbon fiber, light in weight, duration is good, the convenience is loaded and unloaded on the cable, is creeped safe and reliable.
Description
Technical field
This utility model is related to a kind of drag-line detection means, particularly a kind of light-duty carbon fiber cable climbing machine with detecting system
Device people.
Background technology
Drag-line is one of core component of the rope class bridge such as arch bridge, cable-stayed bridge, suspension bridge, as primary structure member, its stress
Situation plays extremely important effect to the integrally-built safety of bridge；Whether the working condition of drag-line is bridge in safe shape
One of important symbol of state.Because drag-line is chronically exposed in air, Jing wind and weathers, ultraviolet irradiation, it is artificial damage etc. because
Element affects, it may appear that the PE protective layers hardening on surface and breakoff phenomenon, causes inner wire beam or steel strand wires to be corroded then,
Even there is fracture of wire phenomenon in severe patient；On the other hand, because wind shake, rain such as shake at the reason, the steel tendon inside drag-line produces friction,
Cause steel wire wear, severe patient that fracture of wire phenomenon also can occur；It is regularly very necessary to carrying out detection inside and outside guy system.
Drag-line detection method general at present is artificial detection method；Drag tool car or ladder truck using hoist engine
Mode carries out manual detection to drag-line, and the weak point of the method is：Drag-line protective layer can be damaged, and at testing staff
In work high above the ground, security incident is easily caused；With the progress of roboticses, the machine of bridge cable detection is developed for
People, becomes certainty；The colleges and universities such as Shanghai Communications University, Southeast China University in recent years become rusty to cable-climbing robot in application, fracture of wire
Erosion context of detection researched and developed, the applicant also have been proposed that 3 with regard to cable-climbing robot patent
（CN200910302899.1、CN200920302141.3、CN200920302128.8）, but it adopts metal material and is set
Meter, deadweight is very big, and endurance is poor.
In terms of drag-line cable force measurement, because condition is limited, conventional usual way is that vibration pickup is fixed on into drag-line
End position, but the end position radio-frequency component of drag-line accounts for leading, and test signal low order frequency is not projected and higher order resonances peak value
It is very big, it is unfavorable for the identification of low order frequency；And the ideal installation site of vibration pickup should be at the L/4 of drag-line, because this
It is inflection point that vibration pickup avoids the strong point and low order mode, the corresponding amplitude of each order frequency is all obvious；Therefore, it is existing
The end position that vibration pickup is fixed on drag-line carry out Cable power detection method accuracy it is poor.
The content of the invention
The purpose of this utility model is to provide a kind of light-duty carbon fiber cable-climbing robot with detecting system, the cable climbing machine
Device people made using the light-duty material of carbon fiber, lightweight, and endurance is good, can be used for bridge cable PE outward appearances, internal fracture of wire rust
Erosion detection, the detection of Cable power, to solve the problems, such as prior art.
The technical scheme for solving the above problems is：A kind of light-duty carbon fiber cable-climbing robot with detecting system, including climbing
Row mechanism, control unit, dynamical system, video acquisition unit, wireless data transmission unit and testing agency, it is characterised in that：
The climbing mechanism includes the light-duty carbon fiber framework of two halves formula, a pair of drivewheels and a pair of driven, the light-duty carbon of the two halves formula
Fiber frame is made up of four pairs of link arms and two pieces of carbon fiber installing plates, and a pair of drivewheels and a pair of driven adopt bilateral clamping
4 wheel Dual-motors Driving forms, using the light-duty carbon fiber frame structure of two halves formula, are coupled by four pairs of link arms；
Described control unit includes host computer；
The testing agency includes Wireless Acceleration Sensor, range cells；The Wireless Acceleration Sensor is arranged on light
On type carbon fiber framework, can stop in the optional position of drag-line in cable-climbing robot crawling process and measure Cable power,
And host computer is transferred to by wireless data transmission unit.
The further technical scheme of the described light-duty carbon fiber cable-climbing robot with detecting system is：The climbing mechanism
The light-duty carbon fiber frame structure of two halves formula, coupled by four pairs of link arms；Simultaneously with extension spring and swing arm support group
Into Compliant pressure mechanism, remain that each pair roller clamps cable body and forms necessary friction force of creeping, driven wheel is designed as " U "
Shape；Cable-climbing robot upper/lower terminal face surrounding has four pairs of support universal rolling wheels.
The further technical scheme of the described light-duty carbon fiber cable-climbing robot with detecting system is：The light-duty carbon
Fiber frame front end is provided with anticollision probe unit, cable-climbing robot climbs on cable body, decline during by infrared letter
Number automatically object distance before and after detection, is being arranged in early warning range, and by control unit stopping is automatically controlled, and makes cable-climbing robot not
With the collision of drag-line two ends object.
Leakage method rust detection unit is installed on the light-duty carbon fiber framework；Can be in cable-climbing robot crawling process
Middle detection drag-line corrosion signal, and transmitted to host computer by wireless data transmission unit.
Due to taking said structure, the light-duty carbon fiber cable-climbing robot with detecting system of this utility model has following
Beneficial effect：
First, it is rational in infrastructure, it is convenient to load and unload on drag-line, creeping, can prevent wheel body from deviateing cable body and cause deadlock phenomenon：
The light-duty carbon fiber cable-climbing robot with detecting system of utility model includes a pair of drivewheels and a pair of driven,
Dual-motors Driving form is taken turns using bilateral clamping 4, using the light-duty carbon fiber frame structure of two halves formula, is carried out by four pairs of link arms
Connection, not only facilitates and is loaded and unloaded on drag-line, but also can be adjusted according to drag-line different-diameter；With extension spring and swing arm
Support composition Compliant pressure mechanism, remains that each pair roller clamps cable body and forms necessary friction force of creeping, and driven wheel is designed as
" u "-shaped, it is possible to increase contact surface, voluntarily centering rectification.Cable-climbing robot upper/lower terminal face surrounding has four pairs and supports universal rolling
Wheel, can prevent wheel body from deviateing cable body and cause deadlock phenomenon.
2nd, Suo Li detection functions are increased, the accuracy of Suo Li detections is improved：
Drag-line detecting instrument is installed or is equipped on by the light-duty carbon fiber cable-climbing robot with detecting system of utility model
On cable-climbing robot, i.e., Cable tension detection mechanism-Wireless Acceleration Sensor 7, range finding are installed in light-duty carbon fiber framework
Unit 5, can stop in the optional position of drag-line in cable-climbing robot crawling process and measure Cable power, and by wireless
Data transmission unit is transferred to host computer；Leakage method rust detection unit is installed on light-duty carbon fiber framework；Can climb
Drag-line corrosion signal is detected during rope robot crawling, and is transmitted to host computer by wireless data transmission unit 9；By behaviour
Making control unit coordinates each subsystem to realize bridge cable PE outward appearances, internal fracture of wire rust detection and drag-line cable force measurement, carries
The high accuracy of Suo Li detections, upper computer software system realizes PE non-destructive tests, and can automatically calculate damaged area；In inspection
One wireless network of construction on site is surveyed, different terminals can be passed through（PC, mobile phone, pad etc.）Realize that drag-line is quickly tested and analyzed.
3rd, it is safe and reliable：
The light-duty carbon fiber cable-climbing robot with detecting system of utility model is provided with light-duty carbon fiber frame front end
Anticollision probe unit, cable-climbing robot climbs on cable body, decline during by object before and after infrared signal automatically detection
Distance, in the front end of robot and afterbody infrared distance measurement device is mounted on, and prevents robot from clashing into drag-line two ends in operation
Pre-buried conduit and damage.
4th, it is lightweight, can be greatly improved its endurance, improve engineering practicability.
The light-duty carbon fiber frame structure of two halves formula of the light-duty carbon fiber cable-climbing robot with detecting system of utility model
Robot deadweight is greatly reduced, its endurance can be greatly improved；By the use of high power lithium battery as power supply, improve
The endurance of robot, substantially increases engineering practicability.
5th, the light-duty carbon fiber cable-climbing robot is simple and convenient for the method for drag-line detection：
When the light-duty carbon fiber cable-climbing robot is used to measure Cable power, according to the size of tested drag-line diameter come phase
The adjustment link arm answered and the distance of extension spring, to provide required frictional force of creeping is adapted to, and cable-climbing robot can be according to behaviour
The speed of the instruction and setting of making personnel is run on drag-line, can automatically return when stay wire end is reached；And can also
Control free mobile by ground on drag-line and reach the position to be observed of testing staff, to carry out local more refinement
The observation of cause and cable force measurement；Using the omnibearing HD video figure of video acquisition unit collection drag-line outside PE protective layers
Picture, drag-line inside fracture of wire rust detection is synchronously carried out with leakage method drag-line rust detection list, and accurate using high resolution encoder
True positioning drag-line defective locations, and wirelessly transmit to bridge floor host computer.By upper computer software system, know automatically
Do not go out PE damaged areas, fracture of wire corrosion state and disease position.
With reference to the accompanying drawings and examples to the light-duty carbon fiber cable-climbing robot with detecting system of this utility model
Technical characteristic is described further.
Description of the drawings
Fig. 1-1～Fig. 1-2 is one of light-duty carbon fiber cable-climbing robot overall structure diagram with detecting system；
Fig. 2-1～Fig. 2-2 is the climbing mechanism structural representation of the light-duty carbon fiber cable-climbing robot with detecting system；
Fig. 3 is that the light frame structure of the climbing mechanism of the light-duty carbon fiber cable-climbing robot with detecting system is illustrated
Figure；
Fig. 4-1～Fig. 4-2 is two of the light-duty carbon fiber cable-climbing robot overall structure diagram with detecting system.
In figure：
The light-duty carbon fiber framework of 11- two halves formulas, 111- link arms, 112- carbon fiber installing plates, 12- drivewheels, 13- is driven
Wheel, 14- extension springs, 15- motors, 16- electrokinetic cells, 17- swing arms, 18- universal rolling wheels；
2- control units, 3- dynamical systems, 4- anticollision probe units, 5- range cells, 6- video acquisition units, 61-
Photographic head, 7- Wireless Acceleration Sensors, 8- leakage method rust detection units, 9- wireless data transmission units, 10- host computers；
A- cable bodies.
Specific embodiment
A kind of light-duty carbon fiber cable-climbing robot with detecting system
As shown in Fig. 1-1～Fig. 1-2, the light-duty carbon fiber cable-climbing robot with detecting system include climbing mechanism,
Control unit 2, dynamical system, video acquisition unit 6, wireless data transmission unit 9 and testing agency；
As shown in Fig. 2-1～Fig. 2-2, the climbing mechanism includes the light-duty carbon fiber framework 11 of two halves formula, a pair of drivewheels
12 and a pair of driven 13, the light-duty carbon fiber framework 11 of the two halves formula is by four pairs of link arms 111 and two pieces of carbon fiber installing plates
112 compositions, are provided with installation window on carbon fiber installing plate（Referring to Fig. 3）；A pair of drivewheels and a pair of driven adopt bilateral folder
Tight 4 wheel Dual-motors Driving form, using the light-duty structure of carbon fiber framework 11 of two halves formula, is coupled by four pairs of link arms 111；
Not only facilitate and loaded and unloaded on drag-line, but also can be adjusted according to drag-line different-diameter；Simultaneously with extension spring 14 and swing arm
17 support composition Compliant pressure mechanism, remain that each pair roller clamps cable body A and forms necessary friction force of creeping, driven wheel
It is designed as " u "-shaped, it is possible to increase contact surface, voluntarily centering rectification；Cable-climbing robot upper/lower terminal face surrounding has four pairs and supports ten thousand
Way roller, can prevent wheel body from deviateing cable body and cause deadlock phenomenon；
Described control unit includes host computer 10；
The testing agency includes Wireless Acceleration Sensor 7, range cells 5；The Wireless Acceleration Sensor 7 is arranged on
On light-duty carbon fiber framework 11, cable-climbing robot can stop in crawling process according to detection needs, in the optional position of drag-line
Get off to measure Cable power, and host computer 10 is transferred to by wireless data transmission unit 9.
The light-duty front end of carbon fiber framework 11 is provided with anticollision probe unit 4, cable-climbing robot climbs on cable body,
By object distance before and after infrared signal automatically detection during decline, arranging in early warning range, controlled automatically by control unit 2
Stop is stopped, and cable-climbing robot is not collided with drag-line two ends object.
Leakage method rust detection unit 8 is installed on the light-duty carbon fiber framework 11；Can creep in cable-climbing robot
During detect drag-line corrosion signal, and transmitted to host computer 10 by wireless data transmission unit 9.
When the light-duty carbon fiber cable-climbing robot is used to measure Cable power, according to the size of tested drag-line diameter come phase
The adjustment link arm answered and the distance of extension spring, to provide required frictional force of creeping is adapted to, and cable-climbing robot can be according to behaviour
The speed of the instruction and setting of making personnel is run on drag-line, can automatically return when stay wire end is reached；And can also
Control free mobile by ground on drag-line and reach the position to be observed of testing staff, to carry out local more refinement
The observation of cause and cable force measurement；Using the omnibearing HD video figure of video acquisition unit collection drag-line outside PE protective layers
Picture, drag-line inside fracture of wire rust detection is synchronously carried out with leakage method drag-line rust detection list, and accurate using high resolution encoder
True positioning drag-line defective locations, and wirelessly transmit to bridge floor host computer, by upper computer software system, know automatically
Do not go out PE damaged areas, fracture of wire corrosion state and disease position.
Claims (4)
1. a kind of light-duty carbon fiber cable-climbing robot with detecting system, including climbing mechanism, control unit（2）, dynamical system,
Video acquisition unit（6）, wireless data transmission unit（9）And testing agency, it is characterised in that：The climbing mechanism includes two halves
The light-duty carbon fiber framework (11) of formula, a pair of drivewheels（12）And a pair of driven（13）, the light-duty carbon fiber framework of the two halves formula
（11）By four pairs of link arms（111）With two pieces of carbon fiber installing plates（112）Composition, a pair of drivewheels and a pair of driven are using double
Side clamps 4 and takes turns Dual-motors Driving form, using the light-duty carbon fiber framework of two halves formula（11）Structure, by four pairs of link arms（111）
Coupled；
Described control unit includes host computer（10）；
The testing agency includes Wireless Acceleration Sensor（7）, range cells（5）；The Wireless Acceleration Sensor（7）Install
In light-duty carbon fiber framework（11）On, can stop to measure in the optional position of drag-line in cable-climbing robot crawling process and draw
Cable force, and host computer is transferred to by wireless data transmission unit（10）.
2. the light-duty carbon fiber cable-climbing robot with detecting system according to claim 1, it is characterised in that：It is described to creep
The light-duty carbon fiber framework of two halves formula of mechanism（11）Structure, by four pairs of link arms（111）Coupled；Use extension spring simultaneously
（14）And swing arm（17）Composition Compliant pressure mechanism is supported, remains that each pair roller clamps cable body（A）Formation rubs needed for creeping
Power is wiped, driven wheel is designed as " u "-shaped；Cable-climbing robot upper/lower terminal face surrounding has four pairs of support universal rolling wheels（18）.
3. the light-duty carbon fiber cable-climbing robot with detecting system according to claim 1, it is characterised in that：It is described light-duty
Carbon fiber framework（11）Front end is provided with anticollision probe unit（4）, cable-climbing robot climbs on cable body, decline during lead to
Object distance before and after infrared signal is detected automatically is crossed, is being arranged in early warning range, by control unit（2）Stopping is automatically controlled, is made
Cable-climbing robot is not collided with drag-line two ends object.
4. the light-duty carbon fiber cable-climbing robot with detecting system according to claim 1,2 or 3, it is characterised in that：Institute
State light-duty carbon fiber framework（11）On leakage method rust detection unit is installed（8）；Can be in cable-climbing robot crawling process
Detection drag-line corrosion signal, and by wireless data transmission unit（9）Transmit to host computer（10）.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621146735.6U CN206157570U (en) | 2016-10-21 | 2016-10-21 | Take detecting system's light -duty carbon fiber to climb all alone robot |
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|---|---|---|---|
| CN201621146735.6U CN206157570U (en) | 2016-10-21 | 2016-10-21 | Take detecting system's light -duty carbon fiber to climb all alone robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106284070A (en) * | 2016-10-21 | 2017-01-04 | 柳州欧维姆机械股份有限公司 | Light-duty carbon fiber cable-climbing robot with detecting system and the method for drag-line detection thereof |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN109736196A (en) * | 2019-01-31 | 2019-05-10 | 河南省交院工程检测科技有限公司 | A kind of bridge cable detection device |
| CN109763425A (en) * | 2019-01-31 | 2019-05-17 | 姜自奇 | A kind of bridge sling detection climbing mechanism |
| CN112761065A (en) * | 2020-12-29 | 2021-05-07 | 郑州市公路工程公司 | Bridge cable defect detection device with stable operation |
| CN112982154A (en) * | 2021-02-03 | 2021-06-18 | 中铁大桥局集团有限公司 | Stay cable detection robot |
| CN113186821A (en) * | 2021-05-21 | 2021-07-30 | 北京京衢科技有限责任公司 | Cable climbing robot |
| CN113585085A (en) * | 2021-08-11 | 2021-11-02 | 中铁大桥局集团有限公司 | Inhaul cable protective belt wrapping machine winding robot |
-
2016
- 2016-10-21 CN CN201621146735.6U patent/CN206157570U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106284070A (en) * | 2016-10-21 | 2017-01-04 | 柳州欧维姆机械股份有限公司 | Light-duty carbon fiber cable-climbing robot with detecting system and the method for drag-line detection thereof |
| CN106284070B (en) * | 2016-10-21 | 2018-05-25 | 柳州欧维姆机械股份有限公司 | Light-duty carbon fiber cable-climbing robot with detecting system and its method for drag-line detection |
| CN108086151A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of reducing clamping device |
| CN108086151B (en) * | 2017-12-21 | 2023-09-08 | 香港中文大学（深圳） | Reducing clamping device |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN109763425B (en) * | 2019-01-31 | 2020-09-25 | 东阳市琰安建筑工程有限公司 | Bridge sling detection crawling mechanism |
| CN109763425A (en) * | 2019-01-31 | 2019-05-17 | 姜自奇 | A kind of bridge sling detection climbing mechanism |
| CN109736196A (en) * | 2019-01-31 | 2019-05-10 | 河南省交院工程检测科技有限公司 | A kind of bridge cable detection device |
| CN112761065A (en) * | 2020-12-29 | 2021-05-07 | 郑州市公路工程公司 | Bridge cable defect detection device with stable operation |
| CN112761065B (en) * | 2020-12-29 | 2022-06-03 | 郑州市公路工程公司 | Bridge cable defect detection device with stable operation |
| CN112982154A (en) * | 2021-02-03 | 2021-06-18 | 中铁大桥局集团有限公司 | Stay cable detection robot |
| CN113186821A (en) * | 2021-05-21 | 2021-07-30 | 北京京衢科技有限责任公司 | Cable climbing robot |
| CN113585085A (en) * | 2021-08-11 | 2021-11-02 | 中铁大桥局集团有限公司 | Inhaul cable protective belt wrapping machine winding robot |
| CN113585085B (en) * | 2021-08-11 | 2023-08-29 | 中铁大桥局集团有限公司 | Cable protection belt winding robot |
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