CN107175665A - A kind of suspension bridge damage of steel cable crusing robot - Google Patents
A kind of suspension bridge damage of steel cable crusing robot Download PDFInfo
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- CN107175665A CN107175665A CN201710335763.5A CN201710335763A CN107175665A CN 107175665 A CN107175665 A CN 107175665A CN 201710335763 A CN201710335763 A CN 201710335763A CN 107175665 A CN107175665 A CN 107175665A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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Abstract
The invention discloses a kind of suspension bridge damage of steel cable crusing robot, including pedestal, the inspection device on pedestal and to the progress inspection of suspension bridge damage of steel cable and the control device being controlled to the inspection device；To steel wire rope carry out inspection the step of be:Step 1: the installation of inspection device；Step 2: crusing robot carries out inspection to suspension bridge steel wire rope；Step 3: robot inspection completes and returns to the initiating terminal of suspension bridge steel wire rope；Step 4: step one is repeated several times to step 3；Step 5: the acquisition of faulted condition data.It is of the invention novel in design reasonable, use cost is low, simple to operate, security is good, the inspection operation to suspension bridge damage of steel cable can be completed easily and fast, by setting control device, convenient use person passes through wireless remote control emitter remote control crusing robot and carries out high-altitude detection, it is to avoid potential safety hazard during workman's work high above the ground, it is ingenious in design reasonable, reliable and stable, small volume is practical.
Description
Technical field
The invention belongs to detection device technical field, and in particular to a kind of suspension bridge damage of steel cable crusing robot.
Background technology
Suspension bridge is one of topmost bridge type of China's large span, and suspension bridge is carried mainly by steel wire rope, and steel wire rope is in reality
Damage can be produced in the operating mode of border, causes the reduction of steel wire rope bearing capacity, so as to influence bridge security, it is therefore desirable to suspension bridge steel
Cord carries out periodic detection, at present, the domestic detection for suspension bridge damage of steel cable, mainly using electromechanical detection method, inspection
Survey mode is that staff is detected in high-altitude by rope drawing electromagnetic detection instrument along steel wire rope walking, but this
There is weak point in the method for manual inspection：1. detection efficiency is low：Artificial detection is by drawing detection means manually in steel
Walked in cord, this method is time-consuming, laborious, detection efficiency is low.2. security is poor：Artificial detection needs work high above the ground, detects
The safety of personnel is difficult to ensure that.3. testing cost is high：Suspension bridge wire rope standard workload is larger, and manual inspection cost is higher than machine
Device people's routing inspection cost.
Based on these shortcomings manually detected, it is badly in need of suspension bridge crusing robot at present to replace the work of aloft work personnel
Make.At present, research of the domestic and foreign scholars to crusing robot lays particular emphasis on electric power line inspection field, and is damaged for suspension bridge steel wire rope
Hinder crusing robot research to be rarely reported.
Therefore, nowadays lack that a kind of reasonable in design, use cost is low, simple to operate, security is good, can be easily and fast
The equipment that inspection is carried out to suspension bridge damage of steel cable is completed, can be by setting damage of steel cable testing agency, quick detection
Go out the degree of injury of suspension bridge steel wire rope, and record by control device the data of damage position and degree of injury, convenient pair
Suspension bridge steel wire rope carries out regular maintenance and replacing, and by setting control device, convenient use person passes through wireless remote control emitter
Remote control crusing robot carries out high-altitude detection, it is to avoid potential safety hazard during workman work high above the ground, it is ingenious in design rationally, make
It is reliable and stable with process.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of suspension bridge steel
Cord damages crusing robot, and it is novel in design rationally, and use cost is low, simple to operate, security is good, can be complete easily and fast
The inspection operation of paired suspension bridge damage of steel cable, by setting damage of steel cable testing agency, can detect suspension bridge steel
The degree of injury of cord, and the data of damage position and degree of injury are recorded by control device, it is convenient to suspension bridge steel wire
Rope carries out regular maintenance and replacing, and by setting control device, convenient use person is patrolled by wireless remote control emitter remote control
Examine robot and carry out high-altitude detection, it is to avoid potential safety hazard during workman's work high above the ground, it is ingenious in design rationally, reliable and stable, body
Product is small, practical, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of suspension bridge damage of steel cable survey monitor
Device people, it is characterised in that：Including pedestal, on pedestal and to suspension bridge damage of steel cable carry out inspection inspection device and
The control device being controlled to the inspection device, the inspection device includes what suspension bridge damage of steel cable was detected
Damage of steel cable testing agency and the mobile robot mechanism that can be moved along suspension bridge steel wire rope, the mobile robot machine
The quantity of structure is two, and two mobile robot mechanisms are located at the two ends of pedestal, and two mobile robot mechanisms are equal
Including the clamping walking mechanism on suspension bridge steel wire rope, the clamping walking mechanism is driven to enter along suspension bridge steel wire rope
The mobile hoofing part mechanism of row and the clamping driving machine for driving the clamping walking mechanism to clamp suspension bridge steel wire rope
Structure；
The damage of steel cable testing agency includes being located on suspension bridge steel wire rope and carries out magnetic to suspension bridge steel wire rope
The steel wire rope magnetization unit of change and it is located on suspension bridge steel wire rope and the remanent magnetism signal on suspension bridge steel wire rope is detected
Wire rope standard unit, the bottom of the steel wire rope magnetization unit is provided with the first connector, the wire rope standard unit
Bottom be provided with the second connector, first connector and the second connector are fixedly connected with pedestal；
The control device includes wireless remote control emitter, casing and the electronic circuit board being arranged in casing, the electricity
It is integrated with controller, power module and the wireless remote control receiving unit connected with controller, the casing and sets on sub- wiring board
Power control switch is equipped with, the power control switch is serially connected in the supply line between power module and the controller,
The clamp drive mechanism and the hoofing part mechanism are controlled by controller, the wireless remote control emitter with it is wireless
Remote control receiver unit carries out RFDC；
The clamping walking mechanism is laid in suspension bridge steel wire rope both sides including two and can moved along suspension bridge steel wire rope
Clamping road wheel, the clamping road wheel is provided centrally with rotary shaft, and the rotary shaft passes with the hoofing part mechanism
Dynamic connection；
It is provided with and is installed and the close or remote suspension bridge steel wire rope of energy for two road wheels that clamp on the pedestal
Vertical supports；The clamp drive mechanism and two vertical supports are connected.
A kind of above-mentioned suspension bridge damage of steel cable crusing robot, it is characterized in that：The hoofing part mechanism includes two
Individual driving clamps the movable motor that road wheel is moved along suspension bridge steel wire rope, and the movable motor is connected with rotary shaft.
A kind of above-mentioned suspension bridge damage of steel cable crusing robot, it is characterized in that：The clamp drive mechanism is clamping
Turn-screw is installed, two vertical supports are installed on turn-screw on motor, the output shaft of the clamping motor,
The mounting seat installed for turn-screw is provided with the pedestal, the turn-screw is Bidirectional slide leading screw, and the walking is driven
Motivation structure is installed in the vertical supports.
A kind of above-mentioned suspension bridge damage of steel cable crusing robot, it is characterized in that：The vertical supports are with opening
The cubic support in portion.
A kind of above-mentioned suspension bridge damage of steel cable crusing robot, it is characterized in that：The rotary shaft is multi-diameter shaft, described
Clamp road wheel to be installed on the multi-diameter shaft, one end that the rotary shaft stretches out clamping road wheel is provided with threaded portion, described
The clamp nut for fixing to clamp road wheel is provided with threaded portion.
A kind of above-mentioned suspension bridge damage of steel cable crusing robot, it is characterized in that：First connector and second connects
The structure of fitting is identical；First connector and the second connector include connector, the connection deck being fixed on pedestal
And the linking arm being connected between connector and connection deck, the two ends of the linking arm and connector and to be connected deck be to consolidate
Fixed connection.
Meanwhile, the invention also discloses the use that a kind of method and step is simple, reasonable in design and easy construction, using effect are good
The method that suspension bridge damage of steel cable crusing robot carries out inspection, it is characterised in that：Multiple suspension bridge steel wire ropes are entered by root
Row detection, and to the detection method all same of multiple steel wire ropes, wherein, it is as follows to the detecting step of a steel cable：
Step 1: the installation of inspection device：The inspection device is arranged on suspension bridge steel wire rope and wire rope standard list
Member is clamped on the initiating terminal of suspension bridge steel wire rope to be detected；Then, connect in the bottom clamp first of steel wire rope magnetization unit
Fitting, and in the connector of bottom clamp second of wire rope standard unit；Finally, by the first connector and the second connector with
Pedestal is fixedly connected；
Step 102, suspension bridge rope cramp are loaded between clamping walking mechanism：The folder is controlled by the control device
Drive mechanism rotation is held, the rotation of the clamp drive mechanism drives two to clamp walking respectively by two vertical supports
Take turns to close to suspension bridge steel wire rope direction and move, until two clamp road wheel and clamp suspension bridge steel wire rope, complete inspection device
Installation；
Step 2: crusing robot carries out inspection to suspension bridge steel wire rope：Operator is sent by wireless remote control emitter
Inspection order, wireless remote control receiving unit receives inspection order, and sends to controller, and controller receives inspection order and controlled
The hoofing part mechanism action is made, the hoofing part mechanism action driving clamps road wheel and rotated, and clamps turning for road wheel
It is dynamic, clamping road wheel is moved along suspension bridge steel wire rope from initiating terminal terminad, clamp road wheel along suspension bridge steel wire rope from
During initiating terminal terminad is moved, steel wire rope magnetization unit and steel are driven by the first connector and the second connector respectively
Cord detection unit is moved along suspension bridge steel wire rope from initiating terminal terminad, and steel wire rope magnetization unit is carried out to suspension bridge steel wire rope
Magnetization, wire rope standard unit is detected in real time to the remanent magnetism signal on suspension bridge steel wire rope afterwards, and surplus by what is detected
Magnetic signal is stored in wire rope standard unit, until wire rope standard unit is moved to the end of suspension bridge steel wire rope, then completes
The inspection of suspension bridge steel wire rope；
Step 3: robot inspection completes and returns to the initiating terminal of suspension bridge steel wire rope：Suspension bridge steel is completed in step 2
After the inspection of cord, first, operator sends return command by wireless remote control emitter, and wireless remote control receiving unit is received
Return command, and controller is sent to, controller receives return command and controls hoofing part mechanism counteragent, institute
State hoofing part mechanism action driving clamping road wheel to rotate backward, clamp road wheel from the end of suspension bridge steel wire rope to starting
End movement, during being moved in end of the clamping road wheel along suspension bridge steel wire rope to initiating terminal, passes through the first connection respectively
Part and the second connector drive the end of steel wire rope magnetization unit and wire rope standard unit along suspension bridge steel wire rope to initiating terminal
It is mobile, until steel wire rope magnetization unit and wire rope standard unit are moved to the initiating terminal of suspension bridge steel wire rope；Then institute is passed through
Stating control device controls the clamp drive mechanism to rotate backward, and rotating backward for the clamp drive mechanism is driven described in two
Vertical supports are moved away from suspension bridge steel wire rope direction, and the reverse movement of the vertical supports drives two clamping road wheels remote
Suspension bridge steel wire rope direction is moved, then completes suspension bridge steel wire rope from two removals clamped between road wheel, and by steel wire rope
Magnetization unit and wire rope standard unit are from removal on suspension bridge steel wire rope；
Step 4: step one is repeated several times to step 3：Until completing the detection to whole suspension bridge steel wire ropes；
Step 5: the acquisition of faulted condition data：Suspension bridge damage of steel cable is obtained by the wire rope standard unit
Status data.
The present invention has advantages below compared with prior art：
1st, the present invention is by setting damage of steel cable testing agency can be by steel wire rope magnetization unit to suspension bridge steel wire
Rope is magnetized, then the remanent magnetism signal on suspension bridge steel wire rope is detected by wire rope standard unit, so as to sentence
Break and the degree of injury of suspension bridge steel wire rope, and pass through the number of damage position and degree of injury under wire rope standard unit record
According to, in that context it may be convenient to regular maintenance and replacing are carried out to suspension bridge steel wire rope, it is ensured that the security performance of Modular Bridge System, are easy to push away
Extensively use.
2nd, the present invention is by setting control device, and convenient use person passes through wireless remote control emitter remote control inspection machine
People carries out high-altitude detection, it is to avoid potential safety hazard during workman's work high above the ground, is detected while wire rope standard unit can be recorded
The result data arrived, operation more facilitates, and running is relatively reliable, and ingenious in design reasonable, using effect is good.
3rd, the present invention, can be effectively to suspension bridge using the clamping road wheel by setting the clamping walking mechanism
Steel wire rope is clamped, and the drive crusing robot that can stablize is moved along suspension bridge steel wire rope, and detection process is more pacified
It is complete convenient.
4th, the present invention is driven using hoofing part mechanism to the clamping road wheel, it is ensured that crusing robot exists
There is the power of abundance in crawling process, while crusing robot moving forward and backward along suspension bridge steel wire rope can be realized, operate
Reliability is higher.
5th, the present invention drives vertical supports to be clamped and discharge using the clamp drive mechanism, then by described vertical
Support drives the clamping road wheel to be clamped and discharge suspension bridge steel wire rope, and reasonable in design reliable, using effect is good.
6th, the detection method step of suspension bridge steel wire rope of the present invention is simple, reasonable in design and input cost compared with
Low, the safety of testing staff is easy to ensure, and detects that progress is fast, and steel wire is promoted using the first connector positioned at pedestal front end
Rope magnetization unit is walked on suspension bridge steel wire rope, and the second connector positioned at pedestal rear end promotes wire rope standard unit outstanding
Walked on cable bridge steel wire rope, the balance of robot in the process of running is advantageously ensured that, while meeting to suspension bridge steel wire
Rope first magnetizes the purpose detected afterwards；Rotated using control device control clamp drive mechanism, the rotation of clamp drive mechanism drives
Vertical supports are moved close to suspension bridge steel wire rope direction, so that drive clamping road wheel to clamp suspension bridge steel wire rope, it is reasonable in design
Reliably, it is easy to control；The damage inspection of crusing robot progress suspension bridge steel wire rope is controlled using wireless remote control emitter, not only
It is safe and reliable, and detection efficiency is high, and input cost is low, it is thus also avoided that the security threat that work high above the ground is caused to workman.
In summary, the present invention is novel in design rationally, and use cost is low, simple to operate, security is good, can be easily and fast
The inspection operation to suspension bridge damage of steel cable is completed, by setting damage of steel cable testing agency, suspension bridge can be detected
The degree of injury of steel wire rope, and by the data of damage position and degree of injury under wire rope standard unit record, it is convenient to outstanding
Cable bridge steel wire rope carries out regular maintenance and replacing, and by setting control device, convenient use person is remote by wireless remote control emitter
Process control crusing robot carries out high-altitude detection, it is to avoid potential safety hazard during workman work high above the ground, it is ingenious in design rationally, reliably
Stable, small volume is practical, is easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is left view of the invention.
Fig. 3 for Fig. 2 A to sectional view.
Fig. 4 is vertical supports of the present invention, movable motor and the annexation schematic diagram for clamping road wheel.
Fig. 5 is the control principle block diagram of control system of the present invention.
Fig. 6 is the method flow block diagram of suspension bridge damage of steel cable crusing robot method for inspecting of the present invention.
Description of reference numerals:
1-pedestal；2-casing；3-mounting seat；
4-turn-screw；5-clamping motor；6-travelling nut；
7-vertical supports；8-clamp road wheel；9-movable motor；
10-rotary shaft；11-the first connector；11-1-connector；
11-2-linking arm；11-3-connection deck；12-the second connector；
13-suspension bridge steel wire rope；14-steel wire rope magnetization unit；15-wire rope standard unit；
16-controller；17-power module；18-power control is switched；
19-wireless remote control emitter；20-wireless remote control receiving unit.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, the present invention includes pedestal 1, on pedestal 1 and to suspension bridge steel
The control device that the damage of cord 13 carries out the inspection device of inspection and is controlled to the inspection device, the inspection device bag
Include and the damage of steel cable testing agency detected is damaged to suspension bridge steel wire rope 13 and can be moved along suspension bridge steel wire rope 13
Dynamic mobile robot mechanism, the quantity of the mobile robot mechanism is two, and two mobile robot mechanisms are located at
The two ends of pedestal 1, two mobile robot mechanisms include be arranged on suspension bridge steel wire rope 13 on clamping walking mechanism,
Driving is described to clamp hoofing part mechanism and the driving clamping row that walking mechanism can be moved along suspension bridge steel wire rope 13
Walk the clamp drive mechanism that mechanism is clamped to suspension bridge steel wire rope 13；
The damage of steel cable testing agency includes being located on suspension bridge steel wire rope 13 and entering suspension bridge steel wire rope 13
The magnetized steel wire rope magnetization unit 14 of row and it is located on suspension bridge steel wire rope 13 and the remanent magnetism on suspension bridge steel wire rope 13 is believed
Number wire rope standard unit 15 detected, the bottom of the steel wire rope magnetization unit 14 is provided with the first connector 11, institute
The bottom for stating wire rope standard unit 15 is provided with the second connector 12, the connector 12 of the first connector 11 and second with
Pedestal 1 is fixedly connected；
The control device includes wireless remote control emitter 19, casing 2 and the electronic circuit board being arranged in casing 2, institute
State and controller 16, power module 17 and the wireless remote control receiving unit 20 connected with controller 16 be integrated with electronic circuit board,
Power control switch 18 is provided with the casing 2, the power control switch 18 is serially connected in power module 17 and the control
In supply line between device 16, the clamp drive mechanism and the hoofing part mechanism are controlled by controller 16,
The wireless remote control emitter 19 carries out RFDC with wireless remote control receiving unit 20；
The clamping walking mechanism is laid in the both sides of suspension bridge steel wire rope 13 including two and can be along suspension bridge steel wire rope 13
Mobile clamping road wheel 8, it is described clamp road wheel 8 be provided centrally with rotary shaft 10, the rotary shaft 10 and the walking
Drive mechanism is connected；
It is provided with and is installed and the close or remote suspension bridge steel wire of energy for two road wheels 8 that clamp on the pedestal 1
The vertical supports 7 of rope 13；The clamp drive mechanism is connected with two vertical supports 7.
In the present embodiment, the angle of suspension bridge steel wire rope 13 and horizontal plane to be detected is 0 °~90 °, the power module
17 be lithium battery；In actual use, the wire rope standard unit 15 also uses lithium battery power supply, the clamping road wheel
8 middle part, which is provided with the groove coordinated with suspension bridge steel wire rope 13, the groove, sets polyurethane wear resistant layer, it is contemplated that at present
The a diameter of 60mm for the suspension bridge steel wire rope 13 that most domestic suspension bridge is used, so clamping semicircle recessed on road wheel 8
Groove is designed as 60mm, clamps a diameter of 120mm of road wheel 8, clamps the material of road wheel 8 using No. 45 steel；Clamp road wheel 8
Outer surface use high resiliency, high-strength polyurethane high-abrasive material with increase during walking and suspension bridge steel wire rope 13 friction system
Number, prevents from skidding, while the abrasion to steel wire rope 13 can be reduced；The steel wire rope magnetization unit 14 is made by permanent magnet material
Form；The clamping road wheel 8 is connected with the key of rotary shaft 10.
In actual use, by setting the damage of steel cable testing agency can be by steel wire rope magnetization unit 14
Suspension bridge steel wire rope 13 is magnetized, then the remanent magnetism signal on suspension bridge steel wire rope 13 entered by wire rope standard unit 15
Row detection, so as to judge the degree of injury of suspension bridge steel wire rope 13, and records the number of damage position and degree of injury
According to, in that context it may be convenient to regular maintenance and replacing are carried out to suspension bridge steel wire rope 13, it is ensured that the security performance of Modular Bridge System；Pass through
The control device is set, and convenient use person carries out high-altitude inspection by the remote control crusing robot of wireless remote control emitter 19
Survey, it is to avoid potential safety hazard during workman's work high above the ground, while wire rope standard unit 15 can record detected in real time
Result data, operation more facilitates, and running is relatively reliable；By setting the clamping walking mechanism, clamped using described
Road wheel 8 effectively can be clamped to suspension bridge steel wire rope 13, and the drive crusing robot that can stablize is along suspension cable
Bridge steel wire rope 13 is moved, detection process more safe ready；The clamping road wheel 8 is driven using hoofing part mechanism
It is dynamic, it is ensured that crusing robot has the power of abundance in crawling process, while crusing robot can be realized along suspension bridge
Steel wire rope 13 moves forward and backward；Drive vertical supports 7 to be clamped and discharge using the clamp drive mechanism, then pass through institute
Stating vertical supports 7 drives the clamping road wheel 8 to be clamped and discharge suspension bridge steel wire rope 13, reasonable in design reliable, makes
It is good with effect.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, in the present embodiment, the hoofing part mechanism includes two drivings and clamps row
The movable motor 9 that wheel 8 is moved along suspension bridge steel wire rope 13 is walked, the movable motor 9 is connected with rotary shaft 10.
During actual installation, the movable motor 9 is connected by first shaft coupling with clamping road wheel 8, described
One end of first shaft coupling is connected with the output shaft of movable motor 9, the other end and the rotary shaft 10 of the first shaft coupling
Drive connection.In the present embodiment, the movable motor 9 is the direct current generator with decelerator.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, the clamp drive mechanism is clamping motor 5, the clamping electricity
Turn-screw 4 is installed, two vertical supports 7 are installed on turn-screw 4, on the pedestal 1 on the output shaft of machine 5
The mounting seat 3 installed for turn-screw 4 is provided with, the turn-screw 4 is Bidirectional slide leading screw, the hoofing part mechanism peace
Loaded in the vertical supports 7.
In the present embodiment, the junction of the turn-screw 4 and mounting seat 3 is provided with bearing, the clamping motor 5 it is defeated
Shaft is connected by second shaft coupling with turn-screw 4, and the clamping motor 5 is arranged on pedestal 1, the turn-screw
4 external part is provided with neck；The clamping motor 5 is stepper motor.In actual use, the turn-screw 4 stretches out
Turn-screw 4 can be adjusted by instrument manually for the neck that end is set, and the clamp drive mechanism is entered so as to realize
The purpose of pedestrian's industry control, reliability is higher；Using the Bidirectional slide leading screw, the clamping vehicle with walking machine can be effectively realized
Structure is clamped and released to suspension bridge steel wire rope 13, while the Bidirectional slide leading screw also has the function of self-locking.
As shown in Figure 3 and Figure 4, in the present embodiment, the vertical supports 7 are the cubic support with opening portion.
In the present embodiment, travelling nut 6 is provided with the madial wall of the vertical supports 7, the travelling nut 6 is sleeved on
On the turn-screw 4 and can be movable along turn-screw 4, the sliding contact on pedestal 1 of vertical supports 7.
As shown in Figure 3 and Figure 4, in the present embodiment, the rotary shaft 10 is multi-diameter shaft, and the clamping road wheel 8 is installed on
On the multi-diameter shaft, one end that the stretching of rotary shaft 10 clamps road wheel 8, which is provided with threaded portion, the threaded portion, to be provided with
Clamp nut for fixing to clamp road wheel 8.
As depicted in figs. 1 and 2, in the present embodiment, first connector 11 is identical with the structure of the second connector 12；Institute
State connector 11-1, connection deck 11-3 and company that the first connector 11 and the second connector 12 include being fixed on pedestal 1
The linking arm 11-2, the linking arm 11-2 that are connected between connector 11-1 and connection deck 11-3 two ends and connector 11-1
It is to be fixedly connected with connection deck 11-3.
In the present embodiment, connection deck 11-3 is installed on steel wire rope magnetization unit 14 and wire rope standard unit 15 respectively
On, first connector 11 is hinged on the front end of pedestal 1, and second connector 12 is hinged on the rear end of pedestal 1.This implementation
In example, being provided at both ends with installation neck, the installation neck for the linking arm 11-2 offers first through hole, the connection
Part 11-1 is arranged on pedestal 1 and connector 11-1 character is triangular prism connector, offer on the connector 11-1 with
The second through hole that the first through hole coordinates.In actual use, the connector 11-1 passes through bolt and linking arm 11-2
It is connected, before connection deck 11-3 engages with steel wire rope magnetization unit 14 or wire rope standard unit 15, linking arm 11-2
It can be rotated around connector 11-1, be easy to the engaging to steel wire rope magnetization unit 14 or wire rope standard unit 15, engaging is completed
Linking arm 11-2 can be fixed by tightening the bolt between linking arm 11-2 and connector 11-1 afterwards, it is ensured that connection
The stability of arm 11-2 in the process of running.
As shown in fig. 6, the detection method of suspension bridge steel wire rope of the present invention, process is as follows：
Multiple suspension bridge steel wire ropes 13 are detected by root, and it is equal to the detection method of multiple suspension bridge steel wire ropes 13
It is identical, wherein, it is as follows to the detecting step of any suspension bridge steel wire rope 13：
Step 1: the installation of inspection device：By the inspection device be arranged on suspension bridge steel wire rope 13 on, specifically include with
Lower step：
Step 101, damage of steel cable testing agency, the installation of the first connector and the second connector：First, by the steel
Cord magnetization unit 14 and wire rope standard unit 15 are clamped on the initiating terminal of suspension bridge steel wire rope 13 to be detected；Then,
Connect in the first connector of bottom clamp 11 of steel wire rope magnetization unit 14, and in the bottom clamp second of wire rope standard unit 15
Fitting 12；Finally, the first connector 11 and the second connector 12 are fixedly connected with pedestal 1；
Step 102, suspension bridge rope cramp are loaded between clamping walking mechanism：The folder is controlled by the control device
Drive mechanism rotation is held, the rotation of the clamp drive mechanism drives two to clamp row respectively by two vertical supports 7
Walk wheel 8 to move to close to the direction of suspension bridge steel wire rope 13, until two clamp road wheel 8 and clamp suspension bridge steel wire rope 13, complete
The installation of inspection device；
Step 2: crusing robot carries out inspection to suspension bridge steel wire rope：Operator is sent out by wireless remote control emitter 19
Go out inspection order, wireless remote control receiving unit 20 receives inspection order, and sends to controller 16, and controller 16 receives inspection
Order and control the hoofing part mechanism action, the hoofing part mechanism action driving clamps road wheel 8 and rotated, and clamps row
The rotation of wheel 8 is walked, clamping road wheel 8 is moved along suspension bridge steel wire rope 13 from initiating terminal terminad, road wheel 8 is being clamped along outstanding
Cable bridge steel wire rope 13 from initiating terminal terminad move during, driven respectively by the first connector 11 and the second connector 12
Steel wire rope magnetization unit 14 and wire rope standard unit 15 are moved along suspension bridge steel wire rope 13 from initiating terminal terminad, steel wire rope magnetic
Change unit 14 to magnetize suspension bridge steel wire rope 13, wire rope standard unit 15 is to the remanent magnetism on suspension bridge steel wire rope 13 afterwards
Signal is detected in real time, and the remanent magnetism signal detected is stored in into wire rope standard unit 15, until wire rope standard list
Member 15 is moved to the end of suspension bridge steel wire rope 13, then completes the inspection of suspension bridge steel wire rope 13；
Step 3: robot inspection completes and returns to the initiating terminal of suspension bridge steel wire rope：Suspension bridge steel is completed in step 2
After the inspection of cord 13, first, operator sends return command, wireless remote control receiving unit by wireless remote control emitter 19
20 receive return command, and are sent to controller 16, and controller 16 receives return command and controls the hoofing part mechanism
Counteragent, the hoofing part mechanism action driving clamps road wheel 8 and rotated backward, and clamps road wheel 8 from suspension bridge steel wire
The end of rope 13 is moved to initiating terminal, is clamping the process that end of the road wheel 8 along suspension bridge steel wire rope 13 is moved to initiating terminal
In, steel wire rope magnetization unit 14 and the edge of wire rope standard unit 15 are driven by the first connector 11 and the second connector 12 respectively
The end of suspension bridge steel wire rope 13 is moved to initiating terminal, until steel wire rope magnetization unit 14 and wire rope standard unit 15 are moved to
The initiating terminal of suspension bridge steel wire rope 13；Then the clamp drive mechanism is controlled to rotate backward by the control device, it is described
Two vertical supports 7 of drive that rotate backward of clamp drive mechanism are moved away from the direction of suspension bridge steel wire rope 13, described perpendicular
Drive two to clamp road wheel 8 to the reverse movement of support 7 to move away from the direction of suspension bridge steel wire rope 13, then complete suspension bridge steel
Cord 13 is from two removals clamped between road wheel 8, and by steel wire rope magnetization unit 14 and wire rope standard unit 15 from outstanding
Removal on cable bridge steel wire rope 13；
Step 4: step one is repeated several times to step 3：Until completing the detection to whole suspension bridge steel wire ropes 13；
Step 5: the acquisition of faulted condition data：Suspension bridge steel wire rope 13 is obtained by the wire rope standard unit 15
Faulted condition data.
In actual use, suspension bridge steel wire rope 13 is magnetized using steel wire rope magnetization unit 14, afterwards steel wire
Rope detection unit 15 is detected in real time to the remanent magnetism signal on suspension bridge steel wire rope 13, and draws suspension bridge according to remanent magnetism signal
Steel wire rope 13 has the residual intensity of not damaged and suspension bridge steel wire rope 13, and judges that can suspension bridge steel wire rope 13 be continuing with
Go out testing result, can be by Serial Port Line in wire rope standard unit after the detection to whole suspension bridge steel wire ropes 13 is completed
Whole testing results are exported in 15.
In summary, the detection method step of suspension bridge steel wire rope 13 of the present invention is simple, reasonable in design and throws
Enter that cost is relatively low, the safety of testing staff is easy to ensure, and detect that progress is fast, using the first connection positioned at the front end of pedestal 1
Part 11 promotes steel wire rope magnetization unit 14 to be walked on suspension bridge steel wire rope 13, and the second connector 12 positioned at the rear end of pedestal 1 is pushed away
Dynamic wire rope standard unit 15 is walked on suspension bridge steel wire rope 13, advantageously ensures that the balance of robot in the process of running
Property, the purpose detected afterwards is first magnetized to suspension bridge steel wire rope 13 while meeting；The clamping is controlled using the control device
Drive mechanism is rotated, and the rotation of the clamp drive mechanism drives the vertical supports 7 to be moved close to the direction of suspension bridge steel wire rope 13
It is dynamic, so that drive the clamping road wheel 8 to clamp suspension bridge steel wire rope 13, it is reasonable in design reliable, it is easy to control；Using wireless remote
The damage inspection that the control crusing robot of transmitter 19 carries out suspension bridge steel wire rope 13 is controlled, it is not only safe and reliable, and detection effect
Rate is high, and input cost is low, it is thus also avoided that the security threat that work high above the ground is caused to workman.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (7)
1. a kind of suspension bridge damage of steel cable crusing robot, it is characterised in that：Including pedestal (1), on pedestal (1) and
The control device for carrying out the inspection device of inspection and being controlled to the inspection device, institute are damaged to suspension bridge steel wire rope (13)
State inspection device include damaging suspension bridge steel wire rope (13) the damage of steel cable testing agency detected with can be along suspension bridge
The mobile robot mechanism that steel wire rope (13) is moved, the quantity of the mobile robot mechanism is two, two shiftings
Mobile robot mechanism is located at the two ends of pedestal (1), and two mobile robot mechanisms include being arranged on suspension bridge steel wire rope
(13) walking that clamping walking mechanism, driving the clamping walking mechanism on can be moved along suspension bridge steel wire rope (13) is driven
Motivation structure and the clamp drive mechanism for driving the clamping walking mechanism to clamp suspension bridge steel wire rope (13)；
The damage of steel cable testing agency includes being located on suspension bridge steel wire rope (13) and entering suspension bridge steel wire rope (13)
The magnetized steel wire rope magnetization unit (14) of row and it is located on suspension bridge steel wire rope (13) and on suspension bridge steel wire rope (13)
The wire rope standard unit (15) that remanent magnetism signal is detected, the bottom of the steel wire rope magnetization unit (14) is provided with the first company
Fitting (11), the bottom of the wire rope standard unit (15) is provided with the second connector (12), first connector (11)
It is fixedly connected with the second connector (12) with pedestal (1)；
The control device includes wireless remote control emitter (19), casing (2) and the electronic circuit board being arranged in casing (2),
Controller (16), power module (17) are integrated with the electronic circuit board and the wireless remote control connected with controller (16) is received
Power control switch (18) is provided with unit (20), the casing (2), the power control switch (18) is serially connected in power supply mould
In supply line between block (17) and the controller (16), the clamp drive mechanism and the hoofing part mechanism by
Controller (16) is controlled, and the wireless remote control emitter (19) carries out wireless data with wireless remote control receiving unit (20) and led to
Letter；
The clamping walking mechanism is laid in suspension bridge steel wire rope (13) both sides including two and can be along suspension bridge steel wire rope (13)
Mobile clamping road wheel (8), it is described clamp road wheel (8) be provided centrally with rotary shaft (10), the rotary shaft (10) with
The hoofing part mechanism driving connection；
It is provided with and is installed and the close or remote suspension bridge steel wire of energy for two road wheels (8) that clamp on the pedestal (1)
The vertical supports (7) of rope (13)；The clamp drive mechanism and two vertical supports (7) are connected.
2. according to a kind of suspension bridge damage of steel cable crusing robot described in claim 1, it is characterised in that：The walking is driven
Motivation structure includes two drivings and clamps road wheel (8) along the mobile movable motor (9) of suspension bridge steel wire rope (13), the walking electricity
Machine (9) is connected with rotary shaft (10).
3. according to a kind of suspension bridge damage of steel cable crusing robot described in claim 1, it is characterised in that：The clamping is driven
Motivation structure is clamping motor (5), and turn-screw (4), two vertical branch are provided with the output shaft of the clamping motor (5)
Frame (7) is installed on turn-screw (4), and the mounting seat (3) installed for turn-screw (4), institute are provided with the pedestal (1)
Turn-screw (4) is stated for Bidirectional slide leading screw, the hoofing part mechanism is installed in the vertical supports (7).
4. according to a kind of suspension bridge damage of steel cable crusing robot described in claim 1, it is characterised in that：The vertical branch
Frame (7) is the cubic support with opening portion.
5. according to a kind of suspension bridge damage of steel cable crusing robot described in claim 1, it is characterised in that：The rotary shaft
(10) it is multi-diameter shaft, the clamping road wheel (8) is installed on the multi-diameter shaft, the rotary shaft (10), which is stretched out, clamps road wheel
(8) one end is provided with the clamp nut being provided with threaded portion, the threaded portion for fixing to clamp road wheel (8).
6. according to a kind of suspension bridge damage of steel cable crusing robot described in claim 1, it is characterised in that：Described first connects
Fitting (11) is identical with the structure of the second connector (12)；First connector (11) and the second connector (12) include solid
The connector (11-1) that is scheduled on pedestal (1), connection deck (11-3) and connector (11-1) is connected to being connected deck (11-
3) linking arm (11-2) between, the two ends of the linking arm (11-2) and connector (11-1) and is connected deck (11-3) and is
It is fixedly connected.
7. a kind of suspension bridge damage of steel cable crusing robot using described in claim 1 carries out inspection to suspension bridge steel wire rope
Method, it is characterised in that：Multiple suspension bridge steel wire ropes (13) are detected by root, and to multiple suspension bridge steel wire ropes
(13) detection method all same, wherein, it is as follows to the detecting step of any suspension bridge steel wire rope (13)：
Step 1: the installation of inspection device：The inspection device (on 13, is specifically included following installed in suspension bridge steel wire rope
Step：
Step 101, damage of steel cable testing agency, the installation of the first connector and the second connector：First, by the steel wire rope
Magnetization unit (14) and wire rope standard unit (15) are clamped on the initiating terminal of suspension bridge steel wire rope (13) to be detected；So
Afterwards, in the connector of bottom clamp first (11) of steel wire rope magnetization unit (14), and in the bottom of wire rope standard unit (15)
The connector of clamp second (12)；Finally, the first connector (11) and the second connector (12) are fixedly connected with pedestal (1)；
Step 102, suspension bridge rope cramp are loaded between clamping walking mechanism：The clamping is controlled to drive by the control device
Motivation structure is rotated, and the rotation of the clamp drive mechanism drives two to clamp walking respectively by two vertical supports (7)
Take turns (8) to move to close to suspension bridge steel wire rope (13) direction, until two clamp road wheel (8) and clamp suspension bridge steel wire rope
(13) installation of inspection device, is completed；
Step 2: crusing robot carries out inspection to suspension bridge steel wire rope：Operator is sent by wireless remote control emitter (19)
Inspection order, wireless remote control receiving unit (20) receives inspection order, and sends to controller (16), and controller (16) is received
Inspection order simultaneously controls the hoofing part mechanism action, and the hoofing part mechanism action driving clamps road wheel (8) and rotated,
The rotation of road wheel (8) is clamped, clamping road wheel (8) is moved along suspension bridge steel wire rope (13) from initiating terminal terminad, in folder
Tight road wheel (8) passes through the first connector respectively along suspension bridge steel wire rope (13) from during initiating terminal terminad is moved
And the second connector (12) drives steel wire rope magnetization unit (14) and wire rope standard unit (15) along suspension bridge steel wire rope (11)
(13) moved from initiating terminal terminad, steel wire rope magnetization unit (14) magnetizes to suspension bridge steel wire rope (13), afterwards steel wire
Rope detection unit (15) detected in real time to the remanent magnetism signal on suspension bridge steel wire rope (13), and by the remanent magnetism signal detected
Wire rope standard unit (15) is stored in, until wire rope standard unit (15) is moved to the end of suspension bridge steel wire rope (13),
Then complete the inspection of suspension bridge steel wire rope (13)；
Step 3: robot inspection completes and returns to the initiating terminal of suspension bridge steel wire rope：Suspension bridge steel wire rope is completed in step 2
(13) after inspection, first, operator sends return command, wireless remote control receiving unit by wireless remote control emitter (19)
(20) return command is received, and is sent to controller (16), controller (16) receives return command and controls the walking to drive
Motivation structure counteragent, hoofing part mechanism action driving clamps road wheel (8) and rotated backward, clamp road wheel (8) from
The end of suspension bridge steel wire rope (13) is moved to initiating terminal, clamp road wheel (8) end along suspension bridge steel wire rope (13) to
During initiating terminal is moved, steel wire rope magnetization unit is driven by the first connector (11) and the second connector (12) respectively
(14) moved with end of the wire rope standard unit (15) along suspension bridge steel wire rope (13) to initiating terminal, until steel wire rope magnetizes single
First (14) and wire rope standard unit (15) are moved to the initiating terminal of suspension bridge steel wire rope (13)；Then the control device is passed through
The clamp drive mechanism is controlled to rotate backward, rotating backward for the clamp drive mechanism drives two vertical supports
(7) moved away from suspension bridge steel wire rope (13) direction, the reverse movement of the vertical supports (7) drives two clamping road wheels
(8) moved away from suspension bridge steel wire rope (13) direction, then complete suspension bridge steel wire rope (13) between two clamping road wheels (8)
Removal, and by steel wire rope magnetization unit (14) and wire rope standard unit (15) from removal on suspension bridge steel wire rope (13)；
Step 4: step one is repeated several times to step 3：Until completing the detection to whole suspension bridge steel wire ropes (13)；
Step 5: the acquisition of faulted condition data：Suspension bridge steel wire rope (13) is obtained by the wire rope standard unit (15)
Faulted condition data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335763.5A CN107175665B (en) | 2017-05-12 | 2017-05-12 | Robot is patrolled and examined to suspension bridge wire rope damage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335763.5A CN107175665B (en) | 2017-05-12 | 2017-05-12 | Robot is patrolled and examined to suspension bridge wire rope damage |
Publications (2)
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| CN107175665A true CN107175665A (en) | 2017-09-19 |
| CN107175665B CN107175665B (en) | 2020-10-02 |
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| CN107841946A (en) * | 2017-12-04 | 2018-03-27 | 哈尔滨工业大学深圳研究生院 | A kind of crawler type rope climbing mechanism |
| CN108760874A (en) * | 2018-05-29 | 2018-11-06 | 河北布鲁克科技有限公司 | A kind of non-destructive testing device and method of steel wire rope |
| CN109494609A (en) * | 2018-04-19 | 2019-03-19 | 国网浙江省电力有限公司金华供电公司 | A kind of transmission line of electricity breakage and foreign matter adhere to detection system |
| CN110376228A (en) * | 2019-08-30 | 2019-10-25 | 云南电网有限责任公司电力科学研究院 | A kind of detection system applied to aerial high-voltage power transmission line |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN110842891A (en) * | 2019-10-29 | 2020-02-28 | 北京天地玛珂电液控制系统有限公司 | Patrol and examine track and patrol and examine device |
| CN111474321A (en) * | 2020-05-20 | 2020-07-31 | 山东理工职业学院 | Automobile shaft detection device and detection method |
| CN111830228A (en) * | 2020-06-01 | 2020-10-27 | 大器物联科技（广州）有限公司 | Dynamic positioning method and device for damaged position of steel wire rope |
| CN111847287A (en) * | 2020-06-01 | 2020-10-30 | 大器物联科技（广州）有限公司 | Tower crane distance measuring method based on UWB equipment, and dynamic positioning method and equipment for damage position of tower crane steel wire rope |
| CN112928692A (en) * | 2021-02-26 | 2021-06-08 | 国网河南省电力公司社旗县供电公司 | Single-rail moving mechanism and power grid inspection device |
| CN113525544A (en) * | 2021-07-23 | 2021-10-22 | 中国矿业大学 | Intelligent steel wire rope flaw detection climbing robot with magnetic type anti-falling system |
| CN114109281A (en) * | 2021-10-14 | 2022-03-01 | 天津渤海杰瑞石油装备有限公司 | Tackle device and under-pressure operation equipment |
| CN117400234A (en) * | 2023-12-14 | 2024-01-16 | 哈尔滨学院 | Special mechanical arm |
| CN118029286A (en) * | 2024-04-11 | 2024-05-14 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
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| CN109494609A (en) * | 2018-04-19 | 2019-03-19 | 国网浙江省电力有限公司金华供电公司 | A kind of transmission line of electricity breakage and foreign matter adhere to detection system |
| CN108760874A (en) * | 2018-05-29 | 2018-11-06 | 河北布鲁克科技有限公司 | A kind of non-destructive testing device and method of steel wire rope |
| CN110376228A (en) * | 2019-08-30 | 2019-10-25 | 云南电网有限责任公司电力科学研究院 | A kind of detection system applied to aerial high-voltage power transmission line |
| CN110376228B (en) * | 2019-08-30 | 2021-11-26 | 云南电网有限责任公司电力科学研究院 | Detection system applied to overhead high-voltage transmission line |
| CN110744524A (en) * | 2019-10-28 | 2020-02-04 | 北京海益同展信息科技有限公司 | Drive guiding mechanism and rail hanging robot |
| CN110842891B (en) * | 2019-10-29 | 2021-04-06 | 北京天地玛珂电液控制系统有限公司 | Patrol and examine track and patrol and examine device |
| CN110842891A (en) * | 2019-10-29 | 2020-02-28 | 北京天地玛珂电液控制系统有限公司 | Patrol and examine track and patrol and examine device |
| CN111474321A (en) * | 2020-05-20 | 2020-07-31 | 山东理工职业学院 | Automobile shaft detection device and detection method |
| CN111847287A (en) * | 2020-06-01 | 2020-10-30 | 大器物联科技（广州）有限公司 | Tower crane distance measuring method based on UWB equipment, and dynamic positioning method and equipment for damage position of tower crane steel wire rope |
| CN111830228B (en) * | 2020-06-01 | 2022-07-08 | 大器物联科技（广州）有限公司 | Dynamic positioning method and device for damaged position of steel wire rope |
| CN111830228A (en) * | 2020-06-01 | 2020-10-27 | 大器物联科技（广州）有限公司 | Dynamic positioning method and device for damaged position of steel wire rope |
| CN112928692A (en) * | 2021-02-26 | 2021-06-08 | 国网河南省电力公司社旗县供电公司 | Single-rail moving mechanism and power grid inspection device |
| CN112928692B (en) * | 2021-02-26 | 2022-09-20 | 国网河南省电力公司社旗县供电公司 | Single-rail moving mechanism and power grid inspection device |
| CN113525544A (en) * | 2021-07-23 | 2021-10-22 | 中国矿业大学 | Intelligent steel wire rope flaw detection climbing robot with magnetic type anti-falling system |
| CN114109281A (en) * | 2021-10-14 | 2022-03-01 | 天津渤海杰瑞石油装备有限公司 | Tackle device and under-pressure operation equipment |
| CN114109281B (en) * | 2021-10-14 | 2024-05-24 | 天津渤海杰瑞石油装备有限公司 | Pulley device and pressurized operation equipment |
| CN117400234A (en) * | 2023-12-14 | 2024-01-16 | 哈尔滨学院 | Special mechanical arm |
| CN117400234B (en) * | 2023-12-14 | 2024-02-27 | 哈尔滨学院 | Special mechanical arm |
| CN118029286A (en) * | 2024-04-11 | 2024-05-14 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
| CN118029286B (en) * | 2024-04-11 | 2024-06-11 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
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