CN109048944A - Suspension cable type crack detection robot - Google Patents
Suspension cable type crack detection robot Download PDFInfo
- Publication number
- CN109048944A CN109048944A CN201811067745.4A CN201811067745A CN109048944A CN 109048944 A CN109048944 A CN 109048944A CN 201811067745 A CN201811067745 A CN 201811067745A CN 109048944 A CN109048944 A CN 109048944A
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- China
- Prior art keywords
- probe vehicles
- crack detection
- driving wheel
- robot
- suspension cable
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- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 239000000725 suspension Substances 0.000 title claims abstract description 22
- 239000000523 sample Substances 0.000 claims abstract description 82
- 239000007921 spray Substances 0.000 claims description 27
- 241000264877 Hippospongia communis Species 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims 1
- 238000001931 thermography Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 22
- 238000010586 diagram Methods 0.000 description 14
- 239000002826 coolant Substances 0.000 description 7
- 238000001816 cooling Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 208000037656 Respiratory Sounds Diseases 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 230000005457 Black-body radiation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 239000007864 aqueous solution Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 235000011089 carbon dioxide Nutrition 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Abstract
The invention discloses a kind of suspension cable type crack detection robots, comprising: hoist cable；Probe vehicles, probe vehicles are set on hoist cable, and probe vehicles are equipped with infrared detector, changing device and control module, and infrared detector and changing device are connected to control module；Suspended structure, suspended structure is set in probe vehicles, it is matched with hoist cable, including snap ring, multipair fast pulley and driving wheel, multipair fast pulley and driving wheel are installed on the side frame on probe vehicles both sides, snap ring is fixedly connected between fast pulley and driving wheel with the side frame of probe vehicles, and the common tangential of fast pulley and driving wheel passes through snap ring.This suspension cable type crack detection robot is used to replace artificial detect operation, carries out crack detection using infrared thermal imaging principle, improves the accuracy and detection efficient of crack detection, and high degree guarantees the safety of building and the personal safety of worker.
Description
Technical field
The invention belongs to detecting devices fields, more particularly, to a kind of suspension cable type crack detection robot.
Background technique
With the development of science and technology with the needs of production and living, people have built the engineering construction of various large sizes, engineering construction
It is occupied an leading position with concrete structure, since the heavy construction structure of concrete is when stress, temperature change,
Its outer surface can generate crack, these cracks are that the physical structure that concrete structure is generated due to the effect of internal and external factor becomes
Change, is the main reason for concrete structure bearing capacity, durability and waterproofness reduce, it would therefore be desirable to identify in time
Whether crack is harmful cracks, must take corresponding safety measure in time for harmful cracks, generally use artificial spy in tradition
The mode of survey, the artificial crackle that detects are easy to happen omission and error in judgement, and in the precipitous wall of some heavy construction structures
On, manual work risk is high, low efficiency, and mobile difficult.
Therefore, it is necessary to develop a kind of suspension cable type crack detection robot, instead of manual work, hair when avoiding manual work
It is raw dangerous, avoid search coverage from omitting, and improve the accuracy and detection efficient of crack detection, high degree guarantees building
Safety.
Summary of the invention
The object of the present invention is to provide a kind of suspension cable type crack detection robot, instead of manual work, using infrared heat at
As principle carries out crack detection, improve the accuracy and detection efficient of crack detection, high degree guarantee building safety and
The personal safety of worker.
To achieve the goals above, the present invention provides a kind of suspension cable type crack detection robot and includes:
Hoist cable；
Probe vehicles, the probe vehicles are set on the hoist cable, and the probe vehicles are equipped with infrared detector, changing device
And control module, the infrared detector and the changing device are connected to the control module；
Suspended structure, the suspended structure are set in the probe vehicles, are matched with the hoist cable, including snap ring, multipair
Fast pulley and driving wheel, the multipair fast pulley and driving wheel are installed on the side frame on the probe vehicles both sides, the snap ring position
Between the fast pulley and driving wheel, be fixedly connected with the side frame of the probe vehicles, the fast pulley and driving wheel it is public
Tangent line passes through the snap ring.
Preferably, the main shaft of the driving wheel is equipped with double output shaft stepper motor, the wheel of the driving wheel and fast pulley
Hub two sides are equipped with baffle.
Preferably, the driving wheel is set to the middle part of the probe vehicles, and the fast pulley is set to the probe vehicles
Rear and front end.
Preferably, the fast pulley is fixed on the side frame on the probe vehicles both sides by pin shaft.
Preferably, the changing device includes high-pressure nozzle, the first steering engine, delivery pipe, pump and holding vessel, the high pressure
Spray head is set on first steering engine, and described delivery pipe one end is connected to the high-pressure nozzle, and the other end is connected by the pump
It is connected to the holding vessel.
Preferably, the changing device includes hot wind spray head, gas-guide tube, the second steering engine, air blower, the hot wind spray head
It is set on second steering engine, described gas-guide tube one end is connected to the hot wind spray head, and the other end is connected to the air blast
Machine.
Preferably, the hoist cable both ends are connected to geo-stationary orbit vehicle, and the hoist cable is set to two by geo-stationary orbit vehicle
Between track.
Preferably, the control module includes central processing unit, wireless transport module and stepper motor driver.
Preferably, the top of the probe vehicles is equipped with solar panels, and the solar panels are connected to battery.
Preferably, honey comb like heat release hole is provided on the bottom plate of the probe vehicles.
The beneficial effects of the present invention are:
1, hoist cable is set on the surface to be detected of building, by snap ring, multipair fast pulley and driving wheel in probe vehicles with
The cooperation of hoist cable hangs on probe vehicles on the face to be detected of building, moves probe vehicles along hoist cable, and control module can be with
Control changing device and infrared detector, changing device for changing the temperature on the building surface of part, make on surface with crack
Interior generation temperature difference recycles the thermal imaging principle of infrared detector, detects position and the size of crackle.
2, main shaft is equipped with double output shaft stepper motor, rotates driving wheel, provides power for the traveling of probe vehicles, main
The wheel hub two sides of driving wheel and fast pulley are equipped with baffle, prevent hoist cable from slipping from wheel hub, and probe vehicles is caused to be detached from travelling route.
3, driving wheel and fast pulley arranged for interval, keep the cooperation of probe vehicles and hoist cable stronger, travel more stable.
4, when environment temperature is higher, control module control pump is by the cooling medium in holding vessel by delivery pipe by height
It presses spray head to spray, is sprayed on the surface to be detected of probe vehicles front, by surface fast cooling, the heat that crack gives off at this time
Will be different from the surface to be cooled down, when infrared detector detection, crack related data can be quickly detected and.
5, when environment temperature is lower, control module controls air blower work, delivers the air to hot wind spray head, will be hot
Wind sprays in front of probe vehicles on surface to be detected, surface is rapidly heated, the heat that crack gives off at this time by with cooled down
Surface is different, when infrared detector detection, can quickly detect crack related data and come.
6, two parallel orbits are set in the two sides on building surface to be detected, geo-stationary orbit vehicle are set on two tracks,
Hoist cable both ends are connected to geo-stationary orbit vehicle on two tracks, hoist cable is allow to convert position with the movement of geo-stationary orbit vehicle
It sets, makes the probe vehicles search coverage on hoist cable that face to be detected be completely covered.
7, solar panels are set at the top of probe vehicles, part electric energy can be provided for the work of probe vehicles, energy conservation and environmental protection,
It can be used as emergency power, guarantee that detect operation is gone on smoothly.
8, honey comb like heat release hole is provided on bottom plate, conducive to the heat dissipation of solar panels.
Other features and advantages of the present invention will then part of the detailed description can be specified.
Detailed description of the invention
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and
Other purposes, feature and advantage will be apparent, wherein identical with reference to mark in exemplary embodiment of the invention
Number typically represent same parts.
Fig. 1 shows the structural schematic diagram of suspension cable type crack detection according to an embodiment of the invention robot.
Fig. 2 shows the bottom substance schematic diagrams of probe vehicles according to an embodiment of the invention.
Fig. 3 shows the top structure schematic diagram of probe vehicles according to an embodiment of the invention.
Fig. 4 shows the structural schematic diagram of changing device according to an embodiment of the invention.
Fig. 5 shows the partial schematic diagram of changing device according to an embodiment of the invention.
Fig. 6 shows the structural schematic diagram of hot wind spray head according to an embodiment of the invention.
Fig. 7 shows the position view of snap ring according to an embodiment of the invention.
Fig. 8 shows control planning schematic diagram according to one embodiment of present invention.
Description of symbols
1, track；2, geo-stationary orbit vehicle；3, hoist cable；4, probe vehicles；5, bottom plate；6, lateral shelf plate；7, driving wheel；8, lose-lose
Shaft step motor out；9, fast pulley；10, infrared detector；11, central processing unit；12, stepper motor driver；13, wireless
Transmission module；14, solar panels；15, battery；16, heat release hole；17, brush roll；18, shaft coupling；19, driving motor；20,
High-pressure nozzle；21, the first steering engine；22, delivery pipe；23, it pumps；24, holding vessel；25, hot wind spray head；26, gas-guide tube；27, second
Steering engine；28, air blower；29, thermal resistance；30, air jet pipe；31, it buckles；32, fixed frame；33, fumarole；34, support rod；35,
Gripper sleeve；36, deflecting conduit；37, conduit；38, flexible conduit；39, main shaft；40, snap ring；
Specific embodiment
The preferred embodiment of the present invention is described in more detail below.Although the following describe preferred realities of the invention
Mode is applied, however, it is to be appreciated that may be realized in various forms the present invention without that should be limited by embodiments set forth herein
System.On the contrary, thesing embodiments are provided so that the present invention is more thorough and complete, and can be by the scope of the present invention
Completely it is communicated to those skilled in the art.
A kind of suspension cable type crack detection robot according to the present invention includes:
Hoist cable；
Probe vehicles, probe vehicles are set on hoist cable, and probe vehicles are equipped with infrared detector, changing device and control module, red
External detector and changing device are connected to control module；
Suspended structure, suspended structure are set in probe vehicles, are matched with hoist cable, including snap ring, multipair fast pulley and active
Wheel, multipair fast pulley and driving wheel be installed on the side frame on probe vehicles both sides, snap ring between fast pulley and driving wheel, with
The side frame of probe vehicles is fixedly connected, and the common tangential of fast pulley and driving wheel passes through snap ring.
Specifically, hoist cable is set on the surface to be detected of building, passes through snap ring, multipair fast pulley and the master in probe vehicles
The cooperation of driving wheel and hoist cable hangs on probe vehicles on the face to be detected of building, moves probe vehicles along hoist cable, controls mould
Block can control changing device and infrared detector, and changing device makes on surface for changing the temperature on the building surface of part
With temperature difference is generated in crack, recycle the thermal imaging principle of infrared detector, detect position and the size of crackle.
Preferably, the main shaft of driving wheel is equipped with double output shaft stepper motor, the wheel hub of driving wheel and fast pulley
Two sides are equipped with baffle.
Specifically, main shaft be equipped with double output shaft stepper motor, rotate driving wheel, for probe vehicles traveling provide it is dynamic
The wheel hub two sides of power, driving wheel and fast pulley are equipped with baffle, prevent hoist cable from slipping from wheel hub, cause probe vehicles to be detached from and advance
Route.
Preferably, driving wheel is set to the middle part of probe vehicles, and fast pulley is set to the rear and front end of probe vehicles.
Specifically, driving wheel and fast pulley arranged for interval, keep the cooperation of probe vehicles and hoist cable stronger, travel more stable.
Preferably, fast pulley is fixed on the side frame on probe vehicles both sides by pin shaft.
Preferably, changing device includes high-pressure nozzle, the first steering engine, delivery pipe, pump and holding vessel, high pressure spray
Head is set on the first steering engine, and delivery pipe one end is connected to high-pressure nozzle, and the other end is connected to holding vessel by pump.
It is further preferable that the shaft of the first steering engine is equipped with gripper sleeve, conduit is installed on gripper sleeve, conduit
Front end is provided with deflecting conduit, and high-pressure nozzle is installed on deflecting conduit.
It is further preferable that being equipped with cooling medium in holding vessel.
It is further preferable that cooling medium is aqueous solution or dry ice.
Specifically, when environment temperature is higher, the cooling medium in holding vessel is passed through delivery pipe by control module control pump
It is sprayed, is sprayed on the surface to be detected of probe vehicles front, by surface fast cooling, crack is given off at this time by high-pressure nozzle
Heat will be different from the surface to be cooled down, when infrared detector detection, can quickly detect crack related data and come.
Preferably, changing device includes hot wind spray head, gas-guide tube, the second steering engine, air blower, and hot wind spray head is set
It is placed on the second steering engine, gas-guide tube one end is connected to hot wind spray head, and the other end is connected to air blower.
Specifically, when environment temperature is lower, control module controls air blower work, delivers the air to hot wind spray head,
Hot wind is sprayed in front of probe vehicles on surface to be detected, surface is rapidly heated, the heat that crack gives off at this time will with dropped
The surface of temperature is different, when infrared detector detection, can quickly detect crack related data and come.
It is more highly preferred to, hot wind spray head includes thermal resistance, air jet pipe, buckle and fixed frame, offers jet on air jet pipe
Hole, thermal resistance and air jet pipe are juxtaposed on fixed frame by buckle, and thermal resistance is located at fumarole side.
It is further preferable that the shaft of the second steering engine is equipped with gripper sleeve, it is connected with support rod on gripper sleeve, it is fixed
Erection is placed on support rod.
Specifically, thermal resistance is set to jet vacancy in hot wind spray head, the normal temperature air that can carry out air blower conveying is straight
Heating is connect, is that hot blast feeding is sufficient and timely.
Preferably, hoist cable both ends are connected to geo-stationary orbit vehicle, and hoist cable is set to two rails by geo-stationary orbit vehicle
Between road.
Specifically, two parallel orbits are set in the two sides on building surface to be detected, synchronous rail is set on two tracks
Hoist cable both ends are connected to geo-stationary orbit vehicle on two tracks, become hoist cable with the movement of geo-stationary orbit vehicle by road vehicle
Change place makes the probe vehicles search coverage on hoist cable that face to be detected be completely covered.
Preferably, control module includes central processing unit, wireless transport module and stepper motor driver.
It is further preferable that control module includes that control base station, wireless transport module, central processing unit and stepper motor drive
Dynamic device, infrared detector, changing device and stepper motor driver are connected to central processing unit, and central processing unit is connected to nothing
Line transmission module, wireless transport module are connected to control base station.
Controller and host are equipped in control base station, host is connected to controller, bridge machinery program is equipped in host
And damage data library.
Bridge machinery program is sent to controller by electric signal by host, and controller will be electric by wireless transport module
Signal is sent to central processing unit, and central processing unit executes detection according to electric signal and acts.
The measurement data of pyroscan is sent to central processing unit, and central processing unit will by wireless transport module
Measurement data is sent to host, and host compares and analyzes measurement data and damage data library.
Preferably, the top of probe vehicles is equipped with solar panels, and solar panels are connected to battery.
Specifically, solar panels are set at the top of probe vehicles, part electric energy, energy-saving ring can be provided for the work of probe vehicles
It protects, also can be used as emergency power, guarantee that detect operation is gone on smoothly.
Preferably, honey comb like heat release hole is provided on the bottom plate of probe vehicles.
Specifically, honey comb like heat release hole is provided on bottom plate, conducive to the heat dissipation of solar panels.
It is further preferable that probe vehicles are equipped with cleaning device, including brush roll, driving motor and shaft coupling, brush roll is logical
It crosses rotary shaft and is set to probe vehicles front end, brush roll is connect with driving motor by shaft coupling.
Specifically, cleaning device is set to the front end of probe vehicles direction of advance, starts driving electricity using central processing unit
Machine drives brush roll rotation, and the dust of concrete surface to be detected and impurity are cleaned up, avoid surface attachments to infrared
The imaging of detector affects, and keeps detection result more accurate.
Embodiment
Fig. 1 shows the structural schematic diagram of suspension cable type crack detection according to an embodiment of the invention robot；Figure
2 show the bottom substance schematic diagram of probe vehicles according to an embodiment of the invention；Fig. 3 shows according to the present invention
The top structure schematic diagram of the probe vehicles of one embodiment；Fig. 4 shows changing device according to an embodiment of the invention
Structural schematic diagram；Fig. 5 shows the partial schematic diagram of changing device according to an embodiment of the invention；Fig. 6 is shown
The structural schematic diagram of hot wind spray head according to an embodiment of the invention；Fig. 7 is according to one embodiment of the present of invention
The position view of snap ring；Fig. 8 shows control planning schematic diagram according to an embodiment of the invention.Such as Fig. 1 to Fig. 8
Shown, which includes:
Hoist cable 3,3 both ends of hoist cable are connected to geo-stationary orbit vehicle 2, and hoist cable 3 is set to two tracks 1 by geo-stationary orbit vehicle 2
Between；
Probe vehicles 4, probe vehicles 4 are set up on hoist cable 3, including bottom plate 5 and positioned at the lateral shelf plate 6 of bottom plate two sides, bottom plate 5
On be provided with honey comb like heat release hole 16, multipair fast pulley 9 and driving wheel 7, the main shaft 39 of driving wheel 7 are installed on lateral shelf plate 6
It is equipped with double output shaft stepper motor 8, probe vehicles 4 are set up on hoist cable 3 by the cooperation of fast pulley 9 and driving wheel 7, actively
Wheel 7 is set to the middle part of probe vehicles 4, and fast pulley 9 is set to the rear and front end of probe vehicles 4, and fast pulley 9 is fixed on by pin shaft
On the lateral shelf plate 6 on 4 both sides of probe vehicles, snap ring 40 is fixed with the lateral shelf plate 6 of probe vehicles 4 between fast pulley 9 and driving wheel 7
Connection, the common tangential of fast pulley 9 and driving wheel 7 pass through snap ring 40, and the wheel hub two sides of driving wheel 7 and fast pulley 9 are equipped with gear
Plate.Probe vehicles 4 are equipped with infrared detector 10 and control module, and infrared detector 10 is connected to control module.
Control module includes control base station, wireless transport module 13, central processing unit 11 and stepper motor driver 12,
Infrared detector 10, changing device and stepper motor driver 12 are connected to central processing unit 11, and central processing unit 11 is connected to
Wireless transport module 13, wireless transport module 13 are connected to control base station, are equipped with controller and host, host in control base station
It is connected to controller, bridge machinery program is installed in host and bridge machinery program is passed through telecommunications by damage data library, host
Number it is sent to controller, electric signal is sent to central processing unit 11, central processing unit 11 by wireless transport module by controller
Detection movement is executed according to electric signal, the measurement data of infrared detector 10 is sent to central processing unit 11, central processing unit
Measurement data is sent to host by wireless transport module 13 by 11, and host compares measurement data and damage data library
Analysis.
Changing device, changing device are set in probe vehicles 3, are connected to control module, including heat riser and cooling dress
It sets, in which:
Cooling device includes high-pressure nozzle 20, the first steering engine 21, delivery pipe 22, pump 23 and holding vessel 24, the first steering engine 21
Shaft be equipped with gripper sleeve 35, conduit 37 is installed on gripper sleeve 35, the front end of conduit 37 is provided with deflecting conduit
36, high-pressure nozzle 20 is installed on deflecting conduit 36, and delivery pipe 22 is connected to high-pressure nozzle 20, the other end by flexible conduit 38
It is connected to holding vessel 24 by pump 23, cooling medium is housed in holding vessel 24.
Heat riser includes hot wind spray head 25, gas-guide tube 26, the second steering engine 27, air blower 28, and hot wind spray head 25 includes heat
Resistance 29, air jet pipe 30 buckle 31 and fixed frame 32, and fumarole 33, thermal resistance 29 and air jet pipe 30 are offered on air jet pipe 30
It being juxtaposed on fixed frame 32 by buckle 31, thermal resistance 29 is located at 33 side of fumarole, it is set on the second steering engine 27, the
The shaft of two steering engines 27 is equipped with gripper sleeve 35, is connected with support rod 34 on gripper sleeve 35, fixed frame 32 is set to branch
On strut 34,26 one end of gas-guide tube is connected to hot wind spray head 25, and the other end is connected to air blower 28.
Cleaning device, including brush roll 17, driving motor 19 and shaft coupling 18 are additionally provided in probe vehicles 4, brush roll 17 is logical
It crosses rotary shaft and is set to 4 front end of probe vehicles, brush roll 17 connect 18 by shaft coupling with driving motor 19；The top of probe vehicles 4
Equipped with solar panels 14, solar panels 14 are connected to battery 15.
After bridge construction, sniffing robot is manually set up in pontic fragility position (stress concentration region), it will be whole
Body device installs, and electric wire and cooling medium water-supply-pipe are laid.After reaching the regulation detection pontic time, base station control
The central processing unit of trolley makes trolley mobile, while central processing unit control brush roll rotation, by front concrete surface
Dust and impurity clean up；At environment temperature higher season, the steering engine that central processing unit controls cooling system turns
It is dynamic, conduit is turned into proper angular position, while pump starts the cooling medium in holding vessel through flexible conduit by high pressure spray
Head sprays, and is laterally sprayed on the pontic surface that the small front side in front will measure, by surface fast cooling；At this time by wall
Crackle regards black matrix as, is based on black body radiation principle, the heat that crack gives off at this time will be different from the metope to be cooled down, hot
Detector detect when, crack related data can be quickly detected in this way come, improve fracture detection speed and
The accuracy of its width dimensions.When environment temperature is lower, the steering engine that central processing unit then controls cooling system drives support rod
Proper angle is turned to, while controlling steering engine rotation, on the wall that hot wind is sprayed to front, also according to black body radiation original
Reason, thermal imaging processor can quickly detect crackle relative dimensions.
The pattern in crack is transmitted to the host of base station by the wireless transport module of robot, realizes visualization flaw detection
Purpose；And pass through the bridge machinery APP in host and damage data library, it is compared, analyzes, studies and judges, and then obtain bridge
Safety, even comprehensive reply means such as alarm.
Probe vehicles installation process: when geo-stationary orbit mechanism of car after the installation is completed, will detect trolley both sides driving wheel, passively
It takes turns and is fixed with hoist cable placement, then opened four snap rings on side frame, and bilateral hoist cable is put into inside snap ring, it is interior later
Portion's spring closes snap ring automatically.
It removes process: first opening snap ring, hoist cable is taken out from snap ring, entire trolley is then removed into recycling.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is also not necessarily limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this
Many modifications and changes are obvious for the those of ordinary skill of technical field.
Claims (10)
1. a kind of suspension cable type crack detection robot, which is characterized in that suspension cable type crack detection robot includes:
Hoist cable；
Probe vehicles, the probe vehicles are set on the hoist cable, and the probe vehicles are equipped with infrared detector, changing device and control
Module, the infrared detector and the changing device are connected to the control module；
Suspended structure, the suspended structure are set in the probe vehicles, are matched with the hoist cable, including snap ring, multipair fixation
Wheel and driving wheel, the multipair fast pulley and driving wheel are installed on the side frame on the probe vehicles both sides, and the snap ring is located at institute
It states between fast pulley and driving wheel, is fixedly connected with the side frame of the probe vehicles, the common tangential of the fast pulley and driving wheel
Across the snap ring.
2. suspension cable type crack detection according to claim 1 robot, which is characterized in that set on the main shaft of the driving wheel
There is a double output shaft stepper motor, the wheel hub two sides of the driving wheel and fast pulley are equipped with baffle.
3. suspension cable type crack detection according to claim 1 robot, which is characterized in that the driving wheel is set to described
The middle part of probe vehicles, the fast pulley are set to the rear and front end of the probe vehicles.
4. suspension cable type crack detection according to claim 1 robot, which is characterized in that the fast pulley is solid by pin shaft
Due on the side frame on the probe vehicles both sides.
5. suspension cable type crack detection according to claim 1 robot, which is characterized in that the changing device includes high pressure
Spray head, the first steering engine, delivery pipe, pump and holding vessel, the high-pressure nozzle are set on first steering engine, the delivery pipe one
End is connected to the high-pressure nozzle, and the other end is connected to the holding vessel by the pump.
6. suspension cable type crack detection according to claim 1 robot, which is characterized in that the changing device includes hot wind
Spray head, gas-guide tube, the second steering engine, air blower, the hot wind spray head are set on second steering engine, and described gas-guide tube one end connects
It is connected to the hot wind spray head, the other end is connected to the air blower.
7. suspension cable type crack detection according to claim 1 robot, which is characterized in that the hoist cable both ends are connected to together
Railcar is walked, the hoist cable is set between two tracks by geo-stationary orbit vehicle.
8. suspension cable type crack detection according to claim 1 robot, which is characterized in that the control module includes center
Processor, wireless transport module and stepper motor driver.
9. suspension cable type crack detection according to claim 1 robot, which is characterized in that the top of the probe vehicles is equipped with
Solar panels, the solar panels are connected to battery.
10. suspension cable type crack detection according to claim 1 robot, which is characterized in that on the bottom plate of the probe vehicles
It is provided with honey comb like heat release hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067745.4A CN109048944A (en) | 2018-09-13 | 2018-09-13 | Suspension cable type crack detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067745.4A CN109048944A (en) | 2018-09-13 | 2018-09-13 | Suspension cable type crack detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109048944A true CN109048944A (en) | 2018-12-21 |
Family
ID=64761579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811067745.4A Pending CN109048944A (en) | 2018-09-13 | 2018-09-13 | Suspension cable type crack detection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109048944A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894824A (en) * | 2021-12-09 | 2022-01-07 | 浙江高信技术股份有限公司 | Track inspection robot |
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| CN1769126A (en) * | 2005-09-28 | 2006-05-10 | 吉林大学 | Suspension structure of six-wheeled type environment inspecting vehicle |
| CN105151140A (en) * | 2015-08-26 | 2015-12-16 | 长治市永华机械有限公司 | Dual-power multifunctional crawler-type underground probe vehicle |
| CN106324037A (en) * | 2016-09-30 | 2017-01-11 | 杭州公科路桥技术有限公司 | System and method for nondestructive examination of bridge concrete structure defects |
| CN206618725U (en) * | 2017-01-24 | 2017-11-07 | 福建省泰成建设工程有限公司 | A kind of dam the cannot-harm-detection device |
| CN210452736U (en) * | 2018-09-13 | 2020-05-05 | 武汉轻工大学 | Sling type crack detection robot |
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2018
- 2018-09-13 CN CN201811067745.4A patent/CN109048944A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1769126A (en) * | 2005-09-28 | 2006-05-10 | 吉林大学 | Suspension structure of six-wheeled type environment inspecting vehicle |
| CN105151140A (en) * | 2015-08-26 | 2015-12-16 | 长治市永华机械有限公司 | Dual-power multifunctional crawler-type underground probe vehicle |
| CN106324037A (en) * | 2016-09-30 | 2017-01-11 | 杭州公科路桥技术有限公司 | System and method for nondestructive examination of bridge concrete structure defects |
| CN206618725U (en) * | 2017-01-24 | 2017-11-07 | 福建省泰成建设工程有限公司 | A kind of dam the cannot-harm-detection device |
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| CN113894824A (en) * | 2021-12-09 | 2022-01-07 | 浙江高信技术股份有限公司 | Track inspection robot |
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