CN109176544A - Suspension cable type crack detection robot - Google Patents
Suspension cable type crack detection robot Download PDFInfo
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- CN109176544A CN109176544A CN201811068270.0A CN201811068270A CN109176544A CN 109176544 A CN109176544 A CN 109176544A CN 201811068270 A CN201811068270 A CN 201811068270A CN 109176544 A CN109176544 A CN 109176544A
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- crack detection
- robot
- probe vehicles
- suspension cable
- spray head
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- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 239000000725 suspension Substances 0.000 title claims abstract description 23
- 239000000523 sample Substances 0.000 claims abstract description 64
- 238000010438 heat treatment Methods 0.000 claims abstract description 19
- 239000007921 spray Substances 0.000 claims description 42
- 239000000446 fuel Substances 0.000 claims description 8
- 239000000567 combustion gas Substances 0.000 claims 1
- 230000005619 thermoelectricity Effects 0.000 claims 1
- 238000001931 thermography Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 14
- 238000001816 cooling Methods 0.000 description 7
- 239000002826 coolant Substances 0.000 description 6
- 241000264877 Hippospongia communis Species 0.000 description 5
- 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
- 238000005259 measurement Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 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
- 230000017525 heat dissipation Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003860 storage 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
- 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
- 230000009977 dual effect Effects 0.000 description 1
- 239000000428 dust Substances 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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- 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)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Manipulator (AREA)
Abstract
It include: hoist cable the invention discloses a kind of suspension cable type crack detection robot；Probe vehicles, probe vehicles are set up on hoist cable, and probe vehicles are equipped with infrared detector and control module, and infrared detector is connected to control module；Heating device, heating device are set in probe vehicles, are connected to control module.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,
Outer surface can generate crack, these cracks are the physical structure variations that concrete structure is generated due to the effect of internal and external factor,
It is the main reason for concrete structure bearing capacity, durability and waterproofness reduce, it would therefore be desirable to identify crack in time
Whether it is harmful cracks, corresponding safety measure must be taken in time for harmful cracks, generallys use in tradition and manually detect
Mode, the artificial crackle that detects are easy to happen omission and error in judgement, and on the precipitous wall of some heavy construction structures, manually
Operation 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 the peace of building
Quan Xing.
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 up on the hoist cable, and the probe vehicles are equipped with infrared detector and control module,
The infrared detector is connected to the control module；
Heating device, the heating device are set in the probe vehicles, are connected to the control module.
Preferably, the heating device includes hot wind spray head, gas-guide tube, steering engine, air blower, and the hot wind spray head is set to
On the 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 shaft of the steering engine is equipped with gripper sleeve, is connected with support rod on the gripper sleeve, described solid
Fixed set up is placed on the support rod.
Preferably, the heating device includes fuel cartridge, appendix, spray head, ignition device, appendix one end connection
In the fuel cartridge, the other end is connected to the spray head, and the spray head is equipped with ignition device, and the ignition device is connected to institute
Control module is stated, is equipped with fire-proof plate at the spray head.
Preferably, the fuel cartridge is equipped with valve, and the valve is connected to the control module.
Preferably, the probe vehicles include bottom plate and the side frame positioned at the bottom plate two sides, are equipped on the side frame more
To fast pulley and driving wheel, the main shaft of the driving wheel is equipped with double output shaft stepper motor, and the probe vehicles pass through described solid
The cooperation of fixed wheel and driving wheel is set up on the hoist cable.
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 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.
The beneficial effects of the present invention are:
1, hoist cable is set on the surface to be detected of building, probe vehicles is set on the face to be detected of building using hoist cable,
Move probe vehicles along hoist cable, control module can control heating device and infrared detector, and heating device is for increasing
Part building surface on temperature, make on surface with generate temperature difference in crack, recycle the thermal imaging principle of infrared detector,
Detect position and the size of crackle.
2, control module control air blower work, delivers the air to hot wind spray head, by hot wind spray in front of probe vehicles to
On searching surface, surface is rapidly heated, the heat that crack gives off at this time will be different from the surface to be cooled down, work as infrared acquisition
When device detects, crack related data can be quickly detected and.
3, thermal resistance is set to jet vacancy in hot wind spray head, the normal temperature air that air blower conveying comes can be directly added
Heat keeps hot blast feeding sufficient and timely.
4, hot wind spray head is set on steering engine using support rod and gripper sleeve, is that hot wind spray head can turn with steering engine
It is dynamic to change direction.
5, 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.
6, 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.
7, 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 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 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, dual output
Shaft step motor；9, fast pulley；10, infrared detector；11, central processing unit；12, stepper motor driver；13, it is wirelessly transferred
Module；14, solar panels；15, battery；16, heat release hole；17, brush roll；18, shaft coupling；19, driving motor；20, high pressure
Spray head；21, the first steering engine；22, delivery pipe；23, it pumps；24, holding vessel；25, hot wind spray head；26, gas-guide tube；27, the 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, retaining sleeve
Cylinder；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 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.
Suspension cable type crack detection according to the present invention robot, comprising:
Hoist cable；
Probe vehicles, probe vehicles are set up on hoist cable, and probe vehicles are equipped with infrared detector and control module, and infrared detector connects
It is connected to control module；
Heating device, heating device are set in probe vehicles, are connected to control module.
Hoist cable is set on the surface to be detected of building, probe vehicles are set on the face to be detected of building using hoist cable, are made
Probe vehicles can be moved along hoist cable, and control module can control heating device and infrared detector, and heating device is used for raising office
Portion build surface on temperature, make on surface with generate temperature difference in crack, recycle the thermal imaging principle of infrared detector, visit
Measure position and the size of crackle.
Preferably, heating 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, control module control air blower work, delivers the air to hot wind spray head, before hot wind is sprayed to probe vehicles
On side surface to be detected, surface is rapidly heated, the heat that crack gives off at this time will be different from the surface to be cooled down, when infrared
When detector detects, crack related data can be quickly detected and.
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 air jet pipe are juxtaposed on fixed frame by buckle, and thermal resistance is located at fumarole side.
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, keeps hot blast feeding sufficient and timely.
Preferably, the shaft of the second steering engine is equipped with gripper sleeve, is connected with support rod on gripper sleeve, fixed
Erection is placed on support rod.
Specifically, hot wind spray head is set on the second steering engine using support rod and gripper sleeve, makes hot wind spray head can be with
Change direction with the rotation of the second steering engine.
Preferably, heating device includes fuel cartridge, appendix, spray head, ignition device, and appendix one end is connected to
Fuel cartridge, the other end are connected to spray head, and spray head is equipped with ignition device, and ignition device is connected to control module, is equipped at spray head
Fire-proof plate.
Preferably, fuel cartridge is equipped with valve, and valve is connected to control module.
It is further preferable that probe vehicles are equipped with cooling device, including high-pressure nozzle, the first steering engine, delivery pipe, pump and storage
Tank, high-pressure nozzle are set on the first steering engine, and delivery pipe one end is connected to high-pressure nozzle, and the other end is connected to storage by pump
Tank.
It is further preferable that the shaft of the first steering engine is equipped with gripper sleeve, conduit is installed on gripper sleeve, before conduit
End is provided with deflecting conduit, and high-pressure nozzle is installed on deflecting conduit.
It is further preferable that delivery pipe is flexible 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 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, probe vehicles include bottom plate and the side frame positioned at bottom plate two sides, are equipped with multipair fixation on side frame
Wheel and driving wheel, the main shaft of driving wheel are equipped with double output shaft stepper motor, the cooperation that probe vehicles pass through fast pulley and driving wheel
It is set up on hoist cable.
Specifically, probe vehicles are set up on hoist cable by the common cooperation of fast pulley and driving wheel, make probe vehicles and hangs
The cooperation of rope is stronger, travels more stable.
It is further preferable that driving wheel is set to the middle part of probe vehicles, fast pulley is set to the rear and front end of probe vehicles, fixed
Wheel is fixed on the lateral shelf plate on probe vehicles both sides by pin shaft, side of the snap ring between fast pulley and driving wheel, with probe vehicles
Frame plate is fixedly connected, and the common tangential of fast pulley and driving wheel passes through snap ring, and the wheel hub two sides of driving wheel and fast pulley are equipped with gear
Plate.
Specifically, hoist cable sequentially passes through the hub top portion of the hub top of fast pulley, snap ring, driving wheel, passes through fixation
Probe vehicles are set up on hoist cable by the common cooperation of wheel and driving wheel, snap ring, baffle, keep the cooperation of probe vehicles and hoist cable more firm
Gu travelling more stable.
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, the top of probe vehicles is equipped with solar panels, and solar panels are connected to battery.
Preferably, honey comb like heat release hole is provided on bottom plate.
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 control module includes control base station, wireless transport module, central processing unit and stepper motor driving
Device, infrared detector, changing device and stepper motor driver are connected to central processing unit, and central processing unit is connected to wireless biography
Defeated 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 passes through wireless transport module for telecommunications
It number is sent to central processing unit, 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 be surveyed by wireless transport module
Data transmission is measured to host, host compares and analyzes measurement data and damage data library.
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；Fig. 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 one
The top structure schematic diagram of the probe vehicles of a 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 shows root
According to the structural schematic diagram of the hot wind spray head of one embodiment of the present of invention；Fig. 7 is the snap ring according to one embodiment of the present of invention
Position view；Fig. 8 shows control planning schematic diagram according to an embodiment of the invention.As shown in Figures 1 to 8,
The suspension cable type crack detection robot 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 on the lateral shelf plate 6 of bottom plate two sides, bottom plate 5
It is provided with honey comb like heat release hole 16, multipair fast pulley 9 and driving wheel 7 be installed on lateral shelf plate 6, on the main shaft 39 of driving wheel 7
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, driving wheel 7
It is set to the middle part of probe vehicles 4, fast pulley 9 is set to the rear and front end of probe vehicles 4, and fast pulley 9 is fixed on detection by pin shaft
On the lateral shelf plate 6 on 4 both sides of vehicle, snap ring 40 is fixedly connected between fast pulley 9 and driving wheel 7 with the lateral shelf plate 6 of probe vehicles 4,
The common tangential of fast pulley 9 and driving wheel 7 passes through snap ring 40, and the wheel hub two sides of driving wheel 7 and fast pulley 9 are equipped with baffle.Detection
Vehicle 4 is 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, red
External detector 10, changing device and stepper motor driver 12 are connected to central processing unit 11, and central processing unit 11 is connected to nothing
Line transmission module 13, wireless transport module 13 are connected to control base station, and controller and host, host connection are equipped in control base station
Bridge machinery program and damage data library are installed in controller, host, host passes bridge machinery program by electric signal
It send to controller, electric signal is sent to central processing unit 11,11 basis of central processing unit by wireless transport module by controller
Electric signal executes detection movement, and the measurement data of infrared detector 10 is sent to central processing unit 11, and central processing unit 11 passes through
Measurement data is sent to host by wireless transport module 13, and host compares and analyzes measurement data and damage data library.
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 by flexible conduit 38, and the other end passes through
Pump 23 is connected to holding vessel 24, and 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 support
On bar 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 is small
The central processing unit of vehicle makes trolley mobile, while central processing unit control brush roll rotation, by the ash of front concrete surface
Dirt and impurity clean up；At environment temperature higher season, central processing unit controls the steering engine rotation of cooling system, will
Conduit turns to proper angular position, while pump starts by flexible conduit to spray the cooling medium in holding vessel by high-pressure nozzle
Out, it is laterally sprayed on the pontic surface that the small front side in front will measure, by surface fast cooling；Wall crackle is seen at this time
Make black matrix, be 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, and hot detector is visited
When survey, crack related data can be quickly detected come in this way, improve fracture detection speed and its broad-ruler
Very little accuracy.When environment temperature is lower, the steering engine that central processing unit then controls cooling system drives support rod to turn to conjunction
Suitable angle, while controlling steering engine rotation, on the wall that hot wind is sprayed to front, also according to black body radiation principle, at thermal imaging
Reason device 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
The comprehensive reply means of safety, even alarm etc..
Probe vehicles installation process: when geo-stationary orbit mechanism of car after the installation is completed, will detect trolley both sides driving wheel, follower
It disposes and fixes with hoist cable, then open four snap rings on side frame, and bilateral hoist cable is put into inside snap ring, later internal bullet
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 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 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 up on the hoist cable, and the probe vehicles are equipped with infrared detector and control module, described
Infrared detector is connected to the control module；
Heating device, the heating device are set in the probe vehicles, are connected to the control module.
2. suspension cable type crack detection according to claim 1 robot, which is characterized in that the heating device includes hot wind
Spray head, gas-guide tube, steering engine, air blower, the hot wind spray head are set on the steering engine, and described gas-guide tube one end is connected to described
Hot wind spray head, the other end are connected to the air blower.
3. suspension cable type crack detection according to claim 2 robot, which is characterized in that the hot wind spray head includes thermoelectricity
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 pass through institute
It states buckle to be juxtaposed on the fixed frame, the thermal resistance is located at the fumarole side.
4. suspension cable type crack detection according to claim 3 robot, which is characterized in that the shaft of the steering engine is equipped with
Gripper sleeve is connected with support rod on the gripper sleeve, and the fixed mount setting is on the support rod.
5. suspension cable type crack detection according to claim 1 robot, which is characterized in that the heating device includes combustion gas
Tank, appendix, spray head, ignition device, described appendix one end are connected to the fuel cartridge, and the other end is connected to the spray head,
The spray head is equipped with ignition device, and the ignition device is connected to the control module, is equipped with fire-proof plate at the spray head.
6. suspension cable type crack detection according to claim 5 robot, which is characterized in that the fuel cartridge is equipped with valve
Door, the valve are connected to the control module.
7. suspension cable type crack detection according to claim 1 robot, which is characterized in that the probe vehicles include bottom plate and
Side frame positioned at the bottom plate two sides, is equipped with multipair fast pulley and driving wheel on the side frame, on the main shaft of the driving wheel
Equipped with double output shaft stepper motor, the probe vehicles are set up on the hoist cable by the cooperation of the fast pulley and driving wheel.
8. 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.
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 3 robot, which is characterized in that be provided with bee on the bottom plate
The heat release hole of nido.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811068270.0A CN109176544A (en) | 2018-09-13 | 2018-09-13 | Suspension cable type crack detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811068270.0A CN109176544A (en) | 2018-09-13 | 2018-09-13 | Suspension cable type crack detection robot |
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| CN109176544A true CN109176544A (en) | 2019-01-11 |
Family
ID=64910701
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811068270.0A Pending CN109176544A (en) | 2018-09-13 | 2018-09-13 | Suspension cable type crack detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111678948A (en) * | 2020-06-02 | 2020-09-18 | 四川大学 | High-speed nondestructive detection method for surface defects of steel rail and implementation device thereof |
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| 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 |
| CN107985576A (en) * | 2017-12-04 | 2018-05-04 | 长安大学 | A kind of Fei Pa robots for Bridge Crack detection |
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| 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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