CN109060883A - Dam suspension cable type crack detection robot - Google Patents
Dam suspension cable type crack detection robot Download PDFInfo
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- CN109060883A CN109060883A CN201811068307.XA CN201811068307A CN109060883A CN 109060883 A CN109060883 A CN 109060883A CN 201811068307 A CN201811068307 A CN 201811068307A CN 109060883 A CN109060883 A CN 109060883A
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- dam
- crack detection
- crane
- spray head
- suspension cable
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of dam suspension cable type crack detection robots, comprising: track is set on dam；The track gear of crane cooperates along with track, and crane top is equipped with retarder and bridge motor, and the main shaft of line wheel is connected to bridge motor by retarder, and line wheel is equipped with hoist cable；Probe vehicles are by the mating connection of pulley block mechanism and hoist cable in crane, and infrared detector, changing device thereon is connected to control module, and changing device includes heat riser and cooling device.Labelling apparatus is set to the bottom of probe vehicles, including canister, paint pump, blower, perfusion tube, appendix and spray head, and perfusion tube one end is connected to canister by paint pump, and the other end is connected to spray head, and blower is connected to spray head by appendix.It replaces manual work, 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 dam 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 hydraulic engineering of various large sizes, including major
The dam of basin or reservoir.Dam is mainly concrete structure, since the dam of concrete is in feelings such as stress, temperature changes
Under condition, outer surface can generate crack, these cracks are the physics knots that concrete structure is generated due to the effect of internal and external factor
Structure variation, is the main reason for concrete structure bearing capacity, durability and waterproofness reduce, it would therefore be desirable in time
Identify whether crack is harmful cracks, corresponding safety measure must be taken for harmful cracks in time, generally use people in tradition
The mode of work detection, the artificial crackle that detects are easy to happen omission and error in judgement, and on the precipitous wall of dam, manual work
Risk is high, low efficiency, and mobile difficult.
Therefore, it is necessary to develop a kind of dam suspension cable type crack detection robots to avoid manual work instead of manual work
When cause danger, avoid search coverage from omitting, and improve the accuracy and detection efficient of crack detection, high degree guarantee dam
Safety.
Summary of the invention
The object of the present invention is to provide a kind of dam suspension cable type crack detection robots, and instead of manual work, utilization is infrared
Thermal imaging principle carries out crack detection, improves the accuracy and detection efficient of crack detection, and high degree guarantees the safety of building
The personal safety of property and worker.
To achieve the goals above, the present invention provides a kind of dam suspension cable type crack detection robot and includes:
Track, the track are set on the dam；
Crane, the crane include track gear edge, retarder, bridge motor and line wheel, and the track gear is along setting
In the bottom of the crane, the track gear cooperates along with the track, and the crane top is equipped with retarder and lifting
The main shaft of motor, the line wheel is connected to the bridge motor by the retarder, and the line wheel is equipped with hoist cable；
Probe vehicles, the probe vehicles include pulley block mechanism, infrared detector, changing device and control module, the spy
Measuring car is by the mating connection of the pulley block mechanism and the hoist cable in the crane, the infrared detector, alternating temperature dress
It sets and is connected to the control module, the changing device includes heat riser and cooling device；
Labelling apparatus, the labelling apparatus are set to the bottom of the probe vehicles, including canister, paint pump, blower, defeated
Liquid pipe, appendix and spray head, described perfusion tube one end are connected to the canister by paint pump, and the other end is connected to the spray
Head, the blower are connected to the spray head by the appendix.
Preferably, the cooling 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
Cooling medium is housed in the holding vessel, the holding vessel.
Preferably, the heat riser includes hot wind spray head, gas-guide tube, the second steering engine, air blower, and the hot wind spray head is set
It is placed 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 blower.
Preferably, the hot wind spray head includes thermal resistance, air jet pipe, buckle and fixed frame, is offered on the air jet pipe
Fumarole, the thermal resistance and the air jet pipe are juxtaposed on the fixed frame by the buckle, the thermal resistance position
In the fumarole side.
Preferably, the control module includes wireless transport module, central processing unit and stepper motor driver, described red
External detector, changing device and stepper motor driver are connected to the central processing unit, and the central processing unit is connected to institute
State wireless transport module.
Preferably, the track gear is equipped with multiple idler wheels along internal two sides, and the idler wheel is connected to idler wheel driving motor.
Preferably, the crane further includes lead ring, and the lead ring is set to the line wheel front end, logical with the crane
Buckle is crossed to be fixedly connected.
Preferably, the pulley mechanism includes tail portion pulley, cross transition pulley and middle part tensioning wheel, the tail portion pulley
It is set to the two sides of tail of the probe vehicles, the cross transition pulley is set to tail portion pulley front end, the middle part
Bearing up pulley is set between two cross transition pulleys.
It preferably, further include cleaning device in the probe vehicles, the cleaning device is for cleaning dam surface.
Preferably, the probe vehicles front end is equipped with omni-directional wheel.
The beneficial effects of the present invention are: bridge motor drives line wheel rotation come folding and unfolding hoist cable by retarder, realizes and visits
Measuring car moving up and down on dam, crane is moved along track, i.e. drive probe vehicles direction along ng a path is mobile, makes probe vehicles
Driving path covers dam surface comprehensively；Changing device is used to be raised and lowered the temperature on the building surface of part, makes on surface
With temperature difference is generated in crack, infrared detector can detect position and the size of crackle using thermal imaging principle, if visit
Dangerous crackle is measured, labelling apparatus sprays paint as label at this, is convenient for subsequent discrimination and reparation.It is replaced with robot
Manual work, ensure that the personal safety of worker, and improve the accuracy of detection efficient and detection result, may be implemented pair
The complete detection on dam surface, avoids region from omitting, and excludes the security risk on dam comprehensively.
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 its
Its purpose, feature and advantage will be apparent, wherein in exemplary embodiment of the invention, identical reference label
Typically represent same parts.
Fig. 1 shows the structural representation of dam suspension cable type crack detection robot according to an embodiment of the invention
Figure.
Fig. 2 shows the signals of the side of dam suspension cable type crack detection robot according to an embodiment of the invention
Figure.
Fig. 3 shows the structural 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 schematic diagram of pulley mechanism according to an embodiment of the invention.
Fig. 6 shows the structural schematic diagram of crane according to an embodiment of the invention.
Fig. 7 shows track according to an embodiment of the invention and sets up schematic diagram.
Description of symbols
1, track；2, crane；3, hoist cable；4, probe vehicles；5, dam；6, tail portion pulley；7, cross transition pulley；8, in
Portion's tensioning wheel；9, holding vessel；10, it pumps；11, the first steering engine；12, omni-directional wheel；13, high-pressure nozzle；14, brush roll；The spray of 15 hot winds
Head,；16, the second steering engine；17, infrared detector；18, lateral shelf plate；19, air blower；20, control module；21, battery；22, it leads
Ring；23, delivery pipe；24, gas-guide tube；25, tension pulley support；26, stern sheave bracket；27, pedestal；28, it buckles；29, main shaft；
30, track keeps off edge；31, idler wheel；32, idler wheel driving motor；33, retarder；34, bridge motor；35, line wheel；36, upstream；37,
Downstream；
Specific embodiment
The preferred embodiment of the present invention is described in more detail below.Although the following describe preferred implementations of the invention
Mode, however, it is to be appreciated that may be realized in various forms the present invention without that should be limited by the embodiments set forth herein.Phase
Instead, these 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.
Dam suspension cable type crack detection robot according to the present invention, comprising:
Track, track are set on the dam；
Crane, crane include track gear edge, retarder, bridge motor and line wheel, and track gear edge is set to crane
Bottom, track gear along and track cooperate, crane top is equipped with retarder and bridge motor, and the main shaft of line wheel passes through retarder
It is connected to bridge motor, line wheel is equipped with hoist cable；
Probe vehicles, probe vehicles include pulley block mechanism, infrared detector, changing device and control module, and probe vehicles pass through
The mating connection of pulley block mechanism and hoist cable is connected to control module, changing device in crane, infrared detector, changing device
Including heat riser and cooling device；
Labelling apparatus, labelling apparatus are set to the bottom of probe vehicles, including canister, paint pump, blower, perfusion tube, defeated
Tracheae and spray head, perfusion tube one end are connected to canister by paint pump, and the other end is connected to spray head, and blower is connected by appendix
It is connected to spray head.
Specifically, it is laid with track on dam, crane is set on track, bridge motor drives line wheel by retarder
Rotation carrys out folding and unfolding hoist cable, realizes probe vehicles moving up and down on dam, and crane is moved along track, i.e. drive probe vehicles are along rail
Road direction is mobile, and the driving path of probe vehicles is made to cover dam surface comprehensively；Changing device is for being raised and lowered local building
Temperature on surface, make on surface with temperature difference is generated in crack, infrared detector can be detected using thermal imaging principle to be split
The position of line and size, if detecting dangerous crackle, starting labelling apparatus sprays paint at this and marks, convenient for subsequent
It distinguishes and repairs.Manual work is replaced with robot, ensure that the personal safety of worker, and improves detection efficient and detection
As a result accuracy may be implemented to avoid region from omitting the complete detection on dam surface, and the safety excluded on dam comprehensively is hidden
Suffer from.
It is further preferable that probe vehicles include bottom plate and lateral shelf plate, lateral shelf plate is set to bottom plate two sides, and bottom plate is equipped with honeycomb
The heat release hole of shape, infrared detector, changing device and control module are set on bottom plate, and pulley block mechanism is set to lateral shelf plate
On.
It is further preferable that hoist cable is one whole section of steel wire, steel wire both ends are fastened respectively in the line wheel of crane two sides, in
Section is wrapped on pulley block mechanism.
Preferably, cooling device includes high-pressure nozzle, the first steering engine, delivery pipe, pump and holding vessel, high-pressure nozzle
It is set on the first steering engine, delivery pipe one end is connected to high-pressure nozzle, and the other end is connected to holding vessel by pump, fills in holding vessel
There is cooling medium.
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 high-pressure nozzle, by surface fast cooling, the heat that crack gives off at this time
Amount will be different from the surface to be cooled down, when infrared detector detection, can quickly detect crack related data and come.
Preferably, heat riser includes hot wind spray head, gas-guide tube, the second steering engine, air blower, the setting of hot wind spray head
In 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.
Preferably, hot wind spray head includes thermal resistance, air jet pipe, buckle and fixed frame, and spray is offered on air jet pipe
Stomata, thermal resistance and the air jet pipe are juxtaposed on fixed frame by buckle, and thermal resistance is located at the fumarole side.
Preferably, control module includes wireless transport module, central processing unit and stepper motor driver, infrared
Detector, changing device and stepper motor driver are connected to central processing unit, and central processing unit is connected to wireless transport module.
It is further preferable that control module is set in probe vehicles, including control base station, wireless transport module, central processing
Device and stepper motor driver, infrared detector, changing device and stepper motor driver are connected to central processing unit, centre
Reason device is connected to wireless transport module, and wireless transport module is connected to control base station.
Controller and host are equipped in control base station, host is connected to controller, and detection program and damage are equipped in host
Hurt database, detects the specific steps in program comprising crack detection, damage data library with measurement data for comparing, intelligence
Dangerous crackle can be judged whether it is.
Host will test program and be sent to controller by electric signal, and controller is passed electric signal by wireless transport module
It send to central processing unit, central processing unit executes detection according to electric signal and acts.
After receiving detectable signal, the bridge motor on central processing unit driving crane makes probe vehicles advance, and opens simultaneously
The dynamic cleaning device positioned at probe vehicles front end, cleans the surface to be detected of dam, and subsequent start-up is located at infrared detector and cleaning
Changing device between device starts infrared detector to change the temperature on dam surface to be detected later, if to be measured at this time
There is crackle on surface, then the temperature in crackle can be different from the temperature on surface to be measured, i.e. heat radiation is different, so infrared detector is sharp
The imaging data of crackle can be obtained with thermal imaging principle.
The measurement data of pyroscan is sent to central processing unit, and central processing unit will be surveyed by wireless transport module
Data transmission is measured to host, host compares and analyzes measurement data and damage data library.
The measurement data of infrared detector is saved and is compared with damage data library by host, if comparing result is danger
Dangerous crackle will issue the coordinate for alarming and marking crackle position, in order to which the crack forming mechanism in later period works.
Preferably, track gear is equipped with multiple idler wheels along internal two sides, and idler wheel is connected to idler wheel driving motor, drives
Dynamic idler wheel rotation can drive crane to move in orbit, reduce the abrasion of equipment.
Preferably, crane further includes lead ring, and lead ring is set to line wheel front end, fixed by snap with crane
Connection.
Specifically, for hoist cable by passing through in lead ring, lead ring changes the Impact direction of hoist cable, prevents hoist cable from slipping from line wheel.
Preferably, pulley mechanism includes tail portion pulley, cross transition pulley and middle part tensioning wheel, and tail portion pulley is set
It is placed in the two sides of tail of probe vehicles, cross transition pulley is set to tail portion pulley front end, and middle part tensioning wheel is set to two transverse directions
Between transition pulley.
It is further preferable that being provided with tension pulley support between lateral shelf plate, tensioning wheel is set to tensioning mid-stent, lateral mistake
It crosses pulley and is set to tension pulley support both ends.
Specifically, hoist cable is tensioned by crane successively by the tail portion pulley of side, cross transition pulley around middle part
Wheel, then be connected to crane via cross transition pulley, the tail portion pulley of the other side, tail portion pulley, cross transition pulley and in
Probe vehicles are set on hoist cable by the common cooperation of portion's tensioning wheel, keep probe vehicles movement more flexible, and sling slipping will not occur
Phenomenon.
It preferably, further include cleaning device in probe vehicles, cleaning device is for cleaning dam surface.
Preferably, probe vehicles front end is equipped with omni-directional wheel, avoids probe vehicles front end and the friction of dam surface collision, damages
Bad dam and probe vehicles.
It is further preferable that the top of probe vehicles is equipped with solar panels, 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.
Embodiment
Fig. 1 shows the structural representation of dam suspension cable type crack detection robot according to an embodiment of the invention
Figure；Fig. 2 shows the side schematic views of dam suspension cable type crack detection robot according to an embodiment of the invention；Fig. 3
Show the structural schematic diagram of probe vehicles according to an embodiment of the invention；Fig. 4 shows a reality according to the present invention
Apply the structural schematic diagram of the changing device of example；Fig. 5 shows the schematic diagram of pulley mechanism according to an embodiment of the invention；
Fig. 6 shows the structural schematic diagram of crane according to an embodiment of the invention；Fig. 7 shows one according to the present invention
The track of embodiment sets up schematic diagram.It is as shown in Figures 1 to 7:
The dam suspension cable type crack detection robot includes:
Track 1 is set on dam 5；27 tail portion of bottom plate of crane 2 is equipped with track and keeps off along 30, and track gear is equipped with along 30
Idler wheel 31, idler wheel 31 are connected to idler wheel driving motor 32, and crane 2 is kept off by track and being coupled along 30 and idler wheel 31 in rail
On road 1,2 front end of crane is equipped with line wheel 35, and the main shaft 29 of line wheel 35 is connected to bridge motor 34, hoist cable 3 by retarder 33
It is wound in line wheel 35, the front end of line wheel 35 is equipped with lead ring 22, and lead ring 22 is fixed on crane 2 by buckle 28, and hoist cable 3 is by leading
It is passed through in ring 22；Probe vehicles 4 include bottom plate and lateral shelf plate 18, and lateral shelf plate 18 is set to bottom plate two sides, and bottom plate is equipped with honeycomb
Heat release hole, infrared detector 17, changing device and control module 20 be set on bottom plate, and pulley block mechanism is set to lateral shelf plate
On 18,4 front end of probe vehicles is equipped with brush roll 14, and brush roll 14 is connected to driving motor, the lateral shelf plate of probe vehicles 4 by shaft coupling
18 front ends are equipped with omni-directional wheel 12, are used to support probe vehicles 4, and the top of probe vehicles 4 is equipped with solar panels, and solar panels are connected to storage
Battery 21, changing device and pyroscan 17 are connected to control module 20, and hoist cable 3 is one whole section of steel wire, steel wire two
End is fastened respectively in the line wheel 35 of 2 two sides of crane, and middle section is wrapped on pulley block mechanism, passes through pulley mechanism and hoist cable
3 cooperation makes probe vehicles 4 be connected to crane 2.
Wherein, changing device includes cooling device and heat riser, and cooling device includes high-pressure nozzle 13, the first steering engine
11, delivery pipe 23, pump 10 and holding vessel 9, high-pressure nozzle 13 are set on the first steering engine 11, and 23 one end of delivery pipe is connected to high pressure
Spray head 13, the other end are connected to holding vessel 9 by pump 10, cooling medium are housed in holding vessel 9；Heat riser includes hot wind spray head
15, gas-guide tube 24, the second steering engine 16, air blower 19, hot wind spray head 15 are set on the second steering engine 16, the connection of 24 one end of gas-guide tube
In hot wind spray head 15, the other end is connected to air blower 19.
Pulley mechanism includes tail portion pulley 6, cross transition pulley 7 and middle part tensioning wheel 8, and tail portion pulley 6 is sliding by tail portion
Wheel support 26 is set to the two sides of tail of probe vehicles 4, and pulley 6 front end in tail portion is equipped with tension pulley support 25,25 frame of tension pulley support
It is located between two sides frame plate 18, middle part tensioning wheel 8 is set to 25 middle part of tension pulley support, and cross transition pulley 7 is set to tensioning
25 both ends of wheel support, between the tail portion pulley 6 and cross transition pulley 7 and rear end of tail portion pulley 6 are equipped with lead ring 22.
Control module 20 is set in probe vehicles 4, including control base station, wireless transport module, central processing unit and stepping
Motor driver, infrared detector, changing device and stepper motor driver are connected to central processing unit, central processing unit connection
In wireless transport module, wireless transport module is connected to control base station.
Labelling apparatus is set to the bottom of probe vehicles, including canister, paint pump, blower, perfusion tube, appendix and spray
Head, perfusion tube one end are connected to canister by paint pump, and the other end is connected to spray head, and blower is connected to spray by appendix
Head.When detecting dangerous crackle, central processing unit starts paint pump, and paint is sent to spray head through perfusion tube by canister,
And at the same time starting blower, is delivered to spray head by appendix for air-flow, paint is ejected to danger from spray head using air-flow and is split
At line, mark danger crackle carries out convenient for subsequent repair.
Controller and host are equipped in control base station, host is connected to controller, and detection program and damage are equipped in host
Hurt database, detects the specific steps in program comprising crack detection, damage data library with measurement data for comparing, intelligence
Dangerous crackle can be judged whether it is.
Host will test program and be sent to controller by electric signal, and controller is passed electric signal by wireless transport module
It send to central processing unit, central processing unit executes detection according to electric signal and acts.
After receiving detectable signal, the bridge motor on central processing unit driving crane makes probe vehicles advance, and opens simultaneously
The dynamic cleaning device positioned at probe vehicles front end, cleans the surface to be detected of dam, and subsequent start-up is located at infrared detector and cleaning
Changing device between device starts infrared detector to change the temperature on dam surface to be detected later, if to be measured at this time
There is crackle on surface, then the temperature in crackle can be different from the temperature on surface to be measured, i.e. heat radiation is different, so infrared detector is sharp
The imaging data of crackle can be obtained with thermal imaging principle.
The measurement data of pyroscan is sent to central processing unit, and central processing unit will be surveyed by wireless transport module
Data transmission is measured to host, host compares and analyzes measurement data and damage data library.
The measurement data of infrared detector is saved and is compared with damage data library by host, if comparing result is danger
Dangerous crackle will issue the coordinate for alarming and marking crackle position, in order to which the crack forming mechanism in later period works.
36 be upstream in Fig. 7；37 be downstream.
Control program includes: to start cleaning device first, rotates brush roll, treats test surface and cleaned；Further according to
Real time temperature starts heat riser or cooling device, if environment temperature is relatively low, starts heat riser, makes hot wind using air blower
Spray head improves the temperature on surface to be measured to surface blowing hot-air to be measured, and surface temperature to be detected is made to be higher than the temperature in crack；If
Environment temperature is higher, starts cooling device, and the cooling medium in holding vessel is ejected to surface to be measured by high-pressure nozzle using pump,
The temperature for reducing surface to be measured makes surface temperature to be detected lower than the temperature in crack；Make to generate in surface and crack to be detected
Temperature difference starts infrared detector using thermal imaging later and obtains the imaging data of crackle.
After Dam Construction, manually sniffing robot is set up at the top of dam, single unit system is installed, electric wire
And cooling medium water-supply-pipe is laid.After reaching regulation detection time, the central processing unit of base station control trolley makes line
Wheel rotation, move up and down probe vehicles can；The idler wheel of crane is rotated, moves crane in orbit, drives probe vehicles
Direction along ng a path is mobile；The brush roll rotation of central processing unit control simultaneously, the dust of front concrete surface and impurity is clear
Reason is fallen；At environment temperature higher season, central processing unit controls the steering engine rotation of cooling system, and conduit is turned to conjunction
Suitable angle position, while pump starts by flexible conduit to spray the cooling medium in holding vessel by high-pressure nozzle, is laterally sprayed onto
On the surface that the small front side in front will measure, by surface fast cooling；Regard wall crackle as black matrix at this time, is based on black matrix spoke
Principle is penetrated, the heat that crack gives off at this time will be different from the metope to be cooled down, when hot detector detects, in this way
Crack related data can be quickly detected and, improve fracture detection speed and the accuracy of its width dimensions.In environment
When temperature is lower, the steering engine that central processing unit then controls cooling system drives support rod to turn to proper angle, while control flaps
Machine rotates, and on the wall that hot wind is sprayed to front, also according to black body radiation principle, thermal imaging processor can be quickly by crackle
Relative dimensions detect.
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
The comprehensive reply means of safety, even alarm etc..
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.
Claims (10)
1. a kind of dam suspension cable type crack detection robot, which is characterized in that dam suspension cable type crack detection robot packet
It includes:
Track, the track are set on the dam；
Crane, the crane include track gear edge, retarder, bridge motor and line wheel, and track gear edge is set to institute
The bottom of crane is stated, the track gear cooperates along with the track, and the crane top is equipped with retarder and bridge motor,
The main shaft of the line wheel is connected to the bridge motor by the retarder, and the line wheel is equipped with hoist cable；
Probe vehicles, the probe vehicles include pulley block mechanism, infrared detector, changing device and control module, the probe vehicles
By the mating connection of the pulley block mechanism and the hoist cable in the crane, the infrared detector, changing device connect
It is connected to the control module, the changing device includes heat riser and cooling device；
Labelling apparatus, the labelling apparatus are set to the bottom of the probe vehicles, including canister, paint pump, blower, infusion
Pipe, appendix and spray head, described perfusion tube one end are connected to the canister by paint pump, and the other end is connected to the spray
Head, the blower are connected to the spray head by the appendix.
2. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the cooling device includes
High-pressure nozzle, the first steering engine, delivery pipe, pump and holding vessel, the high-pressure nozzle are set on first steering engine, the conveying
Pipe one end is connected to the high-pressure nozzle, and the other end is connected to the holding vessel by the pump, is equipped in the holding vessel cold
But medium.
3. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the heat riser 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, the gas-guide tube one
End is connected to the hot wind spray head, and the other end is connected to the air blower.
4. dam suspension cable type crack detection robot according to claim 3, which is characterized in that the hot wind spray head includes
Thermal resistance, air jet pipe, buckle and fixed frame, fumarole is offered on the air jet pipe, and the thermal resistance and the air jet pipe are logical
It crosses the buckle to be juxtaposed on the fixed frame, the thermal resistance is located at the fumarole side.
5. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the control module includes
Wireless transport module, central processing unit and stepper motor driver, the infrared detector, changing device and stepper motor driving
Device is connected to the central processing unit, and the central processing unit is connected to the wireless transport module.
6. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the track gear is along inside
Two sides be equipped with multiple idler wheels, the idler wheel is connected to idler wheel driving motor.
7. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the crane further includes
Lead ring, the lead ring are set to the line wheel front end, with crane connection fixed by snap.
8. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the pulley mechanism includes
Including tail portion pulley, cross transition pulley and middle part tensioning wheel, the tail portion pulley are set to the two sides of tail of the probe vehicles,
The cross transition pulley is set to tail portion pulley front end, and it is sliding that the middle part tensioning wheel is set to two cross transitions
Between wheel.
9. dam suspension cable type crack detection robot according to claim 1, which is characterized in that also wrapped in the probe vehicles
Cleaning device is included, the cleaning device is for cleaning dam surface.
10. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the probe vehicles front end
Equipped with omni-directional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811068307.XA CN109060883A (en) | 2018-09-13 | 2018-09-13 | Dam suspension cable type crack detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811068307.XA CN109060883A (en) | 2018-09-13 | 2018-09-13 | Dam suspension cable type crack detection robot |
Publications (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113504217A (en) * | 2021-07-21 | 2021-10-15 | 上海化工院检测有限公司 | Raman spectrometer system carried by aerial photography device and sample collection and analysis method |
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