CN101214412A - Spiral Cable Inspection Robot - Google Patents

Abstract

The invention discloses a helical cable detection robot, which is composed of a trolley symmetrically distributed along the cable and two upper and lower supporting and holding devices connected by connecting pieces, and is characterized in that a climbing device and a climbing device are arranged on the active trolley The magnetic adsorption device is provided with a holding device on the two supporting cross bars; the climbing device includes a lithium battery fixed on the trolley body and a DC motor fixed on one side of the driving wheel of the trolley body, and the DC motor Powered by a lithium battery, the driving wheel of the trolley is driven to rotate through the driving wheel shaft, driving the whole robot to spirally climb along the cable water guide; the clamping device and the magnetic adsorption device work together to press the driving wheel on the surface of the cable. The climbing device can rotate at any angle relative to the car body to adapt to water guides with different pitches. The lithium battery power supply is more suitable for high-altitude working environments. The robot is also equipped with a descending device, which is safer and more reliable. The invention has the advantages of simple and reasonable structure, convenient maintenance and high climbing speed, and can be applied to the detection work of spiral cables of large-scale cable-stayed bridges, and can also be used in the detection work of other poles such as street lamps.

Description

Spiral Cable Inspection Robot

technical field

The patent of the present invention relates to a helical cable detection robot, in particular to a robot for fault detection of helical cable of a long-span cable-stayed bridge, which belongs to the field of robot technology.

Background technique

With the rapid development of our country's transportation industry, the development of long-span bridges is getting faster and faster. Cable-stayed bridges and suspension bridges have become the basic forms of modern long-span bridges. After the completion of cable-stayed bridges and suspension bridges, the cables, one of the main stress-bearing components, will be exposed to the air for a long time, and the polyethylene (PE) protective layer on the surface of the cables will show different degrees of hardening and aging. Corroded by moisture and other acidic substances in the air, and even broken wires in severe cases, endangering the safety of the bridge. At present, the maintenance measures for bridge cable inspection are not perfect, and the inspection and maintenance of cables are mainly done manually.

The industrial robot for cable inspection and maintenance developed by Shanghai Jiaotong University has a strong load capacity and can well complete functions such as inspection, painting, and maintenance of bridge cables. in the file. However, the climbing device of the cable detection and maintenance robot has a large structure; the whole machine is powered by a cable, and the length of the connecting cable must be greater than the length of the bridge cable that the robot climbs, and it is obviously affected by the wind when working at heights; The robot is not designed with a relevant descending device. When an accident occurs during the operation, the steel wire rope connected to the robot is used to drag and recover the robot from a height of tens or even hundreds of meters, which is dangerous to a certain extent. The mechanism is only suitable for painting work, not for testing work.

As the span of cable-stayed bridges becomes larger and larger, the cables are more and more affected by wind and rain vibrations. Since the spiral cables and indented pit cables can effectively suppress the wind and rain-induced vibration of the cables, It has been widely used in newly built bridges, but it will also bring a series of new problems. One is that it is extremely difficult to detect the strength of the steel wires inside the cables. Taking the Sutong Bridge as an example, its longest back cable reaches 575m. If it is still used The trolley dragged by the hoist is manually equipped with detection sensors to detect broken wires, wear, and rust spots of the cable. There are serious problems such as high cost, harsh working environment, low work efficiency, and easy damage to the surface of the cable. Because the surface of the new wind-proof and rain-vibration-proof spiral cable has circular protrusions with a diameter of 6-10mm, since the material of the raised helix is the same as the cable protective layer, it cannot withstand large external forces, and the hoist drags the trolley. The cable detection and maintenance robot developed by Shanghai Communications and Shanghai Communications cannot be realized at all; the research group has applied for two types of detection robots for optical cables (application numbers are 2006101576019.9, 200620016413.X) and other special robots are not suitable for spiral cables. According to the international online search, there is no report on the detection robot of the spiral cable. This patent mainly designs a detection mechanism for spiral cables, and the mechanism is also applicable to the detection of optical cables.

Contents of the invention

The technical problem to be solved by the present invention is to provide a helical cable detection robot with a simple structure and suitable for high-altitude operation of the helical cable, aiming at the deficiencies of the above-mentioned prior art.

In order to solve the above technical problems, the present invention adopts the following technical solutions: a spiral cable detection robot, including a trolley arranged along the circumferential direction of the cable and a trolley set at the upper and lower ends of the trolley body for holding the trolley tightly. As for the holding device on the cable, the trolley at least includes a climbing mechanism with a driving wheel, the radial direction of the driving wheel and the axial direction of the cable form an included angle, and the included angle is the same as the helix angle of the helix of the cable.

An arc groove is arranged on the body of the trolley, and a balance frame is arranged in the arc groove, and the climbing mechanism is arranged on the balance frame and can rotate around the arc groove.

The clamping device includes a clamping frame fixedly connected to the car body, on which at least two supporting wheels with adjustable spacing from the driving wheel are arranged, and the at least two supporting wheels form a shape with the driving wheel of the trolley. At least three points of support clamping.

At least four supporting wheels are arranged on the said holding frame, and two anti-deflection support wheels for anti-deflection are also included, and the two anti-deflection support wheels are respectively located on both sides of the driving wheel.

Described hold tight fixed frame is made up of the first support spring bar, the second support spring bar, the 3rd support spring bar, the two ends of the second support spring bar are respectively connected with one end of the first spring bar, the third support spring bar One end is fixedly connected, the other end of the first support spring bar and the other end of the third support spring bar are respectively fixed on the car body, and the at least two support wheels are arranged on the second support spring bar, and the two The anti-bias support wheels are respectively arranged on the first support spring bar and the third support spring bar.

The clasping device also includes a magnetic adsorption structure, and the magnetic adsorption structure is arranged on the body of the trolley.

The magnetic adsorption structure includes: at least one yoke and at least one magnet arranged on the yoke, and the yoke is fixed on the body of the trolley through bolts.

It also includes an anti-falling device, the anti-falling device includes a crank slider mechanism and a cylinder with a small hole, the crank of the crank slider mechanism is connected with the outer ring of a clutch, and the inner ring of the clutch is connected with the active The axle of the wheel is fixedly connected, the slider of the slider crank mechanism is connected with the piston rod of the cylinder, and the small hole is arranged at the bottom of the cylinder.

The driving wheel is arranged on the driving wheel shaft, and a first bevel gear is also arranged on the driving wheel shaft, and a motor drives the gear shaft provided with the second bevel gear matched with the first bevel gear. The wheel realizes the transmission through the first bevel gear and the second bevel gear.

Compared with the prior art, the spiral cable detection robot of the present invention has the following advantages:

1. The driving wheel of the spiral cable detection robot of the present invention forms an angle with the radial direction of the cable, and the angle is consistent with the helix angle of the helix on the cable. Therefore, when the detection robot climbs, the driving wheel just follows the helix The spiral climbs, but does not regard the spiral as an obstacle, and cannot climb. While the driving wheel is climbing, the robot completes the detection process.

2. The driving wheel of the present invention is composed of a first half wheel and a second half wheel. An arc groove is arranged on the car body of the trolley, and a balance frame is arranged in the arc groove. The climbing mechanism is set It is on the balance frame and can rotate around the arc groove. When climbing, the first half wheel and the second half wheel clamp the helix in the middle, and the driving wheel of the climbing mechanism can rotate in the arc groove of the car body. The half wheel and the second half wheel can just correct the direction of climbing to ensure that it is consistent with the direction of the helix, and the climbing is more stable and safe.

3. The holding device of the present invention is composed of a plurality of directional wheels and a magnetic adsorption structure. The directional wheels can use universal wheels to reduce the friction when the robot climbs, and the magnetic adsorption structure is adopted. On the one hand, only the driving wheel and the cable Firmly fixed, on the other hand, there is no contact between the magnetic adsorption structure and the cable. When climbing, there is no resistance, which reduces the energy consumption during climbing. Therefore, the detection process can be completed by power supply such as lithium batteries, without the need for wires to connect to external power sources. The entire structure Simple and reliable.

4. Implementing this cable detection robot, the climbing device is directly driven by the motor, and the power supply mode of the robot's own lithium battery is used instead of the active cable power supply, which is more suitable for the high-altitude operation environment and is less affected by the wind; when there is an unexpected power failure, Or in other unexpected situations such as insufficient power, mechanical failure, etc., the mechanism automatically cuts off the power supply, and the robot can use the gravity of itself and the detection and maintenance equipment it carries to link the movement of the piston of the perforated cylinder through the crank slider mechanism. It can descend slowly along the cable helix from the working height, and it is safe and reliable to use.

5. The robot control part also includes a control circuit. When the mechanism is powered off and slides down, the motor works as a generator. The robot body is equivalent to the prime mover, which drives the driving wheel to drive the armature to rotate. The torque T generated by the prime mover and the electromagnetic force of the motor The torque T _m and the no-load loss torque T ₀ are balanced, and the ground remote control method is used to control the on-off of the four relays, and adjust the on-off of the adjustable resistor in the circuit board, thereby changing the current to control the electromagnetic torque. Then adjust the descending speed of the mechanism.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is a structural schematic diagram of the holding device of the present invention;

Fig. 4 is a schematic structural view of the adsorption structure of the present invention;

Fig. 5 is the structural representation of dolly of the present invention;

Fig. 6 is the disassembly structure of the trolley of the present invention-the structural schematic diagram of the climbing device;

Fig. 7 is a schematic diagram of the decomposition structure of the trolley of the present invention-rotary support structure;

Fig. 8 is a schematic diagram of the cylinder principle of the descending device of the present invention;

Fig. 9 is a schematic circuit diagram of the present invention for controlling the descending speed of the robot.

Detailed ways

Below in conjunction with accompanying drawing, the present invention is described in detail:

Shown in Fig. 1, Fig. 2 is the overall structural diagram of the spiral cable detection robot of the present invention, comprises a trolley 1 that is arranged along the circumferential direction of cable 5 and is arranged on trolley 1 upper end and lower end and is used for trolley 1 support The gripping device 3 tightly on the cable 5, the trolley at least includes a climbing mechanism 2 with a drive wheel 21, the drive wheel 21 forms an angle with the axial direction of the cable 5, and the angle is in line with the helix 51 of the cable 5. same helix angle. Described driving wheel 21 is arranged on the driving wheel axle 22, is also provided with a first bevel gear 23 on this driving wheel axle 22, and a motor 6 drives and is provided with the second bevel gear 24 that cooperates with the first bevel gear 23 The gear shaft, the driving wheel 21 realizes transmission through the first bevel gear 23 and the second bevel gear 24, and the motor can be powered by a lithium battery or other batteries. The driving wheel 21 is composed of a first half wheel 211 and a second half wheel 212, an arc groove 111 is arranged on the car body 11 of the trolley 1, and a balance frame 112 is arranged in the arc groove 111. The climbing mechanism 2 is arranged on the balance frame 112 and can rotate around the arc groove 111 to meet the needs of the helical cables at different angles. The holding device 3 includes a holding frame 31 fixedly connected to the vehicle body 11, on which at least two supporting wheels 32 with adjustable spacing from the cables 5 are arranged on the holding frame 31, the at least two supporting wheels The wheel 32 and the driving wheel 21 of the trolley form at least three points of supporting clamping.

Two anti-bias supporting wheels 33 are also arranged on the holding bracket 31 , and the two anti-bias supporting wheels 33 are respectively located on both sides of the driving wheel 21 .

Embrace fixed frame 31 by the first support spring bar 311, the second support spring bar 312, the 3rd support spring bar 313 and form, the two ends of the second support spring bar 312 are respectively connected with an end of the first spring bar 311, the 3rd support One end of the spring bar 313 is fixedly connected, the other end of the first support spring bar 311 and the other end of the third support spring bar 313 are respectively fixed on the vehicle body 11, and the at least two support wheels 32 are arranged on the second support spring On the bar 312, the two anti-bias supporting wheels 33 are respectively arranged on the first supporting spring bar 311 and the third supporting spring bar 313, and the two anti-biasing universal wheels 33 are in the shape of “[”, and can be adjusted by adjusting nuts and screws Installed on the respective supporting spring rods, the climbing of the robot on the cable is more stable, the climbing track of the robot is limited, and the mechanism can be prevented from deviating from the cable when running on the cable.

The clasping device 3 also includes a magnetic adsorption structure 34 , and the magnetic adsorption structure 34 is arranged on the vehicle body 11 of the trolley 1 . The magnetic adsorption structure 34 includes: at least one yoke 341 and at least one magnet 342 disposed on the yoke 341 , and the yoke 341 is fixed on the car body 11 of the trolley 1 through bolts 343 .

As a further improvement of the present invention, the robot of the present invention also includes a fall prevention device 4, the fall prevention device 4 includes a crank slider mechanism 41 and a cylinder 42 with a small hole 421, the crank of the crank slider mechanism 41 passes through The one-way clutch 43 is fixedly connected with the driving wheel axle 22 of the trolley 1 , the slider of the slider crank mechanism 41 is connected with the piston rod of the cylinder 42 , and the small hole 421 is arranged at the bottom of the cylinder 42 .

As shown in Figure 3, the holding device support wheel 32 is fixed on the second support spring bar 312 by bolt 314, and spring 316 and support sleeve 317 are also arranged between the support wheel 32 and the second support spring bar 312. Adjustment holes 315 are also set on the two support spring bars 312, which are used to adjust the distance between the support wheels 32 and the cables, so as to adapt to the tightness of the cables with different diameters. The compression spring 316 is used to stretch the sleeve 317 and the support wheels 32, and the robot After installation, loosen the nuts of the bolts 314, and the clamping device can clamp the cables 5. When the robot walks on the cables, the supporting wheels 32 can squeeze the springs 316 to move axially and cross the obstacles.

Another preferred embodiment of the present invention is that, as shown in FIG. 4 , the magnetic adsorption structure 34 includes four spring guide rods 343 fixed on the trolley body 11 and a yoke 341 connected to the four guide rods. The yoke 341 and a pair of NdFeB permanent magnets 342 directly attract each other to form a magnetic circuit. The adsorption force generated by the cable 5 presses the driving wheel 21 on the cable 5, and the edge of the magnet sleeve 344 is processed into an arc shape. When an obstacle is encountered and the magnet cover 344 is squeezed, the spring 345 is compressed. After the magnet 342 stretches along the spring guide rod and crosses the obstacle, the magnet 342 is pressed back to its original position by the spring. Adjusting the nut on the guide rod 343 can change the adsorption structure 34 and the cable 5 gap between.

Another preferred embodiment of the present invention is that, as shown in Fig. 5 and Fig. 6, the driving wheel 21 of the climbing device is composed of a first half-wheel 211 and a second half-wheel 212. The distance between them can be adapted to the helixes of different widths, and the driving wheel is embedded with balls 213, which form rolling friction with the helixes.

Another preferred embodiment of the present invention is that, as shown in Figure 5 and Figure 6, the cable detection robot also includes an anti-drop device 4, which is arranged on the other side of the trolley body 11 driving wheel shaft climbing mechanism 2; An overrunning clutch 43 is arranged on the axle 22 between the anti-falling device 4 . When the robot climbed, the overrunning clutch 43 was in a disengaged state, that is, the anti-falling device 4 was not in contact with the driving wheel 21 and did not work; Connected with the anti-fall device 4, the robot will drive the anti-fall device 4 to work due to gravity sliding along the cable 5. As shown in Figure 5, Figure 7 and Figure 8, the descending device includes a crank slider mechanism 41 and a cylinder 42 with a small hole 421, the crank end of the crank slider mechanism 41 is connected to the outer ring of the overrunning clutch 43, and the other end is connected to the outer ring of the overrunning clutch 43. Piston in cylinder 42. When the anti-falling device 4 is working, the piston is driven to move in the cylinder 42 by the crank slider mechanism 41; while the cylinder has only one small hole 421 for ventilation, that is, the piston will provide speed-related damping, so that the crank slider mechanism 41 can only Smooth and sluggish motion; at this time, the slider crank mechanism 41 is connected with the driving wheel 21 of the trolley. When the electrical system of the robot breaks down, or when the battery power is exhausted and the power is cut off, the robot can rely on its own gravity to move from the cable The slide is smooth and slow, that is, the goal of the robot's safe recovery from the working height is realized.

Another preferred embodiment of the present invention is that a resistance module for adjusting the current of the motor is connected in parallel at both ends of the motor, and a relay module for controlling the operation and steering of the motor is arranged on the power supply circuit of the motor. The power supply circuit includes a lithium battery, and the positive and negative poles of the battery current are respectively connected to the first movable contact and the second movable contact of the first relay J5, and the first normally closed contact of the first relay J5 is connected to the second contact. The first moving contact of the relay J6 is connected, the first normally open contact of the first relay J5 is connected to the input end of the power supply circuit, and the second normally closed contact of the first relay J5 is connected to the second moving contact of the second relay J6 , the second normally open contact of the first relay J5 is connected to the output end of the power supply circuit, the first normally closed contact of the second relay J6 is grounded, and the first normally closed contact of the second relay J6 The open contact is connected to the output end of the power supply circuit, the second normally closed contact of the second relay J6 is also grounded, and the second normally open contact of the second relay J6 is connected to the input of the power supply circuit end, the resistor module includes a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first relay J1, a second relay J2, a third relay J3 and a fourth relay J4, the The first resistor R1 is connected in series with the first relay J1 to form a first branch, the second resistor R2 is connected in series with the second relay J2 to form a second branch, and the third resistor R3 is connected in series with the third relay J3 to form a In the third branch, the fourth resistor R4 is connected in series with the fourth relay J4 to form a fourth branch, and the first branch, the second branch, the third branch and the fourth branch are connected in parallel. As shown in Figure 9, where L and R are the motor inductance and internal resistance respectively. When the mechanism is powered off and slides down by its own weight, the motor works as a generator, and the robot body is equivalent to the prime mover, which drives the driving wheel to drive the armature to rotate. The torque T generated by the prime mover, the electromagnetic torque T _m of the motor and the no-load loss The moment T ₀ is balanced. Its principle is shown in Figure 9. The adjustable resistance value is 20Ω, 40Ω, 60Ω, 80Ω. When the mechanical load on the shaft changes (that is, the cable inclination angle changes), the motor speed, electromotive force, current and electromagnetic torque will change. Automatically adjust to adapt to the change of load, reach and maintain a new balance, and make the mechanism drop smoothly. The staff on the ground use the ground remote control method to control the on-off of the four interlocking relays (J ₁ , J ₂ , J ₃ , J ₄ ), and adjust the first resistor R1, the second resistor R2, and the third resistor in the circuit board. R3 and the fourth resistor R4 are turned on and off, so as to change the current i _a to control the electromagnetic torque, and then control the descending speed of the mechanism to complete the relevant cable detection and maintenance work.

In short, the several implementations described in the above-mentioned embodiments do not represent all the implementations of the present invention; the above-mentioned embodiments do not specifically limit the robot, for example, the robot can also be used to climb similar utility poles, lampposts, flagpoles, etc. Cylinder, to complete the relevant inspection and maintenance work. In the embodiment of the present invention, the power of the prototype is 90W, the self-weight of the robot is 6kg, the load can be 4kg (camera and magnetic detection equipment), and the climbing speed is 0.2m/s to 0.3m/s. The structure of the prototype is simple and easy to maintain. In the middle, the work is stable and has the value of popularization and application.

Claims (10)

1. A spiral cable detection robot, comprising a trolley (1) arranged along the circumferential direction of the cable, and a gripping arm for holding the trolley tightly on the cable at the upper and lower ends of the trolley body (11). device (3), the trolley at least includes a climbing mechanism (2) with a driving wheel (21), characterized in that: the radial direction of the driving wheel (21) forms an included angle with the axial direction of the cable (5) , the included angle is the same as the helix angle of the helix (51) of the cable (5). 2. The spiral cable detection robot according to claim 1, characterized in that: an arc groove (111) is arranged on the car body (11) of the trolley (1), and in the arc groove ( 111) is provided with a balance frame (112), and the climbing mechanism (2) is arranged on the balance frame (112) and can rotate around the arc groove (111). 3. The spiral cable detection robot according to claim 1 or 2, characterized in that: said gripping device (3) comprises a gripping fixture (31) fixedly connected to the vehicle body (11). The holding fixed frame (31) is provided with at least two supporting wheels (32) with adjustable spacing from the driving wheel (21), and the at least two supporting wheels (32) and the driving wheel (21) of the trolley form at least three Point support clamping. 4. The spiral cable detection robot according to claim 3, characterized in that: at least four support wheels are arranged on the said holding fastening frame (31), and two anti-deviation wheels are also included. Offset support wheels (33), and the two anti-offset support wheels (33) are respectively located on both sides of the driving wheel (21). 5. The spiral cable detection robot according to claim 4, characterized in that: said holding fastening frame (31) is composed of a first support spring bar (311), a second support spring bar (312), a second support spring bar Three support spring bars (313) form, and the two ends of the second support spring bar (312) are respectively fixedly connected with an end of the first spring bar (311) and an end of the third support spring bar (313), and the first support spring bar The other end of (311), the other end of the 3rd support spring bar (313) are respectively fixed on the vehicle body (11), and described at least two support wheels (32) are arranged on the second support spring bar (312) , the two anti-bias support wheels (33) are respectively arranged on the first support spring bar (311) and the third support spring bar (313). 6. The spiral cable detection robot according to claim 3, characterized in that: said gripping device (3) also includes a magnetic adsorption structure (34), and the magnetic adsorption structure (34) is arranged on the trolley ( 1) on the car body (11). 7. The helical cable detection robot according to claim 6, characterized in that: the magnetic adsorption structure (34) comprises: at least one yoke (341) and at least one piece of yoke (341) Magnet (342), described yoke (341) is fixed on the car body (11) of dolly (1) by bolt (343) and spring (345). 8. The spiral cable detection robot according to claim 4, characterized in that: it also includes a fall prevention device (4), and the fall prevention device (4) includes a crank slider mechanism (41) and has an aperture (421) cylinder (42), the crank of described slider crank mechanism (41) is connected with the outer ring of a clutch (43), and the inner ring of this clutch (43) is connected with the driving wheel (21) of dolly (1). ) axle (22) is fixedly connected, the slide block of described slider crank mechanism (41) is connected with the piston rod of cylinder (42), and described aperture (421) is arranged on the bottom of cylinder (42). 9. The spiral cable detection robot according to claim 1, characterized in that: the driving wheel (21) is arranged on the driving wheel shaft (22), and a driving wheel shaft (22) is also provided with a The first bevel gear (23), a motor (6) drives the gear shaft that is provided with the second bevel gear (24) that cooperates with the first bevel gear (23), and the described driving wheel (21) passes through the described first bevel gear (23). A bevel gear (23) and a second bevel gear (24) realize transmission. 10. The spiral cable detection robot according to claim 1, characterized in that: the driving wheel (21) is composed of a first half wheel (211) and a second half wheel (212), the first half Also be provided with the adjustment mechanism that is used to regulate first half-wheel (211) and the second half-wheel (212) spacing between wheel (211) and second half-wheel (212), first half-wheel (211) and second half-wheel (211) Balls (213) are respectively arranged on opposite surfaces of the half-wheels (212).

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