CN104074135B - A kind of bridge cables detection device - Google Patents
A kind of bridge cables detection device Download PDFInfo
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- CN104074135B CN104074135B CN201410289126.5A CN201410289126A CN104074135B CN 104074135 B CN104074135 B CN 104074135B CN 201410289126 A CN201410289126 A CN 201410289126A CN 104074135 B CN104074135 B CN 104074135B
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Abstract
The invention discloses a kind of bridge cables detection device, including robot climbing device, described robot climbing device includes chassis assembly, suspension assembly, Power Component and power supply module；Described chassis assembly includes vehicle frame top and frame downward；Described suspension assembly is arranged on described vehicle frame top, described suspension assembly includes suspension sheave, buffer air spring and studdle assembly, suspension sheave support and suspension assembly crossbeam, described suspension assembly crossbeam is provided with one or more groups suspension sheave, often group suspension sheave is made up of two suspension sheaves at an angle to each other, and described suspension assembly crossbeam is connected by buffer air spring and studdle assembly with vehicle frame top；Described Power Component is arranged on described frame downward, and described Power Component includes driving wheel.Use the present invention, its simple in construction, have that good maneuverability, efficiency are high, energy consumption is low, safe and reliable.
Description
Technical field
The present invention relates to Bridge Testing Equipment field, particularly relate to a kind of for high-altitude cable-stayed bridge
The suspension cable bridge cables detection device that carries out detecting.
Background technology
Cable-stayed bridge is the main style of Longspan Bridge, because it has good, the bearing capacity of sight
By force, span ability is big, wind resisting stability advantages of higher has worldwide obtained widely should
With.Detection and the maintenance of the cable of cable-stayed bridge are mainly had following several by China at present:
The detection of the cable of cable-stayed bridge and maintenance are by manually carrying out, i.e. the tower top at cable-stayed bridge sets
Put pulley, pull steel wire rope by hoist engine thus promote the manned and hanging basket of equipment.This side
Method inefficiency, poor stability, cost is high.On August 12nd, 2002, sea print bridge maintenance
It is used for during suspension cable upwards transporting the instrument cables break of fluorescent paint, hits one and travelling
Oil truck.
Promote what the cost height of artificial mode of hanging basket, poor stability etc. cannot overcome for cable wire
Shortcoming, domestic You Duojia university and research institution carried out the research and development of maintaining cables car, from
From the point of view of the document delivered, correlational study achievement does not enter into commercialization stage and puts into actual making
In with, such as:
Patent CN 101538830A discloses a kind of bridge cables health detection robot, its
Structure is as follows: it includes bridge cables, driven trolley, spring, connecting plate, connecting rod, master
Dynamic dolly, profile of tooth belt wheel, motor and decelerator, guide post.Actively dolly and driven trolley car
Wheel relatively and is connected by attachment means, two car wheel clamping bridge cables；Actively dolly passes through
Guider traction driven trolley moves；Control device to be arranged on active dolly.In this scheme,
Actively two wheels of dolly are driving wheel.Meanwhile, the two driving wheel is as the one of suspension
Part, together with assembly groups such as driven trolley, spring, connecting plate, connecting rod, guide posts
Become suspension, i.e. drive and combine with suspension assembly.For realizing the program, it is necessary to by spring,
Connecting plate, connecting rod, guide post by locked for vehicle frame on cable so that suspension and rope
Cable contacts thus supports vehicle frame.Owing to driving and the united frame for movement of suspension assembly so that outstanding
Extension system is fastened on cable to support vehicle frame, and as this robot motion, required is dynamic
While power is except offsetting the impact such as normal friction force and gravity, in addition it is also necessary to waste consumes
On the fastening force (i.e. stiction) of suspension and cable.And, in this scheme, hang
System is fastened on cable to support vehicle frame.In the case of motor does not works, dolly has
The trend moved downward, the fastening force (stiction) of suspension changes into along cable upwards
Resistance, gravity and resistance realize the balance of power, i.e. dolly without motor work on cable direction
It is still on cable in the case of Yong Li.
Document " development of Pneumatic creeping cable maintaining robot " (article numbering 1002-0446
(2000) 05-0397-06 robot volume 22 the 5th phase in JIUYUE, 2000) disclose one
Plant the pneumatic worming cable for upkeep operations such as the detection of cable-stayed bridge cable, cleaning and applications
Robot, this robot divides upper body and lower body two parts, cylinder realize moving, stepping up and lead
To function.Its structure is as follows: upper body, lower body, supporting mechanism, travel mechanism, dolly, gas
Valve, guiding mechanism, clamp system.This robot uses wriggling mode to rise or fall.On it
Rising process action beat is: (1) lower body clamping cylinder clamps；(2) upper body clamping cylinder unclamps；(3)
Mobile cylinder piston rod stretches out, and upper body rises；(4) upper body clamping cylinder clamping；(5) lower body folder
Tight cylinder unclamps；(6) moving cylinder piston rod to retract (cylinder body rising), lower body rises, so
Repeat, it is achieved continuous print is wriggled and climbed.
Document " the climbing device mechanical analysis of novel cable robot and test " (identification number:
1671-7872 (2008) 02-0147-04 Anhui University of Technology journal the 2nd phase of volume 25
In April, 2008) propose a kind of conical surface self-locking clamping mechanism, utilize when climbing robot it
Middle enforcement clamps thus wriggles and climb.Its structure is as follows: drive motor, lower plate, main screw mandrel spiral shell
Female pair, upper plate, cable, external conical sleeve, interior vertebral body, jaw, guide post, pressure skewback, step
Enter motor, preloading spring, back-moving spring, safety screen.Drive motor by main feed screw nut
Secondary forward and backward drives upper and lower alternating translational of doing, and jaw one end contacts with cable and utilizes mechanism's weight
Power produces initial frictional, and the other end slides, when the friction system at two ends along the inner conical surface of external conical sleeve
When number is chosen suitable, jaw just can produce the clamping of relative cable, pine with the motion of upper and lower plate
Start work, it is achieved clamping wriggling climbs.
From the foregoing, it will be observed that the motion mode of existing cable climbing mechanism mainly has two kinds: friction pulley rolls
With clamping wriggling form motion.
Wherein, the mode that the friction pulley that patent No. CN 101538830A uses rolls.The party
Formula simple in construction, but energy consumption is bigger.Typically need to carry bigger motor, driving force is weak,
More detection equipment cannot be carried.Friction pulley form structure is relatively easy, and development difficulty is relative
Less advantage.But the more difficult accurate adjustment of the pretightning force of friction pulley, in most cases in order to improve
Reliability can only sacrifice observable index.
Document " development of pneumatic worming cable maintaining robot ", " novel cable robot climbs
Rise mechanism's mechanical analysis and test " all use clamping creeping motion type and climb.For sectional dimension
Suddenly the severe cable of change, surface condition has good adaptability, but structure is complicated, and zero
Parts are many, and movement velocity is slow, is not suitable for the detection of long cable.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of bridge being applicable to suspension cable detection
Beam cable detection device, described structure of the detecting device is simple, have good maneuverability, efficiency high,
Energy consumption is low, safe and reliable.
In order to solve above-mentioned technical problem, the invention provides a kind of bridge cables detection device,
For detecting the suspension cable of bridge, it includes robot climbing device, described robot climbing device
Including chassis assembly, suspension assembly, Power Component and power supply module；Described chassis assembly includes
Vehicle frame top and frame downward；Described suspension assembly is arranged on described vehicle frame top, described outstanding
Hanging component includes suspension sheave, buffer air spring and studdle assembly, suspension sheave support and suspension
Assembly crossbeam, described suspension assembly crossbeam is provided with one or more groups suspension sheave, often organizes suspension sheave
Being made up of two suspension sheaves at an angle to each other, described suspension assembly crossbeam and vehicle frame top are by slow
Qi of chong channel ascending adversely spring and studdle assembly connect；Described Power Component is arranged on described frame downward,
Described Power Component includes driving wheel；When described bridge cables detection device detects the suspension cable of bridge,
Described suspension cable embeds among described vehicle frame top and frame downward, described bridge cables detection device
By described buffer air spring and studdle assembly, make described suspension sheave and described driving wheel with
Described suspension cable keeps contact surface.
As the improvement of such scheme, the described often group V-shaped arrangement of suspension sheave.
As the improvement of such scheme, described driving wheel includes front driving wheel and rear drive sprocket, institute
State front driving wheel and the rear drive sprocket axis direction spread configuration along described suspension cable；Described forerunner
The curved surface suitable with described suspension cable it is equipped with on driving wheel and rear drive sprocket.
As the improvement of such scheme, described Power Component also include drive motor, converter and
Directive wheel, drives motor described in described transducer drive.
As the improvement of such scheme, described directive wheel includes front jockey wheel group and rear guiding wheels,
Guide wheels after described and be provided with damping mechanism.
As the improvement of such scheme, between described vehicle frame top and frame downward by vehicle frame even
Connect standing screw and connect fixing.
As the improvement of such scheme, described bridge cables detection device also include detecting system,
Total system and transmission system；Described detecting system is used for detecting described suspension cable；Described comprehensive
Close processing system to be used for processing the detection data of described detecting system, and long distance wireless
Control the Power Component of described robot climbing device；Described transmission system is used for controlling described machine
Communication between device people's climbing device, detecting system and total system.
As the improvement of such scheme, described detecting system includes high-definition camera unit, lossless spy
Hinder unit, meter counter unit and GPS unit；Described high-definition camera unit is used for described suspension cable
Outward appearance detection；Described nondestructive inspection unit is for the nondestructive inspection detection of described suspension cable；Described
Meter counter unit and GPS unit are for demarcating the position of described suspension cable injury region.
As the improvement of such scheme, described high-definition camera unit includes three photographic head, described
It is mutually 120 ° between three photographic head；Described three photographic head are fixed on institute by mounting bracket
State on chassis assembly.
As the improvement of such scheme, described total system is based on ARM and DSP
Processing system.
Implement the present invention, have the advantages that
When suspension cable to be checked is detected by bridge cables of the present invention detection device, first unclamp vehicle frame even
Connect standing screw, vehicle frame top, frame downward are separated, suspension cable to be checked is embedded on vehicle frame
Among portion, frame downward, then connect standing screw by under vehicle frame top, vehicle frame by vehicle frame
Portion is assembled on the suspension cable of bridge, then by regulation buffer air spring and studdle, makes suspension
Wheel and driving wheel and suspension cable keep certain contact surface.The present invention utilizes suspension sheave and directive wheel,
Can realize being suspended on suspension cable robot climbing device.After electric motor starting, driving wheel is driving
Under the drive of the assemblies such as motor, by the curved surface of driving wheel and suspension cable friction, dolly is made to obtain fortune
Dynamic power.
Described suspension assembly crossbeam is provided with the suspension sheave of one or more groups V-shaped arrangement, outstanding
Change gear is arranged on vehicle frame top, and by buffer air spring and studdle assembly and vehicle frame top
Connect, and Power Component is arranged on described frame downward, suspension sheave and driving wheel and is arranged on to be checked
The both sides of suspension cable, it is achieved hang-drive separation.The present invention is by " hang-drive and separate "
Structure, makes detection realize advantages below when being installed on work: (1) is laborsaving: the driving of the present invention
Power is less than 1/4th of the sample car of other colleague；(2) safety: (dynamic when being short of power
Power is less than gravity) time, robot climbing device glides automatically, will not be when machine breaks down
Hover over eminence；(3) good maneuverability: Power Component uses Frequency Converter Control to drive motor,
Can ensure that gravity-driving force balance, can really realize fine motion and controlled hovering, the rate of climb
The functions such as cruise locking；(4) composite behaviour flexibly: the present invention can according to the requirement of operation,
Change the configuration combination hanging wheels, i.e. can move with rectilinear translation or rope winding spiral.
Further, the present invention, by the structure of " hang-drive and separate ", makes driving of Power Component
Driving wheel is when being not loaded with, and suspension sheave and directive wheel remain to keep stablizing of car body.
Further, the rear guiding wheels of Power Component are provided with damping mechanism, it is possible to achieve backward
Braking, solves because of the undershoot risk caused unpowered when machine hinders, and improves the manipulation of backward movement
Performance.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of bridge cables of present invention detection device one embodiment；
Fig. 2 is the front view of robot climbing device shown in Fig. 1；
Fig. 3 is the side view of robot climbing device shown in Fig. 2；
Fig. 4 is the schematic diagram of a kind of bridge cables of present invention detection another embodiment of device；
Fig. 5 is the schematic diagram of detecting system shown in Fig. 4.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing
The present invention is described in further detail.Only this statement, the present invention occurs in the text or will
The up, down, left, right, before and after occurred, the orientation word such as inside and outside, only with the present invention's
On the basis of accompanying drawing, it is not the concrete restriction to the present invention.
See Fig. 1, Fig. 2 and Fig. 3, the invention provides a kind of bridge cables detection device 1000,
For detecting the suspension cable 2000 of bridge, it includes robot climbing device 100, described robot
Climbing device 100 includes chassis assembly, suspension assembly, Power Component and power supply module.
Wherein, described chassis assembly includes vehicle frame top 1 and frame downward 2, on described vehicle frame
It is connected standing screw 3 by vehicle frame between portion 1 with frame downward 2 and connects fixing.
Described suspension assembly is arranged on described vehicle frame top 1, and described suspension assembly includes hanging
Wheel 4, buffer air spring and studdle assembly 5, suspension sheave support 6 and suspension assembly crossbeam
7, described suspension assembly crossbeam 7 is provided with one or more groups suspension sheave 4, often group suspension sheave by
Two suspension sheaves 4 at an angle to each other form, and described suspension assembly crossbeam 7 leads to vehicle frame top 1
Cross buffer air spring and studdle assembly 5 connects.
Described Power Component is arranged on described frame downward 2, and described Power Component includes driving wheel
8。
When described bridge cables detection device detects the suspension cable 2000 of bridge, described suspension cable 2000
Embedding among described vehicle frame top 1 and frame downward 2, described bridge cables detection device passes through
Described buffer air spring and studdle assembly 5, make described suspension sheave 4 and described driving wheel 8
Certain contact surface is kept with described suspension cable 2000.
Concrete, suspension sheave 4 uses wear-resisting high-strength degree plastic roller, according to machine software simulation
As a result, preferably divide on four groups of suspension assembly crossbeams 7 being assembled in vehicle frame top 1, often organize suspension
Wheel 4 is made up of by certain angle two plastic rollers.Preferably, described often group suspension sheave is V
Type is arranged.
Described Power Component includes driving wheel 8, drives motor 9, belt, synchronization wheel, frequency conversion
Device and directive wheel 10.Wherein, described driving wheel 8 includes front driving wheel 8A and rear drive sprocket
8B, front driving wheel 8A and rear drive sprocket 8B are along the axis direction spread configuration of suspension cable 2000；
The curved surface suitable with suspension cable 2000 it is equipped with on front driving wheel 8A and rear drive sprocket 8B, with
Make driving wheel and suspension cable 2000 can form certain contact surface.Drive described in described transducer drive
Galvanic electricity machine 9, drives front driving wheel 8A and rear drive sprocket 8B by synchronous belt, makees friction row
Walk.
Described directive wheel 10 includes front jockey wheel group 10A and rear guiding wheels 10B, guides afterwards
Wheels 10B is provided with damping mechanism, it is possible to achieve backward braking, solves because of unpowered when machine hinders
The undershoot risk caused, and improve the maneuvering performance of backward movement.Preferably, described damping machine
Structure uses the mode of deceleration of electrons.
When suspension cable 2000 to be checked is detected by bridge cables of the present invention detection device, first unclamp
Vehicle frame connects standing screw 3, vehicle frame top 1, frame downward 2 is separated, to be checked outstanding
Rope 2000 embeds among vehicle frame top 1, frame downward 2, is then connected fixing by vehicle frame
Vehicle frame top 1, frame downward 2 are assembled on the suspension cable 2000 of bridge, then lead to by screw rod 3
Overregulate buffer air spring and studdle 5, make suspension sheave 4 and driving wheel 8 and suspension cable 2000
Keep certain contact surface.The present invention utilizes suspension sheave 4 and directive wheel 10, can realize machine
Device people's climbing device is suspended on suspension cable 2000.After electric motor starting, driving wheel 8 is driving electricity
Under the drive of machine 9 assembly such as grade, rubbed with suspension cable 2000 by the curved surface of driving wheel 8, make little
Car obtains the power of motion.
Described suspension assembly crossbeam 7 is provided with the suspension sheave 4 of one or more groups V-shaped arrangement,
Suspension sheave 4 is arranged on vehicle frame top 1, and by buffer air spring and studdle assembly 5 with
Vehicle frame top 1 connects, and Power Component is arranged on described frame downward 2, suspension sheave 4 and driving
Driving wheel 8 is arranged on the both sides of suspension cable 2000 to be checked, it is achieved hang-drive separation.
Vehicle frame is the assembly of robot climbing device, is hung cable by robot climbing device
Act on the vertical counteracting force on driving wheel (i.e. support force), longitudinal counteracting force (i.e. leads
Gravitation and brake force) and the power of the moment that formed of these counteracting forces and motor formed and close
Force vector balances, then is delivered on vehicle frame, completes to hang and motor function.This device also relaxes
Produced impact when robot climbing device crosses uneven cable, what decay thus caused holds
The vibration of loading system, to ensure to creep ride comfort on cable.
The present invention hangs and can be regarded as by sprung mass (i.e. spring carried mass), unsprung mass (i.e.
Nonspring carried mass) and the vibrational system that forms of spring (flexible member), bear from cable not
The excitation of flat surface, air force and power motor.
The present invention and conventional project plan comparison, do not have between the suspension assembly of the present invention, Power Component
The force transferring structure such as connecting rod, guide post, vehicle frame is not fastened on cable.When it upwards climbs,
The resistance of motion is mostly derived from the effect of gravity and suspension sheave and the normal frictional force of cable；When
When it is creeped downwards, resistance is mostly derived from the normal frictional force of cable, and gravity becomes creep dynamic
A part for power.In this manner it is possible to it is (the most quiet with the fastening force of cable in suspension consuming
Frictional force) energy save.
And, the present invention also has the characteristic of " the quiet instability " of uniqueness, does not i.e. make such as motor
With or time driving force is less, robot climbing device will not be still on cable, and can be at gravity
Driving under, move downward along cable.Under gravity, the speed of robot climbing device
Degree is increasingly faster, and the present invention is additionally provided with damping mechanism, when falling speed exceedes setting value, and resistance
Buddhist nun mechanism accesses, and strengthens reverse resistance, controls the falling speed of robot climbing device.
To sum up, the present invention, by the structure of " hang-drive and separate ", makes detection be installed on work
As time realize advantages below: (1) is laborsaving: the present invention drive power be other colleague sample car
Less than 1/4th；(2) safety: when being short of power time (power is less than gravity), machine
People's climbing device retreats, and will not hover over eminence when machine breaks down；(3) good behaviour
Vertical property: Power Component uses Frequency Converter Control to drive motor, it is ensured that gravity-driving force is put down
Weighing apparatus, can really realize the functions such as fine motion and controlled hovering, rate of climb cruise locking；(4) spirit
The composite behaviour lived: the present invention can change, according to the requirement of operation, the configuration group hanging wheels
Close, i.e. can move with rectilinear translation or rope winding spiral.
Further, the present invention, by the structure of " hang-drive and separate ", makes driving of Power Component
Driving wheel 8 is when being not loaded with, and suspension sheave 4 and directive wheel 10 remain to keep stablizing of car body.
It should be noted that the suspension cable 2000 of the present invention is cable.
See Fig. 4, as another more preferably embodiment, detection of described bridge cables of the present invention
Device 1000 ' includes robot climbing device 100, detecting system 200, total system
300 and transmission system 400.Wherein, described detecting system 200 is used for detecting described suspension cable 2000；
Described total system 300 is used for processing the detection data of described detecting system 200,
And the Power Component of robot climbing device 100 described in remote wireless control；Described transmission system
System 400 is used for controlling described robot climbing device 100, detecting system 200 and integrated treatment
Communication between system 300.
Seeing Fig. 5, described detecting system 200 includes high-definition camera unit 201, nondestructive inspection
Unit 202, meter counter unit 203 and GPS unit 204.Wherein, described high-definition camera list
Unit 201 is for the outward appearance detection of described suspension cable 2000；Described nondestructive inspection unit 202 is used for
The nondestructive inspection detection of described suspension cable 2000；Described meter counter unit 203 and GPS unit 204
For demarcating the position of described suspension cable 2000 injury region.
High-definition camera unit 201 preferably includes three photographic head, between described three photographic head mutually
Become 120 °；Described three photographic head are fixed on described chassis assembly by mounting bracket.This
Invent by regulation high-definition camera, high-definition camera unit 201 can be realized to suspension cable 2000 to be checked
360 degree of all standings.
Nondestructive inspection unit 202 can use x-ray inspection probe, weak magnetic Non-Destructive Testing to visit
One or more in head or acoustic detection probe, but be not limited.
Meter counter unit 203 is for recording the motion operating range of detection platform.By these data,
Testing staff may determine that suspension cable 2000 injury region length to detection platform original position.Meter
The data that rice device unit 203 produces are transferred to total system 400, total system 400
After treatment, data are respectively transmitted to high-definition camera unit 201, nondestructive inspection unit 202.
High-definition camera unit 201, nondestructive inspection unit 202 respectively by this data investigation to last inspection
Survey in data, to facilitate testing staff to demarcate damage position.
GPS unit 204 is for recording the position coordinates of detection platform.By these data, detection
Personnel may determine that the three-dimensional location coordinates of suspension cable 2000 injury region, particularly height coordinate.
The data that GPS unit 204 produces are transferred to total system 400, total system 400
After treatment, data are respectively transmitted to high-definition camera unit 201, nondestructive inspection unit 202.
High-definition camera unit 201, nondestructive inspection unit 202 respectively by this data investigation to last inspection
Survey in data.GPS unit 204 detects the data of gained and produces as to meter counter unit 203
Positional information supplement, more convenient testing staff demarcates damage position.
Further, described total system 300 is processing system based on ARM and DSP,
Big data quantity high-speed computation, storage can be realized, meet detection demand.
It should be noted that ARM (Advanced RISC Machine, Advanced Reduced Instruction
Collection machine), be one 32 reduced instruction set computer (RISC) processors, have low cost,
The advantage such as high-performance, low power consumption.
DSP (Digital Singnal Processor) is a kind of microprocessor, is with digital signal
Process the device of bulk information.
Total system 300 is connected with man machine interface, when man machine interface receives the control of operator
System instruction, is judged this instruction by total system 300 and is forwarded by wireless module
To converter, described converter drives described driving motor rotation then.
Therefore, the present invention both can be by the inspection of detecting system 200 by total system 300
Survey data are efficiently treated through, it is also possible to robot climbing device 100 described in remote wireless control
Power Component, it is achieved Wireless power safe and convenient, reliable control.
Described transmission system 400 includes WIFI wireless module, available WIFI wireless module
Realize the nothing between robot climbing device 100, detecting system 200 and total system 300
The massive dataflows such as line transmits, and bandwidth is unrestricted, transmittable high-definition image, use cost is low,
Economy is good.
Preferably, in described transmission system 400, it is provided with microstrip antenna, directivity, with strong points.
More preferably, the gain of described microstrip antenna is 14dBi, and horizontal azimuth is 60 °, vertically bows
Elevation angle degree is 20 °.
Preferably, described transmission system 400 be also built-in with WIFI signal spectrum scan device and
LED signal display lamp, real time detection signal intensity.
The above disclosed optimal way being only the present invention, can not limit with this certainly
The interest field of the present invention, the equivalent variations therefore made according to the claims in the present invention, or not
The some improvements and modifications done on the premise of departing from the principle of the invention, still belong to the present invention and are contained
Scope.
Claims (9)
1. a bridge cables detection device, for detecting the suspension cable of bridge, it includes machine
Device people's climbing device, it is characterised in that described robot climbing device includes chassis assembly, hangs
Hanging component, Power Component and power supply module；
Described chassis assembly includes vehicle frame top and frame downward；
Described suspension assembly is arranged on described vehicle frame top, and described suspension assembly includes hanging
Wheel, buffer air spring and studdle assembly, suspension sheave support and suspension assembly crossbeam, described
Suspension assembly crossbeam is provided with one or more groups suspension sheave, and often group suspension sheave is at an angle to each other by two
Suspension sheave composition, described suspension assembly crossbeam and vehicle frame top are by buffer air spring and support
Screw arbor assembly connects；
Described Power Component is arranged on described frame downward, and described Power Component includes driving wheel；
When described bridge cables detection device detects the suspension cable of bridge, described suspension cable embeds described car
Among frame top and frame downward, described bridge cables detection device is by described buffer air spring
And studdle assembly, make described suspension sheave keep contacting with described suspension cable with described driving wheel
Face；
Described bridge cables detection device also includes detecting system, total system and transmission system
System；
Described detecting system is used for detecting described suspension cable；
Described total system is used for processing the detection data of described detecting system, with
And the Power Component of robot climbing device described in remote wireless control；
Described transmission system is used for controlling described robot climbing device, detecting system and General Office
Communication between reason system.
2. bridge cables detection device as claimed in claim 1, it is characterised in that institute
State the often group V-shaped arrangement of suspension sheave.
3. bridge cables detection device as claimed in claim 1, it is characterised in that institute
State driving wheel and include that front driving wheel and rear drive sprocket, described front driving wheel and rear drive sprocket are along institute
State the axis direction spread configuration of suspension cable；
The curved surface suitable with described suspension cable it is equipped with on described front driving wheel and rear drive sprocket.
4. the bridge cables detection device as described in claim 1,2 or 3, its feature exists
In, described Power Component also includes driving motor, converter and directive wheel, and described converter drives
Dynamic described driving motor.
5. bridge cables detection device as claimed in claim 4, it is characterised in that institute
State directive wheel and include that front jockey wheel group and rear guiding wheels, the described rear wheels that guide are provided with damping machine
Structure.
6. the bridge cables detection device as described in claim 1,2 or 3, its feature exists
In, it is connected standing screw by vehicle frame between described vehicle frame top and frame downward and connects fixing.
7. bridge cables detection device as claimed in claim 1, it is characterised in that institute
State detecting system and include high-definition camera unit, nondestructive inspection unit, meter counter unit and GPS
Unit；
Described high-definition camera unit is for the outward appearance detection of described suspension cable；
Described nondestructive inspection unit is for the nondestructive inspection detection of described suspension cable；
Described meter counter unit and GPS unit are for demarcating the position of described suspension cable injury region.
8. bridge cables detection device as claimed in claim 7, it is characterised in that institute
State high-definition camera unit and include three photographic head, between described three photographic head, be mutually 120 °；
Described three photographic head are fixed on described chassis assembly by mounting bracket.
9. bridge cables detection device as claimed in claim 1, it is characterised in that institute
Stating total system is processing system based on ARM and DSP.
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| CN201410289126.5A CN104074135B (en) | 2014-04-16 | 2014-06-24 | A kind of bridge cables detection device |
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| CN2014101528170 | 2014-04-16 | ||
| CN201410152817.0 | 2014-04-16 | ||
| CN201410152817 | 2014-04-16 | ||
| CN201410289126.5A CN104074135B (en) | 2014-04-16 | 2014-06-24 | A kind of bridge cables detection device |
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| CN104074135A CN104074135A (en) | 2014-10-01 |
| CN104074135B true CN104074135B (en) | 2016-08-24 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105350450B (en) * | 2015-10-29 | 2017-04-19 | 南京邮电大学 | High-altitude cable rope climbing mechanism and robot based on elastic frame |
| CN106917352B (en) * | 2017-04-18 | 2018-11-06 | 张逸凡 | A kind of spiral climbing device and the robot for stayed-cable bridge detection |
| CN107476188B (en) * | 2017-07-14 | 2019-11-26 | 武汉理工大学 | Wireless control's suspension cable atress detector |
| CN112523084A (en) * | 2020-11-26 | 2021-03-19 | 上海建工五建集团有限公司 | External prestress tie bar cable supporting and guiding device |
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| CN202543797U (en) * | 2012-04-01 | 2012-11-21 | 宁波市公路管理局 | Cable climbing robot |
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| CN203977291U (en) * | 2014-04-16 | 2014-12-03 | 广州诚泰交通机电工程有限公司 | A kind of bridge cables checkout gear |
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2014
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| EP2172593A2 (en) * | 2008-10-02 | 2010-04-07 | Diagnose- und Ingenieurgesellschaft Dr. Boué mbH | Method and apparatus for inspecting cables |
| CN101906752A (en) * | 2009-06-03 | 2010-12-08 | 柳州欧维姆机械股份有限公司 | Automatic climbing mechanism for track inhaul cable and control system thereof |
| CN201901846U (en) * | 2010-11-03 | 2011-07-20 | 江苏法尔胜材料分析测试有限公司 | Rope climbing robot |
| CN202023146U (en) * | 2011-04-21 | 2011-11-02 | 广州市承信公路工程检验有限公司 | Cable detection robot for cable-stayed bridge |
| CN202543797U (en) * | 2012-04-01 | 2012-11-21 | 宁波市公路管理局 | Cable climbing robot |
| CN103194967A (en) * | 2013-04-03 | 2013-07-10 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Detecting system of bridge cable |
| CN203977291U (en) * | 2014-04-16 | 2014-12-03 | 广州诚泰交通机电工程有限公司 | A kind of bridge cables checkout gear |
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| CN104074135A (en) | 2014-10-01 |
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