CN206784174U - More rotor drag-lines detect robot - Google Patents
More rotor drag-lines detect robot Download PDFInfo
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- CN206784174U CN206784174U CN201720555641.2U CN201720555641U CN206784174U CN 206784174 U CN206784174 U CN 206784174U CN 201720555641 U CN201720555641 U CN 201720555641U CN 206784174 U CN206784174 U CN 206784174U
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Abstract
A kind of more rotor drag-line detection robots, including fuselage ring, battery pack, detection robot dynamical system, control unit, anti-drop device, anticollision device, collision-prevention device, testing agency and wireless data transmission unit；It is rotor power system component more than four groups to detect robot dynamical system；Anti-drop device includes four anti-drop device components, and every group of anti-drop device component includes guide roller and connected swing arm support bar, and guide roller includes roller body and the edge of a wing being connected with its both ends arc, and one of guide roller side is connected with encoder；Fuselage ring includes the square rack structure being made up of four pieces of link arm connections and four fuselage connecting rods；Anticollision device, collision-prevention device includes upper anticollision device, collision-prevention device, side anticollision device, collision-prevention device；Testing agency includes being separately mounted to four microcams and four leakage field sensors in the middle part of four fuselage small ends；More rotor drag-line detection robots carry detection sensing equipment using more rotor power systems, and endurance is good, and detection efficiency is high, has a safety feature.
Description
Technical field
A kind of drag-line detection means is the utility model is related to, particularly a kind of more rotor drag-lines detect robot and its are used for
The corrosion of drag-line fracture of wire and its drag-line detection means of PE outward appearances detection.
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；The working condition of drag-line is whether bridge is in safe shape
One of important symbol of state.Because drag-line is chronically exposed in air, through wind and weather, ultraviolet irradiation, artificial damage etc. because
Element influences, it may appear that and the PE protective layers hardening on surface and breakoff phenomenon, then cause inner wire beam or steel strand wires to be corroded,
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, fracture of wire phenomenon can also occur for severe patient；It is regularly very necessary to carrying out detection inside and outside guy system.
The drag-line detection of early stage is mainly ocular estimate, but testing staff is sent into high-altitude using equipment, and efficiency is low, cost
Danger that is high, falling from high altitude being present, and the method for high-resolution telescope is used because detection efficiency is low, precision is poor, can only
As supplementary means；In recent years, the drag-line detection robot that detection brainstrust works out, is carried using cable climbing class robot and imaged
Head is monitored to Damages in Stay Cables, while completes the tasks such as application, fracture of wire detection, but it is all using mechanism clamping cable or magnetic
Power absorption cable provides compression, and the mode that motor driven wheel is creeped, detection efficiency is low, and endurance is poor, or even occurs
Embrace the dead unsafe condition of cable clamp in high-altitude.
To solve the above problems, present utility model application people once applied for that one kind is in light weight, boat ability is good in 2016, can use
In bridge cable PE outward appearances, the detection of internal fracture of wire rust detection, Cable power《Light-duty carbon fiber cable climbing with detecting system
Robot and its method for drag-line detection》Utility model patent,（Patent announcement number is CN106284070A）Although have
In light weight, endurance is good, can prevent wheel body from deviateing the advantages that cable body causes deadlock phenomenon, but still have the following disadvantages：
Because using creeping-type, its detection efficiency is high not enough, secondly, strained at using roller clip by the way of rope creeps, if clamping force mistake
It is big to be damaged it is also possible to cut or extruding etc. be produced in itself to drag-line PE.
The content of the invention
The purpose of this utility model is that providing more rotor drag-lines detects robots, and more rotor drag-lines detection robots are adopted
Detection sensing equipment is carried with more rotor power systems, endurance is good, and detection efficiency is high, and security performance is high.
The technical scheme to solve the above problems is：A kind of more rotor drag-line detection robots, including fuselage ring, battery
Group, detection robot dynamical system, control unit, anti-drop device, testing agency and wireless data transmission unit, the detection machine
Device people's dynamical system is more rotor power system components, and more rotor power system components have four groups, rotor power system more than every group
Component of uniting includes a motor and its power rotor and electric operation dispatching system of connection, the rotor power system component more than four groups
Four motors are fixed in the middle part of four fuselage connecting rod lower ends, and four power rotors are arranged on four electric machine stands,
Control unit drives power rotor wing rotation by controlling electric operation dispatching system controlled motor to rotate, and power is provided for robot flight；
Described anti-drop device includes four anti-drop device components, every group of anti-drop device component include guide roller and and its
The swing arm support bar of connection, the guide roller include roller body and the edge of a wing that be connected with its both ends, roller body and its two
The cambered surface connected between the edge of a wing of connection for arc-shaped transition is held, described one of guide roller side is connected with encoder,
Feedback of the encoder as control system, for positioning robot's flight position information；
During use, under control unit control, when the lift that more rotor powers provide is more than robot self gravitation
When, robot rises along drag-line all the time；When the lift that more rotor powers provide is less than robot self gravitation, robot begins
Decline eventually along drag-line；When the lift that more rotor powers provide is equal to robot self gravitation, robot hovering.
The further technical scheme of the more rotor drag-lines detection robot is：Described control unit include host computer and
Slave computer, the host computer are earth station and the hand-held remote controller for being provided with main control computer, and slave computer is mounted in fuselage ring
On execution control module, host computer and slave computer carry out data by wireless data transmission unit and connected.
The further technical scheme of the more rotor drag-lines detection robot is：The fuselage ring includes square rack
Structure and four fuselage connecting rods, the square rack structure are made up of four pieces of link arm connections, and fuselage ring diameter can basis
Diameter of movement regulation to be checked, four fuselage connecting rods are respectively fixedly connected with the outside of four pieces of link arm middle-ends.
The further technical scheme of the more rotor drag-lines detection robot is：It also includes an anticollision device, collision-prevention device, should
Anticollision device, collision-prevention device includes upper anticollision device, collision-prevention device, side anticollision device, collision-prevention device, undercarriage, and the upper anticollision device, collision-prevention device includes trapezoidal bumper frame and anticollision is visited
Unit is surveyed, the side anticollision device, collision-prevention device includes Propeller Guard and anticollision probe unit.
Described testing agency includes four microcams and four leakage field sensors, and four microcams are pacified respectively
Mounted in the upper center of four fuselage connecting rods；Four leakage field sensors are symmetrically arranged in four pieces of link arms, more rotor drag-line inspections
Survey robot 360 ° of four direction in flight course and obtain the complete image information and heat transfer agent of structural member to be checked, and lead to
Cross wireless data transmission unit and be transferred to control unit.
More rotor drag-lines detect robot and further technical scheme：The square branch of the fuselage ring
The link arm of frame structure is using made of carbon fiber or aluminium alloy or high-strength low heavy metal material.
Due to having the characteristics that and having using as many as above-mentioned technical proposal, the utility model rotor drag-line detection robot
Beneficial effect：
1st, detection efficiency is high：
The dynamical system of more rotor drag-line detection robots is more rotor power system components, more rotor power systems
Component has four groups, and rotor power system component more than every group includes a motor and its power rotor and electric operation dispatching system of connection,
Four motors of the rotor power system component more than four groups are fixed in the middle part of four fuselage connecting rod lower ends, and described four dynamic
Power rotor is arranged on four electric machine stands, and control unit drives power rotor to revolve by controlling electric operation dispatching system controlled motor to rotate
Turn, power is provided for robot flight；
Described testing agency includes four microcams and four leakage field sensors, and four microcams are pacified respectively
Mounted in the upper center of four fuselage connecting rods, four leakage field sensors are symmetrically arranged in four pieces of link arms；More rotor drag-line inspections
Robot is surveyed in flight course in 360 ° of complete image informations and heat transfer agent for obtaining structural member to be checked of four direction, and
Control unit is transferred to by wireless data transmission unit；Compared to traditional cable-climbing robot, drag-line detection effect is greatly improved
Rate.
2nd, detection security is good, reliability is high：
The more rotor drag-line detection robots of the utility model also include anti-drop device and anticollision device, collision-prevention device, described anti-fall dress
Put includes guide roller and connected swing arm support bar, institute including four anti-drop device components, every group of anti-drop device component
Stating guide roller includes roller body and the edge of a wing being connected with its both ends, is arc between roller body and the edge of a wing of its both ends connection
The cambered surface of shape transition connection, described one of guide roller side are connected with encoder, and the encoder is as control
The feedback of system, for positioning robot's flight position information；Its guide roller served guiding with it is anti-fall, substantially increase more
Rotor drag-line detects safety and reliability of the robot in drag-line detection process；
Secondly, the anticollision device, collision-prevention device of the utility model includes upper anticollision device, collision-prevention device, side anticollision device, collision-prevention device, undercarriage, the upper anticollision
Device includes trapezoidal bumper frame and anticollision probe unit, and the side anticollision device, collision-prevention device includes Propeller Guard and anticollision probe unit；
Protective effect is served in each orientation, more rotor drag-lines detection robots is further increased and flies in drag-line detection process
Capable safety and reliability.
3rd, fuselage uses carbon fibre reinforcement, lighter；Fuselage ring uses connecting mode, convenient dismounting.
Below, in conjunction with the accompanying drawings and embodiments to as many as the utility model rotor drag-line detect robot technical characteristic make into
The explanation of one step.
Brief description of the drawings
Fig. 1 is as many as the utility model embodiment one rotor drag-line detection robot overall structure block diagram；
Fig. 2 is as many as the utility model embodiment one rotor drag-line detection robot structural representation（Stereogram）；
Fig. 3 is the guide roller structural representation of more rotor drag-line detection machine people's air defense dropping control devices；
Fig. 4 is that as many as the utility model embodiment one rotor drag-line detection robot is used to realize drag-line described in embodiment two
The use state diagram of detection；
Fig. 5 is that as many as the utility model embodiment one rotor drag-line detection robot is used to realize detection described in embodiment three
The method use state diagram of drag-line corrosion fracture of wire.
In figure：
1- fuselage rings, 11- link arms, 12- fuselage connecting rods；
2- battery packs；The more rotor power systems of 3-, 31- rotors, 32- motors, 33- electric operation dispatching systems；
4- control units, 41- earth stations, 42- hand-held remote controllers, 43- perform control module；
5- anti-drop devices, 51- guide rollers, 511- roller bodies, the 512- edges of a wing, 513-（Connect roller body and both ends
The edge of a wing）Cambered surface, 514- encoders, 52- swing arm support bars；
6- anticollision device, collision-prevention devices, the upper anticollision device, collision-prevention devices of 61-, 62- sides anticollision device, collision-prevention device, 63- undercarriages；
7- testing agencies, 71- microcams, 72- leakage field sensors；
8- wireless data transmission units, 9- drag-lines.
Embodiment
Embodiment one：A kind of more rotor drag-line detection robots
As shown in figure 1, a kind of drag-line detection robot of more rotor powers, including fuselage ring 1, battery pack 2, detection machine
Device people dynamical system, control unit 4, anti-drop device 5, anticollision device, collision-prevention device 6, testing agency 7 and wireless data transmission unit 8；
As shown in Fig. 2 the fuselage ring 1 includes square rack structure and four fuselage connecting rods 12, the square
Supporting structure is made up of the connection of link arm 11 of four pieces of certain materials, and the certain material is carbon fiber, and four fuselages connect
Bar 12 is respectively fixedly connected with the outside of four pieces of middle-ends of link arm 11, and battery pack 2 is arranged on the second fuselage small end close to fuselage
At framework, control unit 4, more rotor power systems 3, anti-drop device 5 are connected to by wire；
Detection robot dynamical system is more components of rotor power system 3, and more components of rotor power system 3 have four
Group, rotor power system component more than every group include a motor 32 and its power rotor 31 and electric operation dispatching system 33 of connection, control
Unit 4 processed drives power rotor 31 to rotate by controlling the controlled motor 32 of electric operation dispatching system 33 to rotate, and is carried for robot rise and fall
For power；
Described control unit 4 includes host computer and slave computer, and the host computer includes earth station 41 and hand-held remote controller
42, slave computer is mounted in the execution control module 43 on fuselage ring, and host computer and slave computer pass through wireless data transmission list
Member carries out data connection；
The anti-drop device 5 includes four groups of anti-drop device components, every group of anti-drop device component include guide roller 51 and with
Its swing arm support bar 52 connected, the guide roller include roller body 511 and the edge of a wing 512 being connected with its both ends, roller
It is the cambered surface 513 of arc-shaped transition connection between the edge of a wing of body and the connection of its both ends,（Referring to Fig. 3）, one of them described lead
Way roller side is connected with encoder 514, and feedback of the encoder as control system can be with positioning robot's flight position
Information, the swing arm support bar 52 are controlled by control unit, ensure guide roller and rope when robot rises or normally declines
Frictional force between body is guiding force；When robot causes power rotor not rotate due to reasons such as failure, electric power deficiencies,
Remain that each guide roller 51 clamps cable body and forms the frictional force needed for being glided along cable body.
The anticollision device, collision-prevention device 6 includes upper anticollision device, collision-prevention device 61, side anticollision device, collision-prevention device 62, undercarriage 63, the upper anticollision device, collision-prevention device 61
Including trapezoidal bumper frame and anticollision probe unit, the side anticollision device, collision-prevention device 62 includes Propeller Guard and anticollision probe unit.
Described testing agency 7 includes four microcams 71 and four leakage field sensors 72, four microcams
71 are separately mounted to the upper center of four fuselage connecting rods；Four leakage field sensors 72 are symmetrically arranged in four pieces of link arms, more
Rotor drag-line detects robot 360 ° of complete image informations and biography for obtaining structural member to be checked of four direction in flight course
Feel information, facilitate testing staff's Real Time Observation to make anticipation to flight directive；And control is transferred to by wireless data transmission unit 8
Unit processed.
As one kind conversion of the utility model embodiment, the link arm 11 of the square rack structure of the fuselage ring
Aluminium alloy or other high-strength low heavy metal materials can also be used to be made.
In the utility model embodiment, described control unit 4, the concrete structure of wireless data transmission unit 8 and work
Process, operation principle are all that those skilled in the art can realize that here is omitted using prior art.
Embodiment two
A kind of method of drag-line detection, it is to be used to detect by more rotor drag-lines detection robot described in embodiment one to draw
The method of rope, using more rotor power systems, realize that quick detection and fixed point detect, its step includes：
A, mounting robot：Robot of the present utility model is arranged on drag-line bottom, open detection is soft in earth station
Part system, identify and wireless network is set, control roller and contact structure to be checked, robot flying speed is set, held distant
Control device manually boots flight（Referring to Fig. 4）；
B, fast inspection：Robot fast inspection, obtain parameter to be checked；
C, return：Robot row to arch rib or tower end, anticollision device, collision-prevention device automatic identification obstacle simultaneously triggers control unit control dynamic
Power rotor wing rotation speed, at the uniform velocity return, parameter to be checked is obtained again in return trip；
D：Fixed point detection：According to raising and lowering, detection information compares twice, and robot is flown to fixed point test position,
Control machine people is hovered, and is detected and is read parameter to be checked, return.
Embodiment three
A kind of drag-line detection method, it is to be used to detect drag-line by more rotor drag-lines detection robot described in embodiment one
The method of corrosion fracture of wire, fixed point detection is carried out using more rotor power systems, its step includes：
A, mounting robot：Robot of the present utility model is arranged on drag-line bottom, four leakage field sensors 72 are symmetrical
It is installed in four pieces of link arms, removes microcam, mitigates machine weight itself, to improve flying speed and detection efficiency,
The open detection software systems in earth station, identify and wireless network is set, control roller and contact structure to be checked, machine is set
Device people's flying speed, hand-held remote controller manually boot flight（Referring to Fig. 5）；
B, fast inspection：Robot fast inspection, obtain parameter to be checked；
C, return：Robot row to arch rib or tower end, anticollision device, collision-prevention device automatic identification obstacle simultaneously triggers control unit control dynamic
Power rotor wing rotation speed, at the uniform velocity return, parameter to be checked is obtained again in return trip；
D：Fixed point detection：According to raising and lowering, detection information, specialty detection engineer judge to need emphasis to detect twice
With the position of check, the position that control machine people moves to emphasis detection again and needs are checked, fixed point test position is carried out, is read
Take the heat transfer agent of leakage field sensor, return.
Claims (6)
1. a kind of more rotor drag-line detection robots, including fuselage ring（1）, battery pack（2）, detection robot dynamical system,
Control unit（4）, anti-drop device（5）, testing agency（7）And wireless data transmission unit（8）, it is characterised in that：
Detection robot dynamical system is more rotor power systems（3）Component, more rotor power systems（3）Component has four
Group, rotor power system more than every group（3）Component includes a motor（32）And its power rotor of connection（31）Adjusted with electricity and be
System（33）, the rotor power system more than four groups（3）Four motors of component（32）It is fixed on four fuselage connecting rods（12）
In the middle part of lower end, four power rotors（31）On four electric machine stands, control unit is by controlling electric operation dispatching system control
Motor processed, which rotates, drives power rotor wing rotation, and power is provided for robot flight；
Described anti-drop device（5）Including four anti-drop device components, every group of anti-drop device component includes guide roller（51）With
Connected swing arm support bar（52）, the guide roller includes roller body（511）And the edge of a wing being connected with its both ends
（512）, it is the cambered surface of arc-shaped transition connection between roller body and the edge of a wing of its both ends connection（513）, one of them described
Guide roller side is connected with encoder（514）, feedback of the encoder as control system, flown for positioning robot
Positional information；
During use, under control unit control, when the lift that more rotor powers provide is more than robot self gravitation, machine
Device people rises along drag-line all the time；When the lift that more rotor powers provide is less than robot self gravitation, robot edge all the time
Drag-line decline；When the lift that more rotor powers provide is equal to robot self gravitation, robot hovering.
2. more rotor drag-line detection robots according to claim 1, it is characterised in that：Described control unit includes upper
Position machine and slave computer, the host computer are the earth station for being provided with main control computer（41）And hand-held remote controller（42）, slave computer is
Execution control module on fuselage ring（43）, host computer and slave computer carry out data by wireless data transmission unit
Connection.
3. more rotor drag-line detection robots according to claim 1 or 2, it is characterised in that：The fuselage ring（1）Bag
Square rack structure and four fuselage connecting rods are included, the square rack structure is by four pieces of link arms（11）Connection composition, machine
Body form diameter can be adjusted according to diameter of movement to be checked, four fuselage connecting rods（12）It is respectively fixedly connected with four pieces of link arms
On the outside of middle-end.
4. more rotor drag-line detection robots according to claim 3, it is characterised in that：It also includes an anticollision device, collision-prevention device
（6）, the anticollision device, collision-prevention device（6）Including upper anticollision device, collision-prevention device（61）, side anticollision device, collision-prevention device（62）, undercarriage（63）, the upper anticollision device, collision-prevention device
（61）Including trapezoidal bumper frame and anticollision probe unit, the side anticollision device, collision-prevention device（62）It is single including Propeller Guard and anticollision detection
Member.
5. more rotor drag-line detection robots according to claim 4, it is characterised in that：Described testing agency（7）Bag
Include four microcams（71）With four leakage field sensors（72）, four microcams are separately mounted to four fuselage connecting rods
Upper center, four leakage field sensors（72）It is symmetrically arranged in four pieces of link arms, more rotor drag-line detection robots are flying
360 ° of four direction obtains the complete image information and heat transfer agent of structural member to be checked during row, and is passed by wireless data
Defeated unit is transferred to control unit.
6. more rotor drag-line detection robots according to claim 3, it is characterised in that：The square of the fuselage ring
The link arm of supporting structure（11）It is using made of carbon fiber or aluminium alloy or high-strength low heavy metal material.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720555641.2U CN206784174U (en) | 2017-05-18 | 2017-05-18 | More rotor drag-lines detect robot |
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|---|---|---|---|
| CN201720555641.2U CN206784174U (en) | 2017-05-18 | 2017-05-18 | More rotor drag-lines detect robot |
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| CN206784174U true CN206784174U (en) | 2017-12-22 |
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ID=60712279
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107059611A (en) * | 2017-05-18 | 2017-08-18 | 柳州欧维姆机械股份有限公司 | Many rotor drag-line detection robots and its method detected for drag-line |
| JP2021031933A (en) * | 2019-08-22 | 2021-03-01 | 株式会社ブリッジ・エンジニアリング | Maintenance method of net-like structure and maintenance device of net-like structure |
-
2017
- 2017-05-18 CN CN201720555641.2U patent/CN206784174U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107059611A (en) * | 2017-05-18 | 2017-08-18 | 柳州欧维姆机械股份有限公司 | Many rotor drag-line detection robots and its method detected for drag-line |
| JP2021031933A (en) * | 2019-08-22 | 2021-03-01 | 株式会社ブリッジ・エンジニアリング | Maintenance method of net-like structure and maintenance device of net-like structure |
| JP7323380B2 (en) | 2019-08-22 | 2023-08-08 | 本四高速道路ブリッジエンジ株式会社 | Net-like structure maintenance method and net-like structure maintenance device |
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