CN114525733A - Light high-strength intelligent detection robot for appearance and cable force detection of bridge inhaul cable - Google Patents
Light high-strength intelligent detection robot for appearance and cable force detection of bridge inhaul cable Download PDFInfo
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- CN114525733A CN114525733A CN202210337913.7A CN202210337913A CN114525733A CN 114525733 A CN114525733 A CN 114525733A CN 202210337913 A CN202210337913 A CN 202210337913A CN 114525733 A CN114525733 A CN 114525733A
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- cable
- bridge
- cable force
- main frame
- appearance
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/16—Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/80—Arrangements in the sub-station, i.e. sensing device
- H04Q2209/84—Measuring functions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a light high-strength intelligent detection robot for detecting the appearance and cable force of a bridge cable, which comprises a main frame, a crawling mechanism, a camera, an end part induction sensor and a cable force sensor mechanism, wherein the crawling mechanism is arranged on the main frame; set up cable force sensor mechanism, control cable force sensor that can be accurate and cable closely laminate, realize the accurate collection of bridge cable power. Adopt wireless communication between cable climbing robot equipment and control system, realize remote control, shoot bridge cable outward appearance disease through the camera, gather cable climbing robot distance through the distance encoder, the distance is in time updated in the image, realizes that the disease defect directly perceived shows, also is convenient for detect after, and the measurement personnel passes through the video image data, in time repairing to disease outward appearance demonstration. The cable climbing robot-based equipment has the characteristics of high detection efficiency, multiple detection parameters, high reliability, low energy consumption, low use and maintenance cost and the like, and is suitable for the detection of the appearance and the cable force of various cable-stayed bridges, cable bridges and arch bridges in China.
Description
Technical Field
The invention relates to the technical field of bridge cable detection, in particular to a light high-strength intelligent detection robot for detecting the appearance and cable force of a bridge cable.
Background
Along with the rapid development of bridge engineering technology in the world, the bridge span is also continuously increased, the requirement for the detection difficulty of the bridge cable force is increased, and the detection distance of damage of the surface protection layer of the stay cable is increased. The main task of the cable climbing robot is to carry detection equipment to climb on the surface of the uneven cables of the straight, concave and convex pits of the cables along the vertical cables and the inclined cables, so that the cable appearance and the cable force detection of the cables are completed. The bridge guy cable is the most important component in the guy cable bridge, directly bears bridge load and controls the internal force distribution and linear type of the whole bridge deck system. Usually, the stay cable is easy to vibrate under the action of high stress concentration, corrosion, fatigue and wind and rain in an anchoring area, so that the cable force of the cable bridge is changed, and the cable force is an important index for evaluating the health state of the cable bridge. Therefore, the cable force detection and the state evaluation of the cable bridge are important.
The existing cable force detection mainly comprises the following defects:
1. when the cable force sensor detects cable force, accurate measurement can be achieved only by tightly attaching the cable, the more tight the cable force sensor is, the more accurate the cable force sensor is, the conventional bridge cable force detection is that the sensor is bound on a cable rod, and due to the fact that different testers loose the binding of the sensor, the deviation exists when the sensor collects data. Cable force sensors of some detection robots are fixed with frames of the robots, but the diameters of inhaul cables of different bridges are different, so that the distances between the cable force sensors and the inhaul cables are different, even the distances are far, and accurate measurement of cable force is difficult to achieve; and in order to crawl, the cable force sensor and the inhaul cable cannot be tightly attached, because the crawling resistance is large and the cable force sensor can be damaged.
2. The conventional bridge cable force test point is higher, the tester hardly reaches the cable force test point through contracting the stair, the test height cannot be reached, and the conventional cable force test detection data has errors. The cable force test point is higher. The climbing of the testing personnel in the conventional process is too high, and great potential safety hazards exist in the personnel experiment.
3. The existing cable climbing robot has no intelligent obstacle avoidance function, and the traditional scheme observes obstacles through video pictures or people in a long distance; when the robot runs to the top end of the inhaul cable when meeting an obstacle or a cable climbing robot, the personnel judge that misjudgment easily exists or judge that the judgment is delayed, the front obstacle of the cable climbing robot cannot be observed timely and accurately, the robot runs continuously when meeting the obstacle, and the hidden danger that the cable climbing robot collides with the obstacle or the equipment falls due to the fact that the robot is clamped by wheels can be caused.
4. The existing cable climbing robot has the defects of failure, equipment operation alarm, sudden power failure of a circuit, component failure and the like in the process of detecting a high-altitude cable; mechanical power will be interrupted suddenly at this moment to the climbing robot, can lead to the climbing robot to drop fast in the high altitude, will cause the damage of robot equipment, and equipment drops fast also can constitute the potential safety hazard to field personnel to the destruction of bridge cable PE sheath, if carelessly.
5. Most of the existing climbing robot mechanisms have the defects of multiple joints, large volume, heavy weight, poor load capacity and the like, and are easily restricted by conditions.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a light high-strength intelligent detection robot for detecting the appearance and the cable force of a bridge cable.
In order to achieve the purpose, the invention provides the following technical scheme:
a light high-strength intelligent detection robot for detecting the appearance and the cable force of a bridge cable comprises a main frame, a crawling mechanism, a camera, an end part induction sensor and a cable force sensor mechanism;
the crawling mechanism comprises a driving wheel, a driven wheel and a driving device, the driving device is in transmission connection with the driving wheel, and the driving wheel and the driven wheel are in rotary connection with a wheel seat arranged in the main frame;
the front end of the main frame is provided with a plurality of cameras and end part induction sensors;
the cable force sensor mechanism comprises a sliding table, a cable force sensor and a screw rod, wherein the sliding table is installed on the main frame, a sliding block groove is fixed on the sliding table, a sliding block is placed in the sliding block groove, a stepping motor is installed on the side surface of the sliding block groove, the stepping motor is connected with one end of the screw rod, the screw rod penetrates through the side surface of the sliding block groove and a threaded hole of the sliding block, and the threaded hole is matched with the screw rod; the sliding block is fixedly provided with an installation support, the installation support is provided with a plurality of sliding shafts, one end of each sliding shaft penetrates through a hole in the installation support, the end part of each sliding shaft is provided with a screw cap, the other end of each sliding shaft is fixedly connected with a cable force sensor, the sliding shafts are sleeved with springs, and two object sensing sensors are fixed on the side surfaces of the sliding block grooves; the main frame is provided with a distance encoder, and the distance encoder is connected with a rotating shaft of one driven wheel;
the camera, the end part induction sensor, the cable force sensor, the stepping motor and the distance encoder are all electrically connected with the main controller, the main controller is connected with a first network bridge, and the first network bridge is connected with the ground receiving control platform.
The driving device comprises a stepping motor and a speed reducer connected with the stepping motor, and an output shaft of the speed reducer is in transmission connection with the driving wheel through a belt.
The main frame comprises a middle frame, a left frame and a right frame, wherein the left side and the right side of the middle frame are respectively hinged with the left frame and the right frame; the left frame and the right frame are connected in an adjustable mode through the rope tightening device.
A first bridge box, a main electronic control box, an electrical appliance accessory box and a battery box are mounted on the side face of the main frame.
The main frame is provided with a handle.
The robot take-up and pay-off mechanism comprises a take-up and pay-off disc and a fixed seat, wherein the take-up and pay-off disc is rotatably installed on the side surface of the fixed seat, a pull rope is wound on the take-up and pay-off disc, one end of the pull rope is connected with a main frame, a second network bridge is installed on the fixed seat, and the second network bridge is connected with a mobile power supply for supplying power; the first network bridge, the second network bridge and the ground receiving control platform are in wireless connection.
The main frame is made of high-strength die-casting alloy aluminum materials, and Si elements, Cu elements and Mg elements are added into the aluminum materials.
The invention has the technical effects and advantages that:
1. set up cable force sensor mechanism, control cable force sensor that can be accurate and cable closely laminate, realize the accurate collection of bridge cable power. The method can realize real-time monitoring of the vibration condition of the bridge under different environments, identify the vibration fundamental frequency of the stay cable, and convert the fundamental frequency into the cable force by utilizing the vibration method principle. The spring is arranged, the cable force sensor can absorb shock after moving in place, the cable force sensor is prevented from being impacted by the inhaul cable, and the cable force sensor and the motor sliding table are effectively protected.
2. Adopt wireless communication between cable climbing robot equipment and control system, realize remote control, shoot bridge cable outward appearance disease through the camera, gather cable climbing robot distance through the distance encoder, the distance is in time updated in the image, realizes that the disease defect directly perceived shows, also is convenient for detect after, and the measurement personnel passes through the video image data, in time repairing to disease outward appearance demonstration. The multi-group sensors are used for matching, the change of the internal stress of the stay cable is detected and recognized, whether the internal stress of the stay cable is abnormal or not is judged, an effective conclusion is given, and an accurate scheme is provided for later maintenance of the bridge stay cable. By adopting a wireless remote communication technology, a signal transmitting end is built inside the cable climbing robot through remote network bridge transmission, a signal receiving end is built on a ground receiving control platform, wireless network transmission signals of more than 1 kilometer of the cable climbing robot are realized through self-building of a network bridge, and the detection of all large-scale cable bridges is realized within the coverage range of the wireless network signals.
3. When the end induction sensor meets an obstacle, the automatic deceleration braking function of the stepping motor can be controlled through the main controller, and the accidental accident operation of the cable climbing robot can be quickly prevented.
4. The cable climbing robot-based equipment has the characteristics of high detection efficiency, multiple detection parameters, high reliability, low energy consumption, low use and maintenance cost and the like, and is suitable for the detection of the appearance and the cable force of various cable-stayed bridges, cable bridges and arch bridges in China.
5. The climbing robot has the distance encoder to gather robot walking distance, catches through accurate distance, realizes that the accurate stop of cable force sensor detects high department, just so solves the error problem of the test data that the test height is not up to standard and brings.
6. The climbing robot adopts high-strength die-casting aluminum alloy, and the proper amount of Si element added into the aluminum alloy can improve the technological fluidity of the alloy, reduce the hot cracking tendency and improve the air tightness, corrosion resistance and heat conductivity of the material; the corrosion resistance, the mechanical strength and the heat conductivity of the alloy can be enhanced by adding a proper amount of Cu element, and the process fluidity, the creep resistance, the fatigue resistance and the machining performance of the alloy are improved; when Cu is taken as a strengthening phase and is dissolved in an aluminum matrix or exists in a granular compound form, the strength and the hardness of the alloy can be obviously improved; the addition of a proper amount of Mg element can improve the corrosion resistance and mechanical strength of the alloy, the die sticking tendency can be reduced, and the mechanical processing performance of the alloy is improved. The components of the die-casting alloy material are continuously optimized and adjusted, the technological characteristics of the alloy material are fully exerted by combining a high vacuum die-casting technology and heat treatment technological parameter regulation, and the comprehensive mechanical properties of the die-casting alloy material are continuously improved by means of high-pressure injection and low-speed mold filling. According to the light weight design of material and climbing cable robot structure integration, adopt die casting technology to carry out production development, reduce its manufacturing cost, alleviate structure weight, increase structural strength. The light high-strength die-casting aluminum alloy material is used for realizing that the structure is 2.5-3 times lighter than the traditional material, and provides a development basis for light high-strength research and development paths of the cable climbing robot.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural diagram of a cable force sensor mechanism;
FIG. 3 is a schematic view of another embodiment of the present invention;
FIG. 4 is a schematic view of another embodiment of the present invention;
FIG. 5 is a schematic view of another embodiment of the present invention;
FIG. 6 is a schematic bottom view of the present invention;
FIG. 7 is a partial schematic view of a cable force sensor mechanism;
FIG. 8 is a block diagram of the system architecture of the present invention;
fig. 9 is a schematic structural view of a take-up and pay-off mechanism of the robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The light high-strength intelligent detection robot for detecting the appearance and the cable force of the bridge cable shown in the figures 1-9 comprises a main frame 1, a crawling mechanism, a camera 3, an end part induction sensor 4 and a cable force sensor mechanism 5;
the crawling mechanism comprises a group of driving wheels 21, 3 groups of driven wheels 22 and a driving device 23, the driving device 23 is in transmission connection with the driving wheels 21, and the driving wheels 21 and the driven wheels 22 are in rotary connection with wheel seats 24 arranged in the main frame;
the front end of the main frame 1 is provided with a plurality of cameras 3 and end part induction sensors 4;
the cable force sensor mechanism 5 comprises a sliding table 51, a cable force sensor 52 and a screw 53, wherein the sliding table 51 is fixedly arranged on the main frame 1, a sliding block groove 54 is fixed on the sliding table 51, a sliding block 55 is placed in the sliding block groove, a stepping motor 56 is arranged on the side surface of the sliding block groove 54, the stepping motor is connected with one end of the screw 53, the screw 53 penetrates through the side surface of the sliding block groove 54 and penetrates through a threaded hole of the sliding block 55, and the threaded hole is matched with the screw; an installation support 57 is fixed on the sliding block 55, a plurality of sliding shafts 58 are installed on the installation support 57, one end of each sliding shaft 58 penetrates through a hole in the installation support, a nut is arranged at the end of each sliding shaft, the other end of each sliding shaft is fixedly connected with the cable force sensor 52, a spring 59 is sleeved on each sliding shaft, and two object sensing sensors 6 are fixed on the side faces of the sliding block grooves; the main frame 1 is provided with a distance encoder 7, and the distance encoder 7 is connected with a rotating shaft of one driven wheel; set up cable force sensor mechanism, control cable force sensor that can be accurate and cable closely laminate, realize the accurate collection of bridge cable power. The method can realize real-time monitoring of the vibration condition of the bridge under different environments, identify the vibration fundamental frequency of the stay cable, and convert the fundamental frequency into the cable force by utilizing the vibration method principle. The spring is arranged, the cable force sensor can absorb shock after moving in place, the cable force sensor is prevented from being impacted by the inhaul cable, and the cable force sensor and the motor sliding table are effectively protected.
Preferably, the camera, the end part induction sensor, the cable force sensor, the stepping motor and the distance encoder are all electrically connected with a main controller, and the main controller is connected with a first network bridge.
Preferably, the driving device 23 includes a stepping motor 231 and a reducer 232 connected to the stepping motor 231, and an output shaft of the reducer is in transmission connection with the driving wheel 21 through a belt 233.
Preferably, the main frame 1 includes a middle frame 111, a left frame 112, and a right frame 113, and the left and right sides of the middle frame 11 are hinged to the left frame 112 and the right frame 113, respectively; the left frame and the right frame are connected in an adjustable manner through a rope tightening device 114; the euphroe is prior art, demountable installation, lockable.
A first bridge box 8, a main control box 9, an electrical accessory box 10 and 2 battery boxes 11 are mounted on the side face of the main frame 1.
Preferably, a handle 12 is mounted on the main frame 1.
Preferably, the robot take-up and pay-off mechanism further comprises a robot take-up and pay-off mechanism, the robot take-up and pay-off mechanism comprises a take-up and pay-off disc 131 and a fixed seat 132, the side surface of the fixed seat 132 is rotatably provided with the take-up and pay-off disc 131, a pull rope is wound on the take-up and pay-off disc, one end of the pull rope is connected with a main frame, the fixed seat 132 is provided with a second network bridge 133, and the second network bridge is connected with a mobile power supply 134 for supplying power; the first network bridge, the second network bridge and the ground receiving control platform are in wireless connection. The robot take-up and pay-off mechanism can manually take the robot back when the power fails.
Preferably, the main frame is made of high-strength die-casting alloy aluminum material, and Si element, Cu element and Mg element are added into the aluminum material.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. The utility model provides a light-duty high-strength intelligent detection robot for bridge inhaul cable outward appearance and cable force detect which characterized in that: the device comprises a main frame, a crawling mechanism, a camera, an end part induction sensor and a cable force sensor mechanism;
the crawling mechanism comprises a driving wheel, a driven wheel and a driving device, the driving device is in transmission connection with the driving wheel, and the driving wheel and the driven wheel are in rotary connection with a wheel seat arranged in the main frame;
the front end of the main frame is provided with a plurality of cameras and end part induction sensors;
the cable force sensor mechanism comprises a sliding table, a cable force sensor and a screw rod, wherein the sliding table is installed on the main frame, a sliding block groove is fixed on the sliding table, a sliding block is placed in the sliding block groove, a stepping motor is installed on the side surface of the sliding block groove, the stepping motor is connected with one end of the screw rod, the screw rod penetrates through the side surface of the sliding block groove and a threaded hole of the sliding block, and the threaded hole is matched with the screw rod; the sliding block is fixedly provided with an installation support, the installation support is provided with a plurality of sliding shafts, one end of each sliding shaft penetrates through a hole in the installation support, the end part of each sliding shaft is provided with a screw cap, the other end of each sliding shaft is fixedly connected with a cable force sensor, the sliding shafts are sleeved with springs, and two object sensing sensors are fixed on the side surfaces of the sliding block grooves; the main frame is provided with a distance encoder, and the distance encoder is connected with a rotating shaft of one driven wheel;
the camera, the end part induction sensor, the cable force sensor, the stepping motor and the distance encoder are all electrically connected with the main controller, the main controller is connected with a first network bridge, and the first network bridge is connected with the ground receiving control platform.
2. The light-weight high-strength intelligent detection robot for detecting the appearance and the cable force of the bridge cable according to claim 1, characterized in that: the driving device comprises a stepping motor and a speed reducer connected with the stepping motor, and an output shaft of the speed reducer is in transmission connection with the driving wheel through a belt.
3. The light-weight high-strength intelligent detection robot for detecting the appearance and the cable force of the bridge cable according to claim 1, characterized in that: the main frame comprises a middle frame, a left frame and a right frame, wherein the left side and the right side of the middle frame are respectively hinged with the left frame and the right frame; the left frame and the right frame are connected in an adjustable mode through the rope tightening device.
4. The light-weight high-strength intelligent detection robot for detecting the appearance and the cable force of the bridge cable according to claim 1, characterized in that: a first bridge box, a main electronic control box, an electrical appliance accessory box and a battery box are mounted on the side face of the main frame.
5. The light-weight high-strength intelligent detection robot for detecting the appearance and the cable force of the bridge cable according to claim 1, characterized in that: the main frame is provided with a handle.
6. The light-weight high-strength intelligent detection robot for detecting the appearance and the cable force of the bridge cable according to claim 1, characterized in that: the robot take-up and pay-off mechanism comprises a take-up and pay-off disc and a fixed seat, wherein the take-up and pay-off disc is rotatably installed on the side surface of the fixed seat, a pull rope is wound on the take-up and pay-off disc, one end of the pull rope is connected with a main frame, a second network bridge is installed on the fixed seat, and the second network bridge is connected with a mobile power supply for supplying power; the first network bridge, the second network bridge and the ground receiving control platform are in wireless connection.
7. The light-weight high-strength intelligent detection robot for detecting the appearance and the cable force of the bridge cable according to claim 1, characterized in that: the main frame is made of high-strength die-casting alloy aluminum materials, and Si elements, Cu elements and Mg elements are added into the aluminum materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210337913.7A CN114525733A (en) | 2022-04-01 | 2022-04-01 | Light high-strength intelligent detection robot for appearance and cable force detection of bridge inhaul cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210337913.7A CN114525733A (en) | 2022-04-01 | 2022-04-01 | Light high-strength intelligent detection robot for appearance and cable force detection of bridge inhaul cable |
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| Publication Number | Publication Date |
|---|---|
| CN114525733A true CN114525733A (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210337913.7A Pending CN114525733A (en) | 2022-04-01 | 2022-04-01 | Light high-strength intelligent detection robot for appearance and cable force detection of bridge inhaul cable |
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| CN (1) | CN114525733A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115323915A (en) * | 2022-10-17 | 2022-11-11 | 广州市市政工程试验检测有限公司 | Bridge cable pole detects and restores robot |
| CN116463937A (en) * | 2023-04-06 | 2023-07-21 | 广西科学院 | Novel parallel double-sling detection robot |
-
2022
- 2022-04-01 CN CN202210337913.7A patent/CN114525733A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115323915A (en) * | 2022-10-17 | 2022-11-11 | 广州市市政工程试验检测有限公司 | Bridge cable pole detects and restores robot |
| CN115323915B (en) * | 2022-10-17 | 2023-01-06 | 广州市市政工程试验检测有限公司 | Bridge cable pole detection and repair robot |
| CN116463937A (en) * | 2023-04-06 | 2023-07-21 | 广西科学院 | Novel parallel double-sling detection robot |
| CN116463937B (en) * | 2023-04-06 | 2024-01-19 | 广西科学院 | Parallel double-sling detection robot |
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