CN109142440A - Dam suspension cable type crack detection robot - Google Patents
Dam suspension cable type crack detection robot Download PDFInfo
- Publication number
- CN109142440A CN109142440A CN201811067755.8A CN201811067755A CN109142440A CN 109142440 A CN109142440 A CN 109142440A CN 201811067755 A CN201811067755 A CN 201811067755A CN 109142440 A CN109142440 A CN 109142440A
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- CN
- China
- Prior art keywords
- probe vehicles
- crane
- crack detection
- dam
- pulley
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Classifications
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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
Abstract
The invention discloses a kind of dam suspension cable type crack detection robots, comprising: sliding rail, sliding rail are set on dam；Crane, crane are installed on sliding rail, and crane is equipped with hoist cable；Probe vehicles, probe vehicles include pulley mechanism, infrared detector, changing device and control module, and probe vehicles are connected to control module in crane, changing device and pyroscan by the mating connection of pulley mechanism and hoist cable.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:
Sliding rail, the sliding rail are set on the dam；
Crane, the crane are installed on the sliding rail, and the crane is equipped with hoist cable；
Probe vehicles, the probe vehicles include pulley mechanism, infrared detector, changing device and control module, the detection
Vehicle is visited by the mating connection of the pulley mechanism and the hoist cable in the crane, the changing device and the infrared ray
It surveys device and is connected to the control module.
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
Cooling medium is housed in the holding vessel, the holding vessel.
Preferably, the changing device 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 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.
Preferably, the tail portion of the crane is equipped with track and keeps off edge, and track gear is equipped with track roller along interior, and described
Heavy-duty machine by track gear along and track roller be coupled on the sliding rail.
Preferably, the probe vehicles further include brush roll, and the brush roll is set to the probe vehicles front end, pass through shaft coupling
Device is connected to driving motor.
Preferably, the crane front end is equipped with line wheel, and the main shaft of the line wheel is connected to bridge motor by retarder,
The hoist cable is wound in the line wheel.
Preferably, the front end two sides of the probe vehicles are equipped with omni-directional wheel, are used to support the probe vehicles.
Preferably, the top of the probe vehicles is equipped with solar panels, and the solar panels are connected to battery.
Preferably, lead ring is installed between the line wheel front end and the tail portion pulley and the cross transition pulley.
The beneficial effects of the present invention are:
1, it is laid with sliding rail on dam, crane is set on sliding rail, probe vehicles are connected to crane using hoist cable,
Crane can move on the slide rail, and drive probe vehicles to move left and right, crane allows to move down on trolley by retractable hoist cable
Dynamic, the control module in probe vehicles controls changing device to change the temperature on the building surface of part, makes on surface and in crack
Temperature difference is generated, the thermal imaging principle of infrared detector is recycled, detects position and the size of crackle, replace people with robot
Work industry, ensure that the personal safety of worker, and improve the accuracy of detection efficient and detection result, may be implemented to big
The complete detection on dam surface, avoids region from omitting, and excludes the security risk on dam comprehensively.
2, when environment temperature is higher, control module control pump is by the cooling medium in holding vessel by delivery pipe by high pressure
Spray head sprays, and is sprayed onto front of probe vehicles on surface to be detected, and by surface fast cooling, crack gives off at this time heat will be with
The surface to be cooled down is different, when infrared detector detection, can quickly detect crack related data and come.
3, when environment temperature is lower, control module controls air blower work, hot wind spray head is delivered the air to, by hot wind
Spray in front of probe vehicles on surface to be detected, surface be rapidly heated, the heat that crack gives off at this time by with the table that is cooled down
Face is different, when infrared detector detection, can quickly detect crack related data and come.
4, using tail portion pulley, probe vehicles are set on hoist cable by the common cooperation of cross transition pulley and middle part tensioning wheel,
Keep probe vehicles movement more flexible, and will not there is a phenomenon where sling slippings.
5, for crane using track gear along blocking on the slide rail, track gear is equipped with idler wheel, driving rolling between inside and sliding rail
Wheel rotation can make crane move on the slide rail.
6, brush roll is used to clean the attachment on dam surface, and attachment is avoided to impact detection result.
7, hoist cable is wrapped in line wheel, then rotating line wheel can be achieved with the folding and unfolding of hoist cable, and probe vehicles is driven to move up and down.
8, omni-directional wheel is set in probe vehicles front end, avoids probe vehicles front end and the friction of dam surface collision, damage dam with
Probe vehicles.
9, 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 can also
As emergency power, guarantee that detect operation is gone on smoothly.
10, setting lead ring prevents sling slipping, guarantees the cooperation of hoist cable and pulley.
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, sliding rail；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:
Sliding rail, sliding rail are set on dam；
Crane, crane are installed on sliding rail, and crane is equipped with hoist cable；
Probe vehicles, probe vehicles include pulley mechanism, infrared detector, changing device and control module, and probe vehicles pass through cunning
The mating connection for taking turns mechanism and hoist cable is connected to control module in crane, changing device and pyroscan.
Specifically, it is laid with sliding rail on dam, crane is set on sliding rail, probe vehicles have been connected to using hoist cable
Heavy-duty machine, crane can move on the slide rail, and probe vehicles is driven to move left and right, and crane makes trolley can be with by retractable hoist cable
Move up and down, control module in probe vehicles control changing device changes the temperature on the building surface of part, make on surface with
Temperature difference is generated in crack, is recycled the thermal imaging principle of infrared detector, is detected position and the size of crackle.
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, changing 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, changing device 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 risen
The surface of temperature is different, when infrared detector detection, can quickly detect crack related data and come.
Preferably, pulley mechanism includes tail portion pulley, cross transition pulley and middle part tensioning wheel, and tail portion pulley is logical
The two sides of tail that tail portion pulley bracket is set to probe vehicles is crossed, cross transition pulley is set to tail portion pulley front end, middle part tensioning
Wheel is set between two cross transition pulleys.
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.
Preferably, the tail portion of crane is equipped with track and keeps off edge, and track gear is equipped with track roller, idler wheel connection along interior
In idler wheel driving motor, crane by track keep off along and track roller be coupled on sliding rail.
Specifically, for crane using track gear along blocking on the slide rail, track gear is equipped with idler wheel, benefit between inside and sliding rail
Can just crane be made to move on the slide rail with idler wheel driving motor driven idler wheel rotation.
Preferably, probe vehicles further include brush roll, and brush roll is set to probe vehicles front end, is connected by shaft coupling
In driving motor.
Specifically, brush roll is used to clean the attachment on dam surface, and attachment is avoided to impact detection result.
Preferably, crane front end is equipped with line wheel, and the main shaft of line wheel is connected to bridge motor by retarder, hangs
Rope is wound in line wheel, and the front end of line wheel is equipped with lead ring, and lead ring is fixed on crane by buckling, and hoist cable in lead ring by passing through.
It is further preferable that crane top is equipped with retarder and bridge motor, the main shaft of the line wheel is connected by retarder
It is connected to bridge motor.
Specifically, hoist cable is wrapped in line wheel, then rotating line wheel can be achieved with the folding and unfolding of hoist cable, drive probe vehicles or more
It is mobile.
Preferably, the front end two sides of probe vehicles are equipped with omni-directional wheel, are used to support the probe vehicles.
Specifically, omni-directional wheel is set in probe vehicles front end, avoids probe vehicles front end and the friction of dam surface collision, damage is big
Dam and probe vehicles.
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, lead ring is installed between line wheel front end and tail portion pulley and cross transition pulley.
Specifically, setting lead ring prevents sling slipping, guarantees the cooperation of hoist cable and pulley.
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.
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:
Sliding rail 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 cunning
On rail 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.
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, crane is made to move on the slide rail, drives probe vehicles
It is moved along slide direction；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:
Sliding rail, the sliding rail are set on the dam；
Crane, the crane are installed on the sliding rail, and the crane is equipped with hoist cable；
Probe vehicles, the probe vehicles include pulley mechanism, infrared detector, changing device and control module, and the probe vehicles are logical
The mating connection of the pulley mechanism and the hoist cable is crossed in the crane, the changing device and the pyroscan
It is connected to the control module.
2. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the changing 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 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, 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 1, which is characterized in that the pulley mechanism includes
Tail portion pulley, cross transition pulley and middle part tensioning wheel, the tail portion pulley is set to the two sides of tail of the probe vehicles, described
Cross transition pulley is set to tail portion pulley front end, the middle part tensioning wheel be set to two cross transition pulleys it
Between.
5. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the tail portion of the crane
Equipped with track gear edge, the track gear is equipped with track roller along interior, and the crane passes through track gear edge and track roller
Be coupled on the sliding rail.
6. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the probe vehicles further include
Brush roll, the brush roll are set to the probe vehicles front end, are connected to driving motor by shaft coupling.
7. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the crane front end is set
There is line wheel, the main shaft of the line wheel is connected to bridge motor by retarder, and the hoist cable is wound in the line wheel.
8. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the front end of the probe vehicles
Two sides are equipped with omni-directional wheel, are used to support the probe vehicles.
9. dam suspension cable type crack detection robot according to claim 1, which is characterized in that the top of the probe vehicles
Equipped with solar panels, the solar panels are connected to battery.
10. dam suspension cable type crack detection robot according to claim 7, which is characterized in that the line wheel front end and
Lead ring is installed between the tail portion pulley and the cross transition pulley.
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| CN201811067755.8A CN109142440A (en) | 2018-09-13 | 2018-09-13 | Dam suspension cable type crack detection robot |
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| CN201811067755.8A CN109142440A (en) | 2018-09-13 | 2018-09-13 | Dam suspension cable type crack detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672728A (en) * | 2019-11-08 | 2020-01-10 | 上海理工大学 | Wall surface detection device |
| 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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