CN117697796B - Bridge cable appearance and inside comprehensive detection robot - Google Patents
Bridge cable appearance and inside comprehensive detection robot Download PDFInfo
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- CN117697796B CN117697796B CN202410167329.0A CN202410167329A CN117697796B CN 117697796 B CN117697796 B CN 117697796B CN 202410167329 A CN202410167329 A CN 202410167329A CN 117697796 B CN117697796 B CN 117697796B
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- 238000005859 coupling reaction Methods 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
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- 238000001125 extrusion Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 9
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- 230000001070 adhesive effect Effects 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of detection robots, and discloses a comprehensive detection robot for appearance and interior of a bridge cable, which comprises a detection part, a detection part and a detection part, wherein the detection part is arranged on a robot bracket and is used for detecting the bridge cable; the walking part is arranged in the robot bracket and can laterally prop against the bridge cable and drive the robot bracket to displace; the directional clamping part is arranged on the robot bracket mountain and is arranged at the front end of the walking part, and the directional clamping part can laterally support and clamp the bridge cable for detection; the detection part is connected with the walking part through the robot bracket, the walking part can carry out gathering or expanding operation and carry out attaching contact with cables with different diameters, so that the walking part and cables with different specifications can keep proper attaching degree, stable movement of the detection part in the climbing and locking process is facilitated, and secondary damage operation caused by overlarge extrusion force of the walking part on the cables is avoided.
Description
Technical Field
The invention belongs to the technical field of detection robots, and particularly relates to a comprehensive detection robot for appearance and interior of a bridge cable.
Background
The cable is a main bearing and force transmission member of a bridge or other space building structures, is generally manufactured by adopting a high-strength steel wire through a special process, and is corroded and damaged in appearance and inside along with the increase of the service life, and the condition is generally detected by a climbing robot, so that a basis is provided for the safe use and later maintenance of the bridge.
The existing bridge cable detection robot with the publication number of CN202022718899.4 is characterized in that a tire is connected with a rotary encoder, the rotary encoder sends the movement distance, the speed and the acceleration information to a control system, the traction force of a traction motor is sent to the control system through a force sensor, the control system can automatically adjust the traction force and further adjust the braking force, and the damage of a bridge cable is avoided, and the bridge cable detection robot has the following problems;
1. bridge cables are different in diameter, and a detection robot for the bridge cables in the prior art cannot climb and detect the bridge cables with different specifications;
2. the cable climbing track of the detection robot is linear, the outer surface of the cable is a curved surface, and the center of the probe is not contacted, so that the coupling is poor, and the detection effect cannot be accurately obtained.
Disclosure of Invention
Aiming at the above defects or improvement demands of the prior art, the invention provides a bridge cable appearance and interior comprehensive detection robot, which comprises:
The detection part is arranged on the robot bracket and is used for detecting the bridge cable;
the walking part is arranged in the robot bracket and can laterally prop against the bridge cable and drive the robot bracket to displace;
The directional clamping part is arranged on the robot bracket and is arranged at the front end of the walking part, and the directional clamping part can laterally support and clamp the bridge cable;
an auxiliary part which is arranged at the side end of the robot bracket and is used for assisting the liquid supply to the directional clamping part, wherein,
The walking part is driven, and the walking part can drive the directional clamping part to rub the bridge cable when moving along the bridge cable, so that the auxiliary part liquid passes through the directional clamping part to coat the bridge cable and then is detected by the detecting part.
Further, the walking part comprises four supporting frames which are circumferentially arranged on the inner wall of the robot bracket, eight connecting rods which are hinged to the four supporting frames in pairs, and four contact parts which are connected with the eight connecting rods in pairs;
four of the contact portions are capable of swinging in eight of the connecting rod swinging directions.
Further, the walking part also comprises four limiting plates, four sliding holes which are arranged on the four limiting plates and are in sliding connection with the four supporting frames, and two limiting holes which are arranged on each limiting plate,
When each limiting plate slides down along the supporting frame, every two limiting holes can be clamped with every two connecting rods, so that the four contact parts are oriented.
Further, four corner chips are obliquely arranged at four inner edges of each limiting hole,
Each of the corner chips has elasticity;
when the limiting hole is clamped with the connecting rod, the four corner chips can be pressed by the connecting rod to be clung to the limiting hole internal corner line.
Further, the contact part comprises an arc body arranged at the tail end of the connecting rod, a chute arranged on the arc body, a pushing block arranged in the chute, an operation bin arranged on the arc body and communicated with the chute, a motor arranged in the operation bin, a first gear arranged on an output shaft of the motor, and a second gear meshed with the first gear,
And the motor is driven, and the first gear can drive the second gear to rotate.
Further, the contact part also comprises an internal threaded hole arranged on the pushing block, a threaded column which is matched and inserted into the internal threaded hole and connected with the second gear, a motor arranged on the pushing block, and a roller which is hinged on the pushing block and connected with the motor shaft;
the second gear can drive the threaded column to rotate, so that the threaded column drives the pushing block to move through the internal threaded hole, and the pushing block drives the roller to abut against the bridge cable.
Further, the directional clamping part comprises two fixing holes which are arranged at two sides of the robot bracket in a mirror image manner, two movable parts which are inserted into the two fixing holes, two nut blocks which are arranged at the upper ends of the two movable parts, and a bidirectional screw rod which is inserted into the two nut blocks and is connected with the robot bracket in a rotating manner;
and the two nut blocks can drive the two movable parts to approach and displace along the two fixed holes in opposite directions so that the two movable parts are abutted against the bridge cable.
Further, the movable part comprises a movable box penetrating through the fixed hole, a spring arranged on the movable box, a magnet arranged on the spring, and a rubber rack arranged at one end of the magnet, wherein the rubber rack is arranged at the other end of the magnet;
the rubber rack can abut against the bridge cable so that the magnet compresses the spring.
Further, the movable part also comprises a round hole arranged on the movable box, a rubber ring embedded in the round hole and a fixed pipe inserted in the rubber ring;
one end of the fixing tube is inserted into the magnet to be connected with the rubber rack, and the fixing tube is arranged in the spring.
Further, the auxiliary part comprises two coupling liquid storage boxes arranged at two sides outside the robot bracket and two hoses communicated with the two coupling liquid storage boxes;
the two hoses are communicated with the movable box;
the rubber rack is provided with three rows of through holes communicated with the fixed pipe;
the three rows of the through holes face the vertical direction and the left-right direction of the tooth surface respectively, wherein,
The coupling liquid containing box liquid flows to the movable box through the hose and then flows out to the three rows of a plurality of through holes through the fixed pipe, so that the liquid is sprayed on the bridge cable to be coated along with the rubber rack in a friction way.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
1. The detection part is connected with the walking part through the robot bracket, the walking part can carry out gathering or expanding operation and carry out attaching contact with cables with different diameters, so that the walking part and cables with different specifications can keep proper attaching degree, stable movement of the detection part in the climbing and locking process is facilitated, and secondary damage operation caused by overlarge extrusion force of the walking part on the cables is avoided.
2. According to the invention, the directional clamping part and the auxiliary part can move through the movement of the walking part, the directional clamping part enables the walking part to keep a fixed moving track, so that the adjustment of the detection surface is controllable, the auxiliary part can supply liquid to the directional clamping part, the couplant is coated along with the friction work of the directional clamping part and the cable, and the effect and quality of the work to be detected of the cable are ensured.
Drawings
FIG. 1 is a perspective view of a first view of a bridge cable apparent and internal comprehensive inspection robot in accordance with an embodiment of the present invention;
FIG. 2 is a perspective view of a second perspective view of an apparent and internal comprehensive inspection robot in accordance with an embodiment Liang Lansuo of the present invention;
FIG. 3 is a partial perspective view of a third perspective view of an apparent and internal comprehensive inspection robot in accordance with an embodiment Liang Lansuo of the present invention;
FIG. 4 is a perspective view of an embodiment of a directional clamp of the present invention;
FIG. 5 is a perspective view of a contact portion according to an embodiment of the present invention;
FIG. 6 is a perspective view of a limiting aperture connection corner chip according to an embodiment of the present invention;
FIG. 7 is a schematic view of the inside of a rear view of an arcuate body in accordance with an embodiment of the present invention;
Fig. 8 is an enlarged view at a in fig. 3.
Like reference numerals denote like technical features throughout the drawings, in particular: 1. a detection unit; 11. flaw detection head; 12. an infrared detection head; 13. a manipulator; 2. a walking unit; 21. a support frame; 22. a connecting rod; 23. a contact portion; 231. an arc body; 232. a chute; 234. a pushing block; 235. an operation bin; 236. a motor; 237. a first gear; 238. a second gear; 239. an internal threaded hole; 241. a threaded column; 242. a motor; 243. a roller; 24. a limiting plate; 25. a slide hole; 26. limiting the aperture; 3. a directional clamping portion; 31. a fixing hole; 32. a movable part; 321. a movable box; 322. a spring; 323. a magnet; 324. a rubber rack; 325. a round hole; 326. a rubber ring; 327. a fixed tube; 33. a nut block; 34. a bidirectional screw; 4. an auxiliary part; 41. a coupling liquid storage box; 42. a hose; 5. corner chips; 6. a robot stand; 7. and a through hole.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1-8, a robot for comprehensively detecting the appearance and interior of a bridge cable comprises:
a detection unit 1, wherein the detection unit 1 is arranged on the robot bracket 6, the detection unit 1 is used for detecting a bridge cable, the detection unit 1 comprises a manipulator 13, a flaw detection head 11 and an infrared detection head 12 which are arranged at the top end of the manipulator 13, the infrared detection head 12 is shorter than the flaw detection head 11, so that the double-mode appearance and internal detection work of the bridge cable is convenient, and the detection unit 1 further comprises a storage battery and a control device which is electrically connected with the flaw detection head 11, the infrared detection head 12 and the manipulator 13, which is a prior known technology, therefore, the detection unit is not described herein;
The walking part 2 is arranged in the robot bracket 6, the walking part 2 can laterally prop against a bridge cable and drive the robot bracket 6 to displace, and the walking part 2 can stretch and contract to form a proper inner diameter;
the directional clamping part 3 is arranged on the robot bracket 6 and is arranged at the front end of the walking part 2, the directional clamping part 3 can laterally support and clamp a bridge cable, and the directional clamping part 3 is used for detecting track deviation caused by incapability of overturning or shaking of the walking part 2 in the climbing and locking process;
an auxiliary part 4, wherein the auxiliary part 4 is arranged at the side end of the robot bracket 6, the auxiliary part 4 is used for assisting liquid supply to the directional clamping part 3, the internal liquid is a couplant,
The walking part 2 is driven, the walking part 2 can drive the directional clamping part 3 to rub the bridge cable when the bridge cable is displaced, so that the auxiliary part 4 is subjected to liquid passing through the directional clamping part 3 to coat the bridge cable and then to be detected by the detection part 1, specifically, the detection part 1 is connected with the walking part 2 through the robot bracket 6, the walking part 2 can carry out gathering or expanding operation to be in contact with cables with different diameters, the walking part 2 is positioned in the outer circumferential direction of the cable, the proper contact degree and proper contact degree of the walking part 2 and cables with different specifications are kept, the stable movement of the detection part 1 in the climbing locking process is facilitated, the secondary damage operation of the walking part 2 caused by overlarge extrusion force of the cable is avoided, the walking part 2 can move along the cable in a balanced way, the detection part 1 can finish detection work under the condition of no shaking, the mechanical arm 13 can drive the measuring head 11 and the infrared detection 12 to adjust the detection angle, the directional clamping part 3 and the auxiliary part 4 can move through the movement of the walking part 2, the fixed clamping part 3 can keep the proper contact degree and the proper contact degree with the cables, the sliding effect of the walking part 3 is also avoided, the sliding effect of the fixed clamping part 3 is kept along with the fixed clamping part 3, and the sliding effect of the working face is prevented from being caused by the clamping part is kept, and the sliding the working layer is prevented from being applied to the clamping the working layer 3.
Optionally, the walking part 2 includes four supporting frames 21 circumferentially arranged on the inner wall of the robot bracket 6, the four supporting frames 21 are distributed in an X shape, eight connecting rods 22 are hinged on the four supporting frames 21 in pairs, and four contact parts 23 are connected with the eight connecting rods 22 in pairs;
The four contact portions 23 can swing along the swinging directions of the eight connecting rods 22, specifically, in the process of connecting the device with the cable, the robot support 6 is sleeved outside the cable, the four contact portions 23 do not keep the same angle with the cable outside, the distance between every two adjacent contact portions 23 is larger than the outer diameter of the cable, the penetrating work of the cable can be accommodated, after the work is finished, the contact portions 23 are swung to enable the contact portions 23 to be opposite to the cable outside, the point positions of the contact portions are correct, and the contact between the four contact portions 23 and the cable in the follow-up work of the cable is facilitated.
Optionally, the walking part 2 further comprises four limiting plates 24, four sliding holes 25 provided on the four limiting plates 24 and slidably connected with the four supporting frames 21, and two limiting holes 26 provided on each limiting plate 24, wherein,
When each limiting plate 24 slides down along the supporting frame 21, every two limiting holes 26 can be clamped with every two connecting rods 22, so that the four contact portions 23 are oriented, and specifically, the sliding holes 25 can limit the moving track of the limiting plates 24, so that the limiting plates 24 can only radially lift based on the supporting frame 21, accurate clamping of the limiting holes 26 and the connecting rods 22 is facilitated, after clamping work is finished, the connecting rods 22 can not drive the contact portions 23 to swing, and a safe preparation effect is provided for contact between the subsequent contact portions 23 and cables.
Further, four corner tabs 5 are obliquely arranged at four inner edges of each limiting hole 26,
Each of the corner chips 5 has elasticity;
When the limiting hole 26 is clamped with the connecting rod 22, the four corner tabs 5 can be pressed by the connecting rod 22 to be clung to the internal corner line of the limiting hole 26, specifically, the distance between the external corner line of the corner tab 5 and the internal corner line of the limiting hole 26 is gradually reduced from the direction close to the connecting rod 22 to the direction far away from the connecting rod 22, and when the limiting hole 26 is sleeved with the connecting rod 22, the corner tab 5 can be gradually pressed, so that the clamping state of the limiting hole 26 and the connecting rod 22 is firmly maintained.
Alternatively, the contact part 23 includes an arc body 231 provided at the end of the connection rod 22, a chute 232 provided on the arc body 231, a pushing block 234 provided in the chute 232, an operation chamber 235 provided on the arc body 231 and communicating with the chute 232, a motor 236 provided in the operation chamber 235, a first gear 237 provided on an output shaft of the motor 236, and a second gear 238 engaging the first gear 237, wherein,
The motor 236 is driven, the first gear 237 can drive the second gear 238 to rotate, the contact part 23 further comprises an internal threaded hole 239 arranged on the pushing block 234, a threaded column 241 which is matched and inserted into the internal threaded hole 239 and connected with the second gear 238, a motor 242 arranged on the pushing block 234, and a roller 243 which is hinged on the pushing block 234 and connected with the shaft of the motor 242;
The second gear 238 can drive the threaded post 241 to rotate, so that the threaded post 241 drives the pushing block 234 to move through the internal threaded hole 239, so that the pushing block 234 drives the roller 243 to contact the bridge cable, and in particular, the operation cabin 235 provides an accommodating space for the first gear 237 and the motor 236, the motor 236 can be driven firstly, the motor 236 works to drive the first gear 237 to rotate, the first gear 237 drives the second gear 238 to rotate, the second gear 238 drives the threaded post 241 to rotate, the threaded post 241 acts on the internal threaded hole 239 to enable the pushing block 234 to radially move under the limiting force of the chute 232, the pushing block 234 drives the roller 243 to move from the outer ring of the arc-shaped body 231 to the inner ring, the roller 243 contacts the cable to stop, the process is convenient and adjustable, the roller 243 can be contacted with cables with different diameters to be detected, then, the motor 242 can be driven to work, the roller 243 and the cable are in frictional rotation, thereby realizing the contact effect of the contact part 23 and the periphery of the cable, the driving force is uniform, and the balance displacement of the robot bracket 6 is ensured.
Optionally, the directional clamping part 3 includes two fixing holes 31 disposed at two sides of the robot bracket 6 in a mirror image manner, two movable parts 32 penetrating the two fixing holes 31, two nut blocks 33 disposed at upper ends of the two movable parts 32, and a bidirectional screw 34 penetrating the two nut blocks 33 and rotatably connecting the robot bracket 6;
The two nut blocks 33 can drive the two movable parts 32 to move close to each other along the two fixing holes 31, so that the two movable parts 32 are abutted against the bridge cable, specifically, the threads of the two nut blocks 33 are matched with the threads of the two nut blocks 34, when the two nut blocks 33 rotate, the two movable parts 32 can be driven to move close to each other along the opposite directions by the two nut blocks 33, the two movable parts 32 can clamp two sides of the cable under the operation, a correction effect is provided for the movement of the robot bracket 6, the robot bracket 6 is prevented from falling backwards along the cable when the driving force of the robot bracket 6 fails, and the robot bracket 6 is prevented from shaking left and right under the driving force to deviate from the moving track.
Optionally, the movable part 32 includes a movable box 321 inserted through the fixed hole 31, a spring 322 disposed on the movable box 321, a magnet 323 disposed on the spring 322, and a rubber rack 324 disposed at one end of the magnet 323, wherein;
the rubber rack 324 can conflict bridge cable, so that magnet 323 compresses spring 322, specifically, the serrated surface laminating cable of rubber rack 324 has increased contact angle and area with the cable, make the adhesive force stronger, the rubber rack 324 can be restored after atress deformation, can cushion the friction force to friction cable and subdue, the magnetic force accessible rubber rack 324 of magnet 323 conducts for the cable, keep the adhesive state of rubber rack 324 at the cable, and when the conflict effort of rubber rack 324 to the cable is too big, spring 322 can be compressed and subdue the conflict effort, also can subdue the effort when rubber rack 324 friction vibration, guarantee the smoothness of movable part 32 activity work.
Optionally, the movable portion 32 further includes a circular hole 325 provided on the movable box 321, a rubber ring 326 embedded in the circular hole 325, and a fixed tube 327 inserted in the rubber ring 326;
The fixed pipe 327 one end alternates magnet 323 with glue rack 324 is connected, just fixed pipe 327 arranges in inside the spring 322, specifically, the elasticity flexible orbit of spring 322 is because of lacking the constraint and each direction swing, fixed pipe 327 and gluey ring 326 seal telescopic connection, avoid the liquid in the movable box 321 to leak, when the flexible activity of spring 322 elasticity, fixed pipe 327 carries out the action of inserting of taking out along gluey ring 326, lets the shock attenuation orbit of spring 322 be spacing, keeps the accurate of the conduction work of power in the shock attenuation measure.
Optionally, the auxiliary part 4 includes two coupling liquid storage boxes 41 disposed at two sides outside the robot bracket 6, and two hoses 42 connected to the two coupling liquid storage boxes 41;
two hoses 42 are communicated with the movable box 321;
the rubber rack 324 is provided with three rows of through holes 7 communicated with the fixed tube 327;
The three rows of the through holes 7 face the vertical direction and the left-right direction of the tooth surface respectively, wherein,
The coupling liquid containing box 41 liquid flows through the hose 42 to the movable box 321 and then flows out to the three rows of the plurality of through holes 7 through the fixed pipe 327, so that the liquid is sprayed on the bridge cable and is coated by friction along with the rubber rack 324, the coupling liquid in the coupling liquid containing box 41 is conveyed to the movable box 321 through the hose 42 and is conveyed to the three rows of the plurality of through holes 7 again through the fixed pipe 327, the liquid outlet area and the angle of the coupling liquid can be increased by the plurality of through holes 7 in the three directions, the local detection area of the cable can be effectively covered, the covering surface of the coupling liquid of the cable can be coated when the rubber rack 324 moves, the coupling liquid is uniformly distributed, and the consistency of the detection work of a plurality of points of the cable is maintained.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. The utility model provides a bridge cable apparent and inside comprehensive detection robot which characterized in that: comprising the following steps:
a detection part (1), wherein the detection part (1) is arranged on a robot bracket (6), and the detection part (1) is used for detecting a bridge cable;
the walking part (2) is arranged inside the robot bracket (6), and the walking part (2) can laterally prop against the bridge cable and drive the robot bracket (6) to displace;
The directional clamping part (3), the directional clamping part (3) is arranged on the robot bracket (6) and is arranged at the front end of the walking part (2), and the directional clamping part (3) can laterally support and clamp a bridge cable;
an auxiliary part (4), wherein the auxiliary part (4) is arranged at the side end of the robot bracket (6), and the auxiliary part (4) is used for assisting in supplying liquid to the directional clamping part (3), wherein,
The walking part (2) is driven, and the walking part (2) can drive the directional clamping part (3) to rub the bridge cable when moving along the bridge cable so that the auxiliary part (4) liquid is coated on the bridge cable through the directional clamping part (3) and then is detected by the detection part (1);
The directional clamping part (3) comprises two fixing holes (31) which are arranged at two sides of the robot bracket (6) in a mirror image mode, two movable parts (32) which penetrate through the two fixing holes (31), two nut blocks (33) which are arranged at the upper ends of the two movable parts (32), and a bidirectional screw rod (34) which penetrates through the two nut blocks (33) and is rotationally connected with the robot bracket (6);
The two-way screw rod (34) is rotated, and the two nut blocks (33) can drive the two movable parts (32) to oppositely and nearly displace along the two fixed holes (31) so that the two movable parts (32) are abutted against the bridge cable;
the movable part (32) comprises a movable box (321) penetrating through the fixed hole (31), a spring (322) arranged on the movable box (321), a magnet (323) arranged on the spring (322), and a rubber rack (324) arranged at one end of the magnet (323), wherein the rubber rack is arranged on the outer side of the movable box;
-said glue rack (324) being able to interfere with a bridge cable, so that said magnet (323) compresses said spring (322);
The movable part (32) further comprises a round hole (325) arranged on the movable box (321), a rubber ring (326) embedded in the round hole (325), and a fixed pipe (327) inserted in the rubber ring (326);
One end of the fixed tube (327) is inserted into the magnet (323) to be connected with the rubber rack (324), and the fixed tube (327) is arranged in the spring (322);
The auxiliary part (4) comprises two coupling liquid containing boxes (41) arranged at two sides outside the robot bracket (6), and two hoses (42) communicated with the two coupling liquid containing boxes (41);
two hoses (42) are communicated with the movable box (321);
The rubber rack (324) is provided with three rows of through holes (7) communicated with the fixed pipe (327);
The three rows of a plurality of through holes (7) face to the vertical direction and the left-right direction of the tooth surface respectively, wherein,
The liquid in the coupling liquid containing box (41) flows to the movable box (321) through the hose (42) and then flows out to the three rows of the through holes (7) through the fixed pipe (327), so that the liquid is sprayed on the bridge cable to be coated along with the rubber rack (324) in a friction way.
2. The bridge cable appearance and interior comprehensive inspection robot according to claim 1, wherein:
the walking part (2) comprises four supporting frames (21) which are circumferentially arranged on the inner wall of the robot bracket (6), eight connecting rods (22) which are hinged to the four supporting frames (21) in pairs, and four contact parts (23) which are connected with the eight connecting rods (22) in pairs;
Four contact portions (23) are swingable in the swing directions of the eight connecting rods (22).
3. The bridge cable appearance and interior comprehensive inspection robot according to claim 2, wherein:
The walking part (2) further comprises four limiting plates (24), four sliding holes (25) which are arranged on the four limiting plates (24) and are in sliding connection with the four supporting frames (21), and two limiting holes (26) which are arranged on each limiting plate (24),
When each limiting plate (24) slides downwards along the supporting frame (21), every two limiting holes (26) can be clamped with every two connecting rods (22) so as to enable the four contact parts (23) to be oriented.
4. The bridge cable appearance and interior comprehensive inspection robot according to claim 3, wherein:
Four corner tabs (5) are obliquely arranged at four inner edges of each limiting hole (26),
-Each of said corner-chips (5) has elasticity;
when the limiting hole (26) is clamped with the connecting rod (22), the four corner tabs (5) can be pressed by the connecting rod (22) to be tightly attached to the internal corner line of the limiting hole (26).
5. The bridge cable appearance and interior comprehensive inspection robot according to claim 4, wherein:
the contact part (23) comprises an arc-shaped body (231) arranged at the tail end of the connecting rod (22), a sliding groove (232) arranged on the arc-shaped body (231), a pushing block (234) arranged in the sliding groove (232), an operation bin (235) arranged on the arc-shaped body (231) and communicated with the sliding groove (232), a motor (236) arranged in the operation bin (235), a first gear (237) arranged on an output shaft of the motor (236) and a second gear (238) meshed with the first gear (237),
The motor (236) is driven, and the first gear (237) can drive the second gear (238) to rotate.
6. The bridge cable appearance and interior comprehensive inspection robot according to claim 5, wherein:
The contact part (23) further comprises an internal threaded hole (239) arranged on the pushing block (234), a threaded column (241) which is matched with the internal threaded hole (239) and connected with the second gear (238), a motor (242) arranged on the pushing block (234), and a roller (243) which is hinged on the pushing block (234) and connected with the shaft of the motor (242);
The second gear (238) can drive the threaded column (241) to rotate, so that the threaded column (241) drives the pushing block (234) to move through the internal threaded hole (239), and the pushing block (234) drives the roller (243) to abut against a bridge cable.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410167329.0A CN117697796B (en) | 2024-02-06 | 2024-02-06 | Bridge cable appearance and inside comprehensive detection robot |
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| CN202410167329.0A CN117697796B (en) | 2024-02-06 | 2024-02-06 | Bridge cable appearance and inside comprehensive detection robot |
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| CN117697796B true CN117697796B (en) | 2024-05-03 |
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| CN113618708A (en) * | 2021-09-06 | 2021-11-09 | 哈尔滨理工大学 | Similar planet rotary type maintenance robot suitable for multi-size inhaul cables |
| CN115418946A (en) * | 2022-09-20 | 2022-12-02 | 深圳市人工智能与机器人研究院 | Cleaning robot |
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| IT202000001057A1 (en) * | 2020-01-21 | 2021-07-21 | Visiontek Eng S R L | MOBILE APPARATUS FOR THREE-DIMENSIONAL OPTICAL MEASUREMENT FOR ROPES WITH ROPE ATTACHMENT DEVICE |
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| 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 |
| CN113618708A (en) * | 2021-09-06 | 2021-11-09 | 哈尔滨理工大学 | Similar planet rotary type maintenance robot suitable for multi-size inhaul cables |
| CN115418946A (en) * | 2022-09-20 | 2022-12-02 | 深圳市人工智能与机器人研究院 | Cleaning robot |
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