CN201400851Y - Bridge cable health detecting robot - Google Patents

Bridge cable health detecting robot Download PDF

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Publication number
CN201400851Y
CN201400851Y CN2009201270125U CN200920127012U CN201400851Y CN 201400851 Y CN201400851 Y CN 201400851Y CN 2009201270125 U CN2009201270125 U CN 2009201270125U CN 200920127012 U CN200920127012 U CN 200920127012U CN 201400851 Y CN201400851 Y CN 201400851Y
Authority
CN
China
Prior art keywords
dolly
bridge cable
junction plate
car
spring
Prior art date
Application number
CN2009201270125U
Other languages
Chinese (zh)
Inventor
杜子学
向中富
武维
刘朝涛
杜国松
彭中波
杨林
叶天明
马技能
Original Assignee
重庆交通大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 重庆交通大学 filed Critical 重庆交通大学
Priority to CN2009201270125U priority Critical patent/CN201400851Y/en
Application granted granted Critical
Publication of CN201400851Y publication Critical patent/CN201400851Y/en

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Abstract

The utility model discloses a bridge cable health detecting robot, which comprises a driving trolley, a driven trolley, a connecting device, a guiding device and a control device, wherein wheels of the driving trolley and the driven trolley are oppositely arranged and are connected through the connecting device, the wheels of the two trolleys clamp a bridge cable, the driving trolley guides the driven trolley to move through the guiding device, and the control device is arranged on the driving trolley. The robot has the beneficial effects that the structure is compact, the volume is small, theweight is light, the operation is simple and convenient, and the moving is flexible, and the carrying load ability is strong. The robot can carry different types of detecting and maintaining devices,can realize the unmanned detection and the coating of maximum length stay cables, and has wide applicable range.

Description

A kind of bridge cable health detection robot

Technical field

The utility model relates to a kind of cable detection technique, relates in particular to a kind of bridge cable health detection robot.

Background technology

Cable is the main load part of cable stayed bridge, its cost accounts for 25%~30% of full-bridge cost, in order to reduce the maintenance cost of cable, avoids single or all cables to be corroded and changes rope, improve the bridge image, regular inside and outside detection, application or reparation all are necessary.At present also more backward to the examination and maintenance mode of suspension cable, in the bridge floor high-altitude of wind and weather Exposure to Sunlight, generally still need constructor's operation personally.Germany began to check local defect simultaneously and measures the cable that electromagnetic equipment that the metal cross section area dwindles is used to check bridge on 1970, utilize hoist engine that equipment is moved along cable, record test data or store to perform an analysis; China has considered also that in recent years the fracture of wire of suspension cable, rust staining detect, and utilizes hoist engine to drag dolly and carries the steel wire detecting sensor, but only can detect the short cable of length.Univ Wisconsin-Madison USA is being engaged in this aspect research always, and its cable health detection technique is quite ripe, but climbing mechanism is not also realized breaking through.

After building up, adopted Shanghai Xu Pu bridge the mode of artificial application, promptly set up the fixed pulley suspension centre, drive dolly and manned and hanging basket coating has been carried out application in the high-altitude to whole cables by the people through wire rope with hoist engine by cat head, but inefficiency, and poor stability, the cost height.

The utility model content

The utility model proposes a kind of bridge cable health detection robot, its structure is as follows: it comprises: active dolly, driven dolly, linkage, guiding device, control device; Initiatively dolly is connected relatively and by linkage with driven dolly wheel, and two car wheels clamp bridge cable; The active dolly draws driven dolly by guiding device and moves; Control device is arranged on the active dolly.

Initiatively the structure of dolly and driven dolly is as follows: initiatively dolly and driven dolly comprise: car body and former and later two wheels; Wherein, wheel rim is the cambered surface of indent, and the material of wheel rim adopts rubber cambered surface, the anodontia cambered surface of metal or metal that the sector face is arranged; Rim size and bridge cable external diameter are complementary.

Linkage comprises: spring, junction plate, connecting rod; Initiatively the middle part of dolly and driven dolly respectively is provided with a junction plate, and junction plate and car body are rotationally connected; The junction plate two ends are porose, respectively the connecting rod of corresponding car body both sides; Connecting rod one end is fixed therein on the junction plate, the connecting rod other end with Spring Card between junction plate and connecting rod termination; Spring provides the pretension normal pressure for two dollies.

Spring adopts to be decided rigidity or becomes the rigidity double-helix spring, and the stroke of spring is adjustable.

The guiding device structure is as follows: two dolly car body both sides are respectively arranged with two guide pegs, and the guide peg two ends are stuck on the two dolly car bodies, and the active dolly drives driven dolly by guide peg and moves.

Control device comprises: actuating unit, testing agency, controlling organization; Controlling organization receives operator's teleinstruction actuating unit is controlled, and simultaneously, the real time information that testing agency is collected sends to the operator.

Actuating unit is through reducer transmission flute profile belt wheel, and the flute profile belt wheel adopts belt to drive the initiatively forward and backward wheel of dolly simultaneously;

The real time information that bridge cable is gathered by testing agency also sends controlling organization to, and testing agency can adopt the various combination in a kind of many or said apparatus in current vortex checkout gear, magnetic leakage checkout gear, ultrasonic detection device, the photograph/camera;

Useful technique effect of the present utility model is: compact conformation, and volume is little, and is in light weight, easy operation, motion is flexible, and carrying load ability is strong, and detection, service equipment that portability is dissimilar can be realized the no people detection and the application of length suspension cable, and be widely applicable.

Description of drawings

Fig. 1, two dollies and bridge cable position concern schematic diagram;

Fig. 2, the dolly vertical view;

Fig. 3, the equalizing type of suspension principle schematic;

Fig. 4, the controlling organization structural representation;

Fig. 5, the controlling organization flow chart;

Among the figure: bridge cable 1, driven dolly 2, spring 3-1, junction plate 3-2, connecting rod 3-3, active dolly 4, flute profile belt wheel 5, motor and reducer 6, guide peg 7.

The specific embodiment

At the deficiencies in the prior art in the background technology, utility model people considers to utilize the specialized robot technology, develop a kind of can climbing along rope automatically and also can finish the Arbitrary gradient Cable Robot of certain job task, this is not only the inevitable requirement of traffic infrastructure and maintenance, and important means are provided for the detection and the upkeep operation of cable stayed bridge cable, and also can be applicable on the similar slant-pull structure.

Referring to accompanying drawing 1,2, structure of the present utility model is as follows: it comprises: active dolly 4, driven dolly 2, linkage, guiding device, control device; Initiatively dolly 4 is connected relatively and by linkage with driven dolly 2 wheels, and two car wheels clamp bridge cable 1; Active dolly 4 draws driven dolly 2 by guiding device and moves; Control device is arranged on the active dolly 4.Initiatively dolly 4 and driven dolly 2 comprise: car body and former and later two wheels; Wherein, wheel rim is the cambered surface of indent, and the material of wheel rim adopts rubber cambered surface, the anodontia cambered surface of metal or metal that the sector face is arranged; Rim size and bridge cable 1 external diameter are complementary.Linkage comprises: spring 3-1, junction plate 3-2, connecting rod 3-3; Initiatively the middle part of dolly 4 and driven dolly 2 respectively is provided with a junction plate 3-2, and junction plate 3-2 and car body are rotationally connected; Junction plate 3-2 two ends are porose, respectively the connecting rod 3-3 of corresponding car body both sides; Connecting rod 3-3 one end is fixed therein on the junction plate 3-2, and the connecting rod 3-3 other end is stuck in spring 3-1 between junction plate 3-2 and the connecting rod 3-3 termination; Spring 3-1 provides the pretension normal pressure for two dollies.Spring 3-1 adopts and decides rigidity or become the rigidity double-helix spring, and the stroke of spring 3-1 is adjustable.The guiding device structure is as follows: two dolly car body both sides are respectively arranged with two guide pegs 7, guide peg 7 two ends are stuck on the two dolly car bodies, initiatively dolly 4 drives driven dolly 2 by guide peg 7 and moves that (guide peg 7 for effect is: make the initiatively car body of dolly 4 and driven dolly 2, there is not relative displacement along bridge cable 1 direct of travel, drive guide peg 7 when initiatively dolly 4 advances, guide peg 7 drives driven dolly).

Wherein, initiatively the walking mechanism of dolly 4 and driven dolly 2 (promptly two dolly and linkage) all adopts balancing stand structure (the balancing stand principle is referring to accompanying drawing 3): being rotationally connected in the middle part of the car body of junction plate 3-2 and initiatively dolly 4 and driven dolly 2, (fixed axis of junction plate 3-2 is on two dolly car bodies, junction plate 3-2 can slightly rotate around fixed axis, also be that car body and junction plate 3-2 can relatively rotate), after spring 3-1 clamps two dolly car bodies, the fixed axis of junction plate 3-2 forms fulcrum, when dolly advances on the bridge cable 1 rough position, two dolly car bodies all can slightly rotate around the fixed axis of separately junction plate 3-2, make wheel fit tightly bridge cable 1 external surface, in order to avoid wheel makes dolly stop to advance because of being adjacent to bridge cable 1 external surface.

Control device comprises: actuating unit, testing agency, controlling organization; Controlling organization receives operator's teleinstruction actuating unit is controlled, and simultaneously, the real time information that testing agency is collected sends to the operator.

Actuating unit is through reducer transmission flute profile belt wheel 5, and flute profile belt wheel 5 adopts belt to drive the initiatively forward and backward wheel of dolly 4 simultaneously;

Testing agency gathers the real time information of bridge cable 1 and sends controlling organization to, checkout gear can be current vortex checkout gear, magnetic leakage checkout gear, ultrasonic detection device, photograph/camera and some other instrument that is used for the cable health state-detection, it also can be the device that is used for the cable-maintaining maintenance, above-mentioned various checkout equipments can use separately, also can adopt different combinations to use simultaneously.Because bridge cable 1 is a column type, dolly is when advancing, and the dolly that bears a heavy burden big can rotate to bridge cable 1 below by nature, so initiatively dolly 4 generally is in bridge cable 1 below.

Referring to accompanying drawing 4, ROBOT CONTROL of the present utility model system is as follows: after the computer in the control cabinet (controlling organization) receives operating personnel's instruction by communication module, send the motion command (advance, stop or returning) of robot to control panel, control panel then according to this order by driver control motor (actuating unit) motion.If dolly detects obstacle in advancing, perhaps directly judge by computer, send to control panel and to return/advance command (automatic system that generally is used for unattended duty), perhaps the real-time image (or other signals) with the scene sends operating personnel to, determines by operating personnel how this controls the action of robot.During the robot motion, computer detects cable according to certain sequential start detection device, and testing result exists in the computer, sends to ground installation by communication module simultaneously after overcompression.

Referring to Fig. 5, the concrete control program block diagram of a cover that the utility model adopts.

Claims (6)

1, a kind of bridge cable health detection robot, it is characterized in that: it comprises: active dolly (4), driven dolly (2), linkage, guiding device, control device; Initiatively dolly (4) is connected relatively and by linkage with driven dolly (2) wheel, and two car wheels clamp bridge cable (1); Active dolly (4) draws driven dolly (2) by guiding device and moves; Control device is arranged on the active dolly (4).
2, bridge cable health detection robot according to claim 1 is characterized in that: initiatively dolly (4) and driven dolly (2) comprising: car body and former and later two wheels; Wherein, wheel rim is the cambered surface of indent, and the material of wheel rim adopts rubber cambered surface, the anodontia cambered surface of metal or metal that the sector face is arranged; Rim size and bridge cable (1) external diameter is complementary.
3, bridge cable health detection robot according to claim 1, it is characterized in that: linkage comprises: spring (3-1), junction plate (3-2), connecting rod (3-3); Initiatively the middle part of dolly (4) and driven dolly (2) respectively is provided with a junction plate (3-2), and junction plate (3-2) and car body are rotationally connected; Junction plate (3-2) two ends are porose, respectively the connecting rod (3-3) of corresponding car body both sides; Connecting rod (3-3) end is fixed therein on the junction plate (3-2), and connecting rod (3-3) other end is stuck in spring (3-1) between junction plate (3-2) and connecting rod (3-3) termination; Spring (3-1) provides the pretension normal pressure for two dollies.
4, bridge cable health detection robot according to claim 3 is characterized in that: spring (3-1) adopts to be decided rigidity or becomes the rigidity double-helix spring, and the stroke of spring (3-1) is adjustable.
5, bridge cable health detection robot according to claim 1, it is characterized in that: the guiding device structure is as follows: two dolly car body both sides are respectively arranged with two guide pegs (7), guide peg (7) two ends are stuck on the two dolly car bodies, and active dolly (4) drives driven dolly (2) by guide peg (7) and moves.
6, bridge cable health detection robot according to claim 1, it is characterized in that: control device comprises: actuating unit, testing agency, controlling organization; Controlling organization receives operator's teleinstruction actuating unit is controlled, and simultaneously, the real time information that testing agency is collected sends to the operator.
Actuating unit is through reducer transmission flute profile belt wheel (5), and flute profile belt wheel (5) adopts belt to drive the initiatively forward and backward wheel of dolly (4) simultaneously;
The real time information that bridge cable (1) is gathered by testing agency also sends controlling organization to, and testing agency can adopt the various combination in a kind of many or said apparatus in current vortex checkout gear, magnetic leakage checkout gear, ultrasonic detection device, the photograph/camera.
CN2009201270125U 2009-04-14 2009-04-14 Bridge cable health detecting robot CN201400851Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009201270125U CN201400851Y (en) 2009-04-14 2009-04-14 Bridge cable health detecting robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009201270125U CN201400851Y (en) 2009-04-14 2009-04-14 Bridge cable health detecting robot

Publications (1)

Publication Number Publication Date
CN201400851Y true CN201400851Y (en) 2010-02-10

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102199914A (en) * 2010-11-30 2011-09-28 大连华锐股份有限公司 Railway bridge detection trolley
CN102735686A (en) * 2012-06-07 2012-10-17 哈尔滨工业大学 Steel structure health monitoring system based on movable wireless sensor
CN102776834A (en) * 2012-07-09 2012-11-14 镇江蓝舶工程科技有限公司 Work car for main cables of suspension bridge
CN102774443A (en) * 2012-07-20 2012-11-14 中国科学院深圳先进技术研究院 Flexible surface crawling robot
KR101647281B1 (en) * 2016-01-20 2016-08-10 (주)스마트 제어계측 Drone for cable checking
CN106284070A (en) * 2016-10-21 2017-01-04 柳州欧维姆机械股份有限公司 Light-duty carbon fiber cable-climbing robot with detecting system and the method for drag-line detection thereof
CN108519245A (en) * 2018-04-24 2018-09-11 华北水利水电大学 A kind of cable repair apparatus performance test apparatus and test method
CN108908366A (en) * 2018-08-01 2018-11-30 浙江树人学院 A kind of automatic detection overpass robot
CN109629414A (en) * 2019-01-31 2019-04-16 姜自奇 A kind of bridge sling crawling device

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102199914B (en) * 2010-11-30 2012-07-25 大连华锐重工集团股份有限公司 Railway bridge detection trolley
CN102199914A (en) * 2010-11-30 2011-09-28 大连华锐股份有限公司 Railway bridge detection trolley
CN102735686B (en) * 2012-06-07 2014-05-14 哈尔滨工业大学 Steel structure health monitoring system based on movable wireless sensor
CN102735686A (en) * 2012-06-07 2012-10-17 哈尔滨工业大学 Steel structure health monitoring system based on movable wireless sensor
CN102776834A (en) * 2012-07-09 2012-11-14 镇江蓝舶工程科技有限公司 Work car for main cables of suspension bridge
CN102776834B (en) * 2012-07-09 2015-05-13 镇江蓝舶工程科技有限公司 Work car for main cables of suspension bridge
CN102774443B (en) * 2012-07-20 2014-07-16 中国科学院深圳先进技术研究院 Flexible surface crawling robot
CN102774443A (en) * 2012-07-20 2012-11-14 中国科学院深圳先进技术研究院 Flexible surface crawling robot
KR101647281B1 (en) * 2016-01-20 2016-08-10 (주)스마트 제어계측 Drone for cable checking
CN106284070A (en) * 2016-10-21 2017-01-04 柳州欧维姆机械股份有限公司 Light-duty carbon fiber cable-climbing robot with detecting system and the method for drag-line detection thereof
CN106284070B (en) * 2016-10-21 2018-05-25 柳州欧维姆机械股份有限公司 Light-duty carbon fiber cable-climbing robot with detecting system and its method for drag-line detection
CN108519245A (en) * 2018-04-24 2018-09-11 华北水利水电大学 A kind of cable repair apparatus performance test apparatus and test method
CN108519245B (en) * 2018-04-24 2021-01-12 华北水利水电大学 Cable maintenance equipment performance test device and test method
CN108908366A (en) * 2018-08-01 2018-11-30 浙江树人学院 A kind of automatic detection overpass robot
CN109629414A (en) * 2019-01-31 2019-04-16 姜自奇 A kind of bridge sling crawling device

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C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20100210

Effective date of abandoning: 20090414