CN115323915B - Bridge cable pole detection and repair robot - Google Patents
Bridge cable pole detection and repair robot Download PDFInfo
- Publication number
- CN115323915B CN115323915B CN202211263981.XA CN202211263981A CN115323915B CN 115323915 B CN115323915 B CN 115323915B CN 202211263981 A CN202211263981 A CN 202211263981A CN 115323915 B CN115323915 B CN 115323915B
- Authority
- CN
- China
- Prior art keywords
- bridge cable
- machine body
- detection
- repair
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Pathology (AREA)
- Biochemistry (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Chemical & Material Sciences (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a bridge cable pole detection and repair robot which comprises at least two groups of machine bodies, a moving mechanism, an obstacle crossing lifting mechanism, a detection mechanism and a repair mechanism, wherein the machine bodies, the moving mechanism, the obstacle crossing lifting mechanism, the detection mechanism and the repair mechanism are connected with one another. The moving mechanism is arranged on the machine body and matched with the machine body so as to drive the machine body to move along the axial lead of the bridge cable rod; the obstacle crossing lifting mechanism is arranged on the machine body, is connected with the moving mechanism on the same machine body and is used for controlling the moving mechanism to lift so as to cross an obstacle on the bridge cable rod; when one group of obstacle crossing lifting mechanisms are driven, the other group of obstacle crossing lifting mechanisms keep an initial state; the detection mechanism is arranged on the outer wall of the machine body; repair mechanism sets up on the organism, restores the damaged bridge cable rod in surface. The device is matched to be used, so that the robot capable of crossing the barrier is formed, and the dead-angle-free maintenance and the cable bar information acquisition of the cable bar are completed.
Description
Technical Field
The invention relates to the field of cable rod robots, in particular to a bridge cable rod detection and repair robot.
Background
The cable-rod system is widely applied to large-span bridges, including main cables and slings of a suspension bridge, stay cables of a cable-stayed bridge, suspenders of a half-through arch bridge and a half-through arch bridge, and tie rods of a tie-rod arch bridge. The cable-strut system is in a high stress state for a long time, the cable-strut system is sensitive to external damage, and the durability of the cable-strut system directly influences the safety of the full bridge. The cable rod is easy to be damaged and damaged under the combined action of constant load, fatigue load and external environment corrosion for a long time. The damage and the damage of the cable pole have strong concealment, are not easy to detect and prevent, and can directly influence the internal force distribution of the cable system and even the structural line type of the bridge once the cable force deviates from the normal working state, so that the resistance deterioration and the durability of the cable pole system and the whole structure of the bridge are reduced, serious persons can influence the safety and the service life of the bridge, serious safety accidents can be caused, and meanwhile, serious adverse social effects can also be caused.
With the development of robotics, people begin to research and apply robots for auxiliary inspection and repair. In the prior art, a high-speed flight-based towed heavy-load cable rod detection robot with patent publication No. CN113386952B is proposed, and the main principle of the robot is to arrange a towing mechanism and a quadrotor aircraft on the top of the heavy-load robot, so that the heavy-load robot can climb up along a cable rod to complete the detection of the internal condition of the cable rod, however, the patent has certain defects: for example, when the application scene is a suspension bridge scene with densely-distributed suspenders, obstacles such as cable rod nodes cannot be bypassed, and the internal condition of the cable rod cannot be accurately detected.
In addition, in the prior art, a bridge cable pole detection robot with patent publication No. CN213013916U is also provided to achieve the function of bypassing the obstacle, and the main principle of the robot is that the robot is composed of a detection module, an obstacle crossing and lifting motor and a driving wheel, and the detection module detects the robot to drive the obstacle crossing and lifting motor, so that the driving wheel crosses the obstacle, thereby achieving the purpose of conveniently detecting the cable pole, but the patent also has certain defects: if the surface of the cable pole on the motion path can only be detected, the other side surfaces and the inside of the cable pole cannot be detected in all directions, the detection effect is poor, and the damaged position of the surface of the cable pole cannot be repaired.
Therefore, a bridge cable rod detection and repair robot is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a bridge cable pole detection and repair robot, which can automatically bypass obstacles on the surface of a bridge cable pole in the detection and maintenance process of the bridge cable pole, can carry out omnibearing detection on the bridge cable pole and improves the daily maintenance effect of the bridge cable pole.
In order to solve the technical problem, the invention provides a bridge cable rod detection and repair robot which comprises at least two groups of mutually connected machine bodies, a moving mechanism, an obstacle crossing lifting mechanism, a detection mechanism and a repair mechanism;
the moving mechanism is arranged on the machine body and matched with the machine body so as to drive the machine body to move along the axial lead of the bridge cable rod;
the obstacle crossing lifting mechanism is arranged on the machine body, is connected with the moving mechanism on the same machine body and is used for controlling the moving mechanism to lift so as to cross an obstacle on a bridge cable rod;
when one group of the obstacle-crossing lifting mechanisms is driven, the other group of the obstacle-crossing lifting mechanisms keeps an initial state;
the detection mechanism is arranged on the outer wall of the machine body and transmits detected information to the repair mechanism, the obstacle crossing lifting mechanism and an external terminal respectively;
the detection mechanism comprises an AOI detection head and a steel cable detector detection head;
the AOI detection head and the steel cable detector detection head are both arranged on the machine body;
the AOI detection head is used for detecting the outer surface of the bridge cable rod and detecting whether the outer surface of the bridge cable rod is damaged or not;
the steel rope detector detection head is used for detecting the loss of the metal sectional area and the local defects inside the non-damaged steel rope;
the repairing mechanism is arranged on the machine body and used for repairing the bridge cable rod with the damaged surface;
when the detection mechanism detects that the surface of the bridge cable rod is damaged, the repair mechanism is driven to repair the surface of the bridge cable rod;
when the surface of the bridge cable rod of the detection mechanism is provided with an obstacle, the obstacle crossing lifting mechanism is driven to drive the moving mechanism to lift;
when the loss of the metal section area and the local defects of the steel cable are detected in the bridge cable rod, the metal section area and the local defects are transmitted to an external terminal and an alarm prompt is provided for ground workers.
Furthermore, the machine body comprises two side connecting plates and telescopic columns which are symmetrically arranged along the axis of the bridge cable rod;
the telescopic column is arranged at one side of the two side connecting plates which are close to each other;
one sides of the two telescopic columns, which are close to each other, are provided with electric clamping jaws which are clamped with each other;
the electric clamping jaw and the telescopic column are both in wireless connection with the detection mechanism;
when the detection mechanism detects that the surface of the bridge cable rod has an obstacle, the two electric clamping jaws are separated, and the telescopic column pulls the electric clamping jaws to contract.
Further, the moving mechanism includes a driving mechanism;
the driving mechanism comprises a driving wheel and a driving motor;
the inner side of the side connecting plate is provided with a telescopic frame;
the driving wheel is rotatably arranged on the telescopic frame and is attached to the outer wall of the bridge cable rod;
the driving motor is arranged on the telescopic frame and is connected with the driving wheel;
when the obstacle crossing lifting mechanism is driven, the driving wheel is pulled to move in the direction away from the bridge cable rod.
Further, the moving mechanism further comprises a guide mechanism;
the guide mechanism comprises a guide seat;
a sliding seat is arranged on the side connecting plate;
the guide seat is arranged on the sliding seat in a sliding manner, and one side of the guide seat is provided with a guide wheel which is in contact with a handrail rope on a bridge cable rod;
and when the obstacle crossing lifting mechanism is driven, the guide wheel is pulled to be separated from the handrail rope.
Further, the guide wheel is arranged to be in an hourglass structure.
Further, the obstacle crossing lifting mechanism comprises a lifting motor, a lifting shaft, a first moving block and a second moving block;
the lifting motor is arranged on the outer side of the side connecting plate and is in wireless connection with the detection mechanism;
the lifting shaft is arranged at the output end of the lifting motor;
one end of the first moving block extends into the machine body and is fixedly connected with the telescopic frame, and the other end of the first moving block penetrates through the machine body and is meshed with the lifting shaft;
one end of the second moving block penetrates through the sliding seat and is fixedly connected with the guide seat, and the other end of the second moving block is meshed with the lifting shaft.
Further, the repair mechanism comprises a three-axis displacement table and a repair manipulator;
the three-axis displacement table is arranged on the machine body;
the repairing manipulator is arranged on the triaxial displacement table and is in wireless connection with the detection mechanism;
when the detection mechanism detects that the surface of the bridge cable rod is damaged, the repair manipulator is controlled to move on the three-axis displacement table, and the damaged position of the bridge cable rod is repaired.
Furthermore, the AOI detection heads are four and are respectively positioned around the bridge cable rod.
Further, the machine bodies are arranged into three groups;
the AOI detection head is arranged on the outermost end of the machine body;
the steel cable detector detection head is arranged between the outermost end machine body and the middle end machine body;
the repairing mechanism is arranged on the tail end of the machine body;
when the robot moves along the bridge cable rod, the surface and the interior of the bridge cable rod are sequentially detected, and the damaged position of the surface of the bridge cable rod is repaired through the repairing mechanism.
Compared with the prior art, the invention at least has the following beneficial effects:
through setting up detection mechanism, make the organism can detect the surface and the inside homoenergetic of bridge cable pole, make the dead angle difficult to appear in the testing process, and still be provided with repair mechanism and obstacle crossing hoist mechanism, make when the organism detects bridge cable pole surface damage, when having the metal sectional area loss and the local defect of barrier and inside cable wire, can drive repair mechanism to restore respectively, the drive hinders hoist mechanism more and drives the organism and crosses the barrier and with information transfer to ground and warning suggestion, reach the purpose that conveniently carries out quick maintenance and the quick collection of cable pole information to the cable pole, in addition, can also make the organism walk around relevant barrier when daily maintenance, solve the organism because of meeting the barrier and can't last the problem of maintaining or overhauing.
Drawings
FIG. 1 is a schematic view of the overall structure of a bridge cable rod detection and repair robot according to the present invention;
FIG. 2 is a side view of the overall structure of the bridge cable rod inspection and repair robot of the present invention;
FIG. 3 is a schematic view of a partial structure of an obstacle crossing lifting mechanism in the bridge cable bar detection and repair robot according to the present invention;
fig. 4 is a partial bottom view of a steel cable detector detecting head of the bridge cable rod detecting and repairing robot according to the present invention.
Detailed Description
The bridge cable inspection and repair robot of the present invention will now be described in greater detail with reference to the schematic drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a bridge cable rod detection and repair robot, which includes at least two groups of interconnected machine bodies 1, a moving mechanism 2, an obstacle crossing lifting mechanism 3, a repair mechanism 4, and a detection mechanism 5.
The moving mechanism 2 is arranged on the machine body 1 and matched with the machine body 1, namely the number of the machine bodies 1, the single machine body 1 is provided with the moving mechanism 2, and the moving mechanism 2 of each machine body 1 runs independently and is used for driving the machine body 1 to move along the axial lead of the bridge cable rod.
The obstacle-crossing lifting mechanism 3 is arranged on the machine body 1 and connected with the moving mechanism 2 on the same machine body 1, namely, the obstacle-crossing lifting mechanism 3 is also arranged on each machine body 1 and used for controlling the moving mechanism 2 on the same machine body 1 to lift so as to cross an obstacle on a bridge cable rod, so that the situation that the machine body 1 cannot run continuously due to interference of the obstacle can be avoided, and the cable rod is convenient to detect continuously. Compared with the high-speed flight-based traction type large-load cable pole detection robot in the background technology, the device can still accurately detect the cable pole in a suspension bridge scene with densely distributed suspenders, and has wider application range.
In order to ensure that the whole device can not be separated from the cable bar when the obstacle-crossing lifting mechanism 3 operates, when one group of the obstacle-crossing lifting mechanisms 3 is driven, the other group of the obstacle-crossing lifting mechanisms 3 keeps the initial state, namely when one group of the obstacle-crossing lifting mechanisms 3 pulls the moving mechanism 2 to cross an obstacle, at least one group of the obstacle-crossing lifting mechanisms 3 keeps the static state, so that the whole device is still connected with the cable bar to ensure the stability of the whole device in the process of crossing the obstacle.
The detection mechanism 5 is arranged on the outer wall of the machine body 1, detects whether the outer surface of the bridge cable rod is damaged, whether a barrier exists on the surface and whether a defect exists on the surface, and transmits detected information to the repair mechanism 4, the obstacle crossing lifting mechanism 3 and an external terminal (not shown in the figure), and realizes all-dimensional detection on the surface and the inside of the cable rod through the detection mechanism 5, so that dead angles existing in the cable rod detection process can be reduced, compared with the bridge cable rod detection robot which can only detect a moving path on the cable rod in the background technology, the detection device has wider and more comprehensive detection range, and achieves the purpose of better detection effect.
The repair mechanism 4 is arranged on the machine body 1 and used for repairing the bridge cable rod with the damaged surface.
When the detection mechanism 5 detects that the surface of the bridge cable pole is damaged, the repair mechanism 4 is driven to repair the surface of the bridge cable pole, and the function of rapidly repairing the bridge cable pole is realized;
when the surface of the bridge cable bar of the detection mechanism 5 is provided with an obstacle, the obstacle crossing lifting mechanism 3 is driven to drive the moving mechanism 2 to lift, so that the machine body 1 can conveniently cross the obstacle one by one for detection, and the situation that the machine body 1 cannot continuously detect due to the interference of the obstacle is avoided;
when detecting the inside defect that appears of bridge cable pole, transmit to external terminal and provide the suggestion of reporting to the police to ground staff, detect bridge cable pole internal defect back, utilize detection mechanism 5 to mark the defect position to the suggestion staff in time maintains and overhauls, realizes the function of overhauing bridge cable pole fast.
To sum up, this application is through setting up detection mechanism 5, make organism 1 can detect the surface and the inside homoenergetic of bridge cable pole, make the dead angle difficult to appear in the testing process, and still be provided with repair mechanism 4 and hinder hoist mechanism 3 more, make when detecting bridge cable pole surface damage, when having barrier and internal defect, can drive repair mechanism 4 to restore respectively, the drive hinders hoist mechanism 3 more and drives organism 1 and cross the barrier and with information transfer to ground and warning suggestion, reach the purpose that conveniently carries out quick maintenance and cable pole information quick transmission to the cable pole, in addition, can also make organism 1 walk around relevant barrier when daily maintenance, solve organism 1 because of meeting the barrier and can't last the problem of maintaining or overhauing.
The defects of the bridge cable rod refer to the loss of the metal sectional area (LMA) and local defects (LF), such as broken wires, corrosion, crush damage and the like, so as to obtain the basis for judging whether the steel wire rope needs to be replaced.
In a further embodiment, the specific structure of the machine body 1 is refined so that the machine body 1 can pass when encountering an obstacle in any position.
As shown in fig. 2, the machine body 1 includes two side connection plates 11 and telescopic columns 12 symmetrically disposed along the axial center of the bridge cable rod.
The telescopic column 12 is arranged at one side of the two side connecting plates 11 close to each other.
Two the electric jack catch 121 that one side that telescopic column 12 is close to each other is provided with mutual joint for connect two side connecting plates 11, make it form a complete organism 1.
Two adjacent side connecting plates 11 parallel to the axial lead direction of the cable rod are connected through telescopic fasteners 7, namely two machine bodies 1 are connected through the telescopic fasteners 7.
The electric claw 121 and the telescopic column 12 are both in wireless connection with the detection mechanism 5.
Specifically, work as when detection mechanism 5 detects bridge cable pole surface and has the barrier, two electronic jack catch 121 separates, just flexible post 12 pulls electronic jack catch 121 shrink, when detecting out the barrier promptly through detection mechanism 5 and can interfere with flexible post 12 and electronic jack catch 121 mutually, can pull the electronic jack catch 121 separation of two mutual joints, and under the effect of flexible post 12, two electronic jack catch 121 remove along opposite direction, make the barrier wear out from the clearance that forms between two electronic jack catch 121, can realize organism 1 and cross the function of cable pole upper surface barrier.
In addition, because the telescopic column 12 can be telescopic, the distance between the two side connecting plates 11 can be changed, and then the whole device can be installed on bridge cable rods with different sizes, so that the purpose of being suitable for bridge cable rods with different sizes to detect is achieved.
In other embodiments, a specific moving mechanism 2 is provided to pull the body 1 to move.
As shown in fig. 1 to 3, the moving mechanism 2 includes a driving mechanism 21; the driving mechanism 21 comprises a driving wheel 211 and a driving motor 212; the driving wheel 211 is rotatably installed on the inner side of the side connecting plate 11 through an expansion bracket 6 and is attached to the outer wall of the bridge cable rod; the driving motor 212 is arranged on the telescopic frame 6 and connected with the driving wheel 211, that is, the driving wheel 211 is driven to rotate by the driving motor 212, and the movement of the machine body 1 is realized by the rolling acting force of the driving wheel 211.
When the sling cable clamp is detected, the obstacle crossing lifting mechanism 3 drives to pull the driving wheel 211 to move in the direction away from the bridge cable rod, even if the driving wheel 211 moves in the direction perpendicular to the axial lead of the bridge cable rod, the driving wheel 211 is separated from the outer wall of the bridge cable rod, and therefore the function of crossing obstacles is achieved.
In addition, in order to improve the stability of the machine body 1 during movement, the moving mechanism 2 further comprises a guide mechanism 22; the guide mechanism 22 comprises a guide seat 221 and a guide wheel 222; the guide seat 221 is slidably mounted on the side connecting plate 11 through a sliding seat, and one side of the guide seat 221 is provided with a guide wheel 222 which is in contact with a handrail rope on a bridge cable rod, and the machine body 1 is limited by using the matching relationship between the guide wheel 222 and the handrail rope.
When the handrail rope supporting frame is detected, the obstacle crossing lifting mechanism 3 drives to pull the guide wheel 222 to be separated from the handrail rope, namely the guide wheel 222 is driven to move along the direction vertical to the axial lead of the bridge cable rod, so that the function of crossing the obstacle is realized.
In order to improve the guiding effect of the guide wheel 222, the guide wheel 222 is configured to have an hourglass-shaped structure, so that the handrail rope is tightly attached to a V-shaped groove formed by the guide wheel 222, the limiting effect on the machine body 1 is better, and the machine body 1 can only move along a given track.
In a further embodiment, the specific structure of the obstacle-crossing lifting mechanism 3 is refined so that when the detection mechanism 5 detects that the cable pole side wall has an obstacle, the driving wheel 211 and the guide wheel 222 can be quickly pulled to be separated from the cable pole outer wall and the grab rope, respectively.
As shown in fig. 3, specifically, the obstacle detouring and lifting mechanism 3 includes a lifting motor 31, a lifting shaft 32, a first moving block 33, and a second moving block 34.
The lifting motor 31 is arranged on the outer side of the side connecting plate 11 and is wirelessly connected with the detection mechanism 5, and the lifting shaft 32 is arranged at the output end of the lifting motor 31.
One end of the first moving block 33 extends into the machine body 1 and is fixedly connected with the telescopic frame 6, and the other end thereof penetrates through the machine body 1 and is meshed with the lifting shaft 32; one end of the second moving block 34 penetrates through the sliding seat and is fixedly connected with the guide seat 221, and the other end is engaged with the lifting shaft 32.
To sum up, when the lifting motor 31 is driven by the detection mechanism 5, the lifting shaft 32 is driven to rotate, under the meshing action of the gears, the first moving block 33 and the second moving block 34 both move along the direction perpendicular to the axial lead of the cable rod, so the telescopic frame 6 and the guide seat 221 can be pulled to move, because the driving wheel 211 is arranged on the telescopic frame 6 and the guide wheel 222 is arranged on the guide seat 221, the driving wheel 211 can be separated from the outer wall of the cable rod and the guide wheel 222 can be separated from the handrail rope by pulling the telescopic frame 6 and the guide seat 221, so the machine body 1 can cross the sling rope clamp and the handrail rope support frame, and the situation that the machine body 1 cannot be detected due to obstacles is ensured to occur.
In summary, in order to better understand the operation of the device when the device is used for obstacles in different positions, the following three situations are mainly found when the device encounters an obstacle: such as a bridge cable pole with an obstacle on its upper surface, a bridge cable pole with an obstacle on its side wall, and an obstacle above the bridge cable pole (i.e. a grab rope).
When the upper surface of the bridge cable rod is provided with an obstacle, the detection mechanism 5 controls the two electric jaws 121 to separate, and drives the telescopic column 12 to drive the electric jaws 121 to contract, so that the obstacle passes through a gap formed by the two electric jaws 121;
when the outer wall of the bridge cable rod is provided with an obstacle (such as a sling locking clamp), the detection mechanism 5 drives the lifting motor 31, under the matching action of the lifting shaft 32 and the first moving block 33, the driving wheel 211 is separated from the outer wall of the bridge cable rod, and the obstacle passes through a gap formed between the driving wheel 211 and the bridge cable rod;
when an obstacle (such as a grab rope support) exists above the bridge cable bar, the detection mechanism 5 drives the lifting motor 31, and under the matching action of the lifting shaft 32 and the second moving block 34, the guide wheel 222 is separated from the grab rope, so that the obstacle passes through a gap formed between the guide wheel 222 and the grab rope.
In other embodiments, a specific repair mechanism 4 is also provided.
The repairing mechanism 4 comprises a three-axis displacement table 41 and a repairing manipulator 42; the three-axis displacement table 41 is arranged on the machine body 1; the repairing manipulator 42 is arranged on the three-axis displacement table 41 and is wirelessly connected with the detection mechanism 5; when the detection mechanism 5 detects that the surface of the bridge cable rod is damaged, the repair manipulator 42 is controlled to move on the three-axis displacement table 41, and the damaged position of the bridge cable rod is repaired, and the repair manipulator 42 is arranged on the three-axis displacement table 41, so that any damaged position of the cable rod can be repaired, and the condition that the repair dead angle cannot occur is ensured.
The repairing manipulator 42 can repair the cable rod by using a hot melting technology in the prior art, which is not described herein again.
As shown in fig. 1 to 4, in the present embodiment, a specific detection mechanism 5 is further provided to detect the outer wall and the inner part of the cable rod.
The detection mechanism 5 comprises an AOI detection head 51 and a steel cable detector detection head 52; the AOI detection head 51 and the steel cable detector detection head 52 are both arranged on the machine body 1; the AOI detection head 51 is used for detecting the surface condition of the bridge cable rod and detecting whether the surface of the bridge cable rod is damaged; the steel cable detector detection head 52 is used for detecting the condition of a steel bar inside a bridge cable rod, and specifically, when a broken wire, corrosion or crush damage is detected inside the bridge cable rod, the coordinate position of the steel cable detector detection head is recorded and wirelessly transmitted to a ground worker, and an alarm prompt is given.
Wherein, the cable wire detector detection head 52 includes two half-arc detection heads (as shown in fig. 4), and the two half-arc detection heads are respectively fixed with the telescopic frames 6 at two sides, so that when an obstacle is encountered, the cable wire detector detection head 52 can be pulled to cross the obstacle when the telescopic frames 6 contract, thereby avoiding the obstacle from colliding with the cable wire detector detection head 52.
In addition, in order to expand the detection range of the bridge cable bar, four AOI detection heads 51 are arranged and are respectively positioned around the bridge cable bar, and when the AOI detection heads 51 detect that the surface of the cable bar is damaged, the AI intelligent computing system automatically calculates the coordinates of the cable bar and guides the repairing manipulator 42 to repair the damaged position.
Wherein, when the organism 1 is provided with two sets ofly, can be in the same place AOI detects head 51 and cable wire detector and detect head 52 integration to install on outermost end organism 1, detect the bridge cable pole through outermost end organism 1, restore manipulator 42 and set up on the organism 1 of the very end, so that carry out quick restoration after detecting.
In other embodiments, the machine body 1 can be further provided with three groups; the AOI detection head 51 is arranged on the outermost machine body 1; the steel rope detector detection head 52 is arranged between the outermost end machine body 1 and the middle end machine body 1; the repairing mechanism 4 is arranged on the tail end of the machine body 1;
when the robot moves along the bridge cable rod, the surface and the inside of the bridge cable rod are detected in sequence, and the damaged position of the surface of the bridge cable rod is repaired through the repairing mechanism 4.
In addition, a cab (not shown) can be additionally arranged on the machine body 1 at the middle end, so that an operator can monitor equipment in the cab to detect and control the repairing mechanism 4 to repair.
The number of the machine bodies 1 can be correspondingly increased according to actual requirements, which is not described herein.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A bridge cable pole detection and repair robot is characterized by comprising at least two groups of mutually connected machine bodies, a moving mechanism, an obstacle crossing lifting mechanism, a detection mechanism and a repair mechanism;
the moving mechanism is arranged on the machine body and matched with the machine body so as to drive the machine body to move along the axial lead of the bridge cable rod;
the machine body comprises two side connecting plates and telescopic columns which are symmetrically arranged along the axis of the bridge cable rod;
the telescopic column is arranged at one side of the two side connecting plates which are close to each other;
one sides of the two telescopic columns, which are close to each other, are provided with electric clamping claws which are clamped with each other;
the electric clamping jaws and the telescopic columns are in wireless connection with the detection mechanism;
when the detection mechanism detects that an obstacle exists on the surface of the bridge cable rod, the two electric clamping jaws are separated, and the telescopic column pulls the electric clamping jaws to contract;
the moving mechanism comprises a driving mechanism;
the driving mechanism comprises a driving wheel and a driving motor;
the inner side of the side connecting plate is provided with a telescopic frame;
the driving wheel is rotatably arranged on the telescopic frame and is attached to the outer wall of the bridge cable rod;
the driving motor is arranged on the telescopic frame and is connected with the driving wheel;
when the obstacle crossing lifting mechanism is driven, the driving wheel is pulled to move in the direction far away from the bridge cable rod;
the obstacle crossing lifting mechanism is arranged on the machine body, is connected with the moving mechanism on the same machine body and is used for controlling the moving mechanism to lift so as to cross an obstacle on a bridge cable rod;
when one group of the obstacle-crossing lifting mechanisms is driven, the other group of the obstacle-crossing lifting mechanisms keeps an initial state;
the detection mechanism is arranged on the outer wall of the machine body and transmits detected information to the repair mechanism, the obstacle crossing lifting mechanism and an external terminal respectively;
the detection mechanism comprises an AOI detection head and a steel cable detector detection head;
the AOI detection head and the steel cable detector detection head are both arranged on the machine body;
the AOI detection head is used for detecting the outer surface of the bridge cable rod and detecting whether the outer surface of the bridge cable rod is damaged or not;
the steel cable detector detection head is used for detecting the loss of the metal sectional area and the local defect in the non-damaged steel cable;
the steel cable detector detection head comprises two semi-circular arc detection heads which are respectively fixed with the expansion brackets on two sides;
the repairing mechanism is arranged on the machine body and used for repairing the bridge cable rod with the damaged surface;
when the detection mechanism detects that the surface of the bridge cable rod is damaged, the repair mechanism is driven to repair the surface of the bridge cable rod;
when the surface of the bridge cable rod of the detection mechanism is provided with an obstacle, the obstacle crossing lifting mechanism is driven to drive the moving mechanism to lift;
when the loss of the metal section area and the local defects of the steel cable are detected in the bridge cable rod, the metal section area and the local defects are transmitted to an external terminal and an alarm prompt is provided for ground workers.
2. The bridge cable bar inspection and repair robot of claim 1 wherein the movement mechanism further comprises a guide mechanism;
the guide mechanism comprises a guide seat;
a sliding seat is arranged on the side connecting plate;
the guide seat is arranged on the sliding seat in a sliding manner, and one side of the guide seat is provided with a guide wheel which is in contact with a handrail rope on a bridge cable rod;
and when the obstacle crossing lifting mechanism is driven, the guide wheel is pulled to be separated from the handrail rope.
3. The bridge cable bar inspection and repair robot of claim 2 wherein the guide wheels are configured in an hourglass configuration.
4. The bridge cable bar detecting and repairing robot of claim 2, wherein the obstacle crossing lifting mechanism comprises a lifting motor, a lifting shaft, a first moving block and a second moving block;
the lifting motor is arranged on the outer side of the side connecting plate and is in wireless connection with the detection mechanism;
the lifting shaft is arranged at the output end of the lifting motor;
one end of the first moving block extends into the machine body and is fixedly connected with the telescopic frame, and the other end of the first moving block penetrates through the machine body and is meshed with the lifting shaft;
one end of the second moving block penetrates through the sliding seat and is fixedly connected with the guide seat, and the other end of the second moving block is meshed with the lifting shaft.
5. The bridge cable bar detection and repair robot of claim 1, wherein the repair mechanism comprises a three-axis displacement table and a repair manipulator;
the three-axis displacement table is arranged on the machine body;
the repairing manipulator is arranged on the triaxial displacement table and is in wireless connection with the detection mechanism;
when the detection mechanism detects that the surface of the bridge cable rod is damaged, the repair manipulator is controlled to move on the three-axis displacement table, and the damaged position of the bridge cable rod is repaired.
6. The robot for detecting and repairing bridge cable poles according to claim 1, wherein four AOI detection heads are provided and are respectively located at the periphery of the bridge cable pole.
7. The bridge cable bar inspection and repair robot of claim 1 wherein the bodies are arranged in three groups;
the AOI detection head is arranged on the outermost end of the machine body;
the steel rope detector detection head is arranged between the outermost end machine body and the middle end machine body;
the repair mechanism is arranged on the machine body at the tail end;
when the robot moves along the bridge cable rod, the surface and the inside of the bridge cable rod are sequentially detected, and the damaged position of the surface of the bridge cable rod is repaired through the repairing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211263981.XA CN115323915B (en) | 2022-10-17 | 2022-10-17 | Bridge cable pole detection and repair robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211263981.XA CN115323915B (en) | 2022-10-17 | 2022-10-17 | Bridge cable pole detection and repair robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115323915A CN115323915A (en) | 2022-11-11 |
| CN115323915B true CN115323915B (en) | 2023-01-06 |
Family
ID=83915227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211263981.XA Active CN115323915B (en) | 2022-10-17 | 2022-10-17 | Bridge cable pole detection and repair robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115323915B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2001230956A1 (en) * | 2000-01-14 | 2001-10-04 | The Trustees Of The University Of Pennsylvania | O-Methylated Rapamycin Derivatives for Alleviation and Inhibition of Lymphoproliferative Disorders |
| CN101734300A (en) * | 2009-12-02 | 2010-06-16 | 中国计量学院 | Continuous movable type cable climbing device |
| CN104153290A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104612045A (en) * | 2015-01-16 | 2015-05-13 | 华中科技大学 | Cable-stayed bridge cable detection robot system |
| CN205152786U (en) * | 2015-11-03 | 2016-04-13 | 深圳市索杆桥梁工程检测有限公司 | Light -duty bridge cable pole outward appearance inspection robot |
| CN108318576A (en) * | 2018-02-05 | 2018-07-24 | 东南大学 | Cable steel wire testing agency based on leakage magnetic flux detection |
| CN207992114U (en) * | 2018-02-06 | 2018-10-19 | 苏州德斯森电子有限公司 | Portable cable wire detector |
| CN112030742A (en) * | 2020-09-29 | 2020-12-04 | 深圳市人工智能与机器人研究院 | Bridge cable detection robot |
| CN113152271A (en) * | 2021-02-10 | 2021-07-23 | 深圳大学 | Robot for nondestructive testing of main cable of suspension bridge |
| CN113581313A (en) * | 2021-08-17 | 2021-11-02 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
| CN113682392A (en) * | 2021-09-09 | 2021-11-23 | 深圳市人工智能与机器人研究院 | Cylindrical climbing robot |
| CN114319102A (en) * | 2022-01-21 | 2022-04-12 | 山东大学 | Cable detection robot and working method thereof |
| CN114525733A (en) * | 2022-04-01 | 2022-05-24 | 四川长瑞土木工程检测有限公司 | Light high-strength intelligent detection robot for appearance and cable force detection of bridge inhaul cable |
| CN216712723U (en) * | 2021-05-14 | 2022-06-10 | 广州市开博桥梁工程有限公司 | Bridge cable pole is from high definition inspection robot that walks |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE60142677D1 (en) * | 2000-01-14 | 2010-09-09 | Univ Pennsylvania | O-METHYLATED RAPAMYCINE DERIVATIVES FOR REDUCING OR AVOIDING LYMPHOPROLIFERATIVE DISEASES |
-
2022
- 2022-10-17 CN CN202211263981.XA patent/CN115323915B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2001230956A1 (en) * | 2000-01-14 | 2001-10-04 | The Trustees Of The University Of Pennsylvania | O-Methylated Rapamycin Derivatives for Alleviation and Inhibition of Lymphoproliferative Disorders |
| CN101734300A (en) * | 2009-12-02 | 2010-06-16 | 中国计量学院 | Continuous movable type cable climbing device |
| CN104153290A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104612045A (en) * | 2015-01-16 | 2015-05-13 | 华中科技大学 | Cable-stayed bridge cable detection robot system |
| CN205152786U (en) * | 2015-11-03 | 2016-04-13 | 深圳市索杆桥梁工程检测有限公司 | Light -duty bridge cable pole outward appearance inspection robot |
| CN108318576A (en) * | 2018-02-05 | 2018-07-24 | 东南大学 | Cable steel wire testing agency based on leakage magnetic flux detection |
| CN207992114U (en) * | 2018-02-06 | 2018-10-19 | 苏州德斯森电子有限公司 | Portable cable wire detector |
| CN112030742A (en) * | 2020-09-29 | 2020-12-04 | 深圳市人工智能与机器人研究院 | Bridge cable detection robot |
| CN113152271A (en) * | 2021-02-10 | 2021-07-23 | 深圳大学 | Robot for nondestructive testing of main cable of suspension bridge |
| CN216712723U (en) * | 2021-05-14 | 2022-06-10 | 广州市开博桥梁工程有限公司 | Bridge cable pole is from high definition inspection robot that walks |
| CN113581313A (en) * | 2021-08-17 | 2021-11-02 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
| CN113682392A (en) * | 2021-09-09 | 2021-11-23 | 深圳市人工智能与机器人研究院 | Cylindrical climbing robot |
| CN114319102A (en) * | 2022-01-21 | 2022-04-12 | 山东大学 | Cable detection robot and working method thereof |
| CN114525733A (en) * | 2022-04-01 | 2022-05-24 | 四川长瑞土木工程检测有限公司 | Light high-strength intelligent detection robot for appearance and cable force detection of bridge inhaul cable |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115323915A (en) | 2022-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112012113B (en) | Multifunctional bridge detection robot and working method | |
| CN211543559U (en) | Wheel changing system | |
| CN105133490A (en) | Bridge detection device and detection method thereof | |
| CN114319102B (en) | Cable detection robot and working method thereof | |
| CN110761201B (en) | Steel approach bridge pushing equipment and construction method adopting same | |
| CN104612046B (en) | A kind of inspection car adding suspended-cable structure bridge for main push-towing rope | |
| CN111559411A (en) | Movable heavy-load carrying robot device, system and use method | |
| CN105729487B (en) | One kind embraces formula mining elevator crusing robot | |
| CN115323915B (en) | Bridge cable pole detection and repair robot | |
| CN112030742A (en) | Bridge cable detection robot | |
| CN106744182B (en) | The multi-functional mounting platform of elevator shaft component | |
| CN112523080A (en) | Lightweight bridge intelligent detection vehicle and use method thereof | |
| CN204589809U (en) | A kind of inspection trolley adding suspended-cable structure bridge for main push-towing rope | |
| CN215812105U (en) | Steel wire rope rigging steering traction dynamic load test device | |
| WO2003047958A1 (en) | Arrangement at a travelling crane | |
| KR100530351B1 (en) | Telescopical Trolley Car for Inspection | |
| CN112853969A (en) | Connection structure is dodged to lightweight bridge intellectual detection system car | |
| CN206265183U (en) | A kind of gait clamped-in style climbing robot | |
| CN213013916U (en) | Bridge cable detection robot | |
| CN115490148A (en) | Bridge deck crane for intelligent erection and auxiliary cable adjustment of cable-stayed bridge and construction method thereof | |
| CN105973577B (en) | Inspection vehicle for bridge cable detection and using method thereof | |
| CN216194117U (en) | Hang basket symmetry cantilever construction controlling means | |
| CN220377095U (en) | Simple mobile station for underbridge detection | |
| CN211973103U (en) | Platform and system for bridge bottom detection, maintenance inspection and maintenance | |
| CN219708809U (en) | Elevator bridge roof overhauls safety protection equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |