CN201645495U - Robot automatic detection system for overhead stay cable - Google Patents
Robot automatic detection system for overhead stay cable Download PDFInfo
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- CN201645495U CN201645495U CN2010201098926U CN201020109892U CN201645495U CN 201645495 U CN201645495 U CN 201645495U CN 2010201098926 U CN2010201098926 U CN 2010201098926U CN 201020109892 U CN201020109892 U CN 201020109892U CN 201645495 U CN201645495 U CN 201645495U
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Abstract
The utility model discloses a robot automatic detection system for an overhead stay cable, which belongs to the field of industrial robots and comprises a robot body and a robot control console, wherein the robot body is provided with a stay cable wire flaw detection sensor, a miniature optical camera, a robot run-length encoding module, a field signal amplifying/processing module and a data signal transmitting module; the robot control console is provided with a data signal receiving module, a stay cable detection data processing module and a database module; and the wire or wireless signal transmission mode is adopted between the data signal transmitting module and the data signal receiving module for data transmission. By adopting the utility model, the robot which has the original lifting/climbing functions becomes a composite functional device which has stay cable detection/maintenance functions, the working efficiency and the operation safety are greatly improved, and the utility model can be widely applied to the field of rope/cable detection and maintenance.
Description
Technical field
The utility model belongs to program control industrial robot field, relates in particular to a kind of program control industrial robot that the high-altitude suspension cable is detected of being used for.
Background technology
Cable-stayed bridge has worldwide obtained using widely as the new model of modern bridge.
Yet, as the cable long term exposure of one of big stressed member (bridge tower, bridge floor and bridge rope) of cable-stayed bridge three in air, through the wind and weather solar radiation, the sheath on cable surface will produce the aging and cracking phenomena of corrosion in various degree, and bring serious problems such as corrosion, fracture of wire for the cable wire in the sheath, these bury serious potential safety hazard all can for the graceful grand sedan-chair that tiltedly draws.
The cable-stayed bridge cable has cylindrical, multiclass patterns such as parallel hexagon and spiral hexagon, and cable directly has plurality of specifications, and skin generally has polyethylene interplanting protection, its absolute altitude height, distance, gradient is by 30 ° to nearly 90 °.In addition, although applied very big pulling force at the two ends of cable, because deadweight effect and creep, cable still has certain amount of deflection.For the higher and flexible bigger cable of this absolute altitude of cable-stayed bridge
Because cable-stayed bridge is the novel bridge that just rises nearest decades, the maintenance measure that the crucial primary structure member cable of bridge is matched still constantly improve and development among, corresponding techniques means and device also exploring with R﹠D process in.
Climbing device at the high-altitude suspension cable has had report specially, the day for announcing is on February 9th, 2002, notification number is to disclose a kind of " Pneumatic creeping cable robot " in the Chinese invention patent of CN 1077484C, it is by climbing, safeguard and several parts compositions of ground control cabinet, upper body 1 in the body and lower body 2 three mounting blocks 3 that are uniformly distributed along the circumference is characterized in that climbing, install respectively on it by clamping the tight mechanism in centre that cylinder 11 and clamp jaw 8 constitute, the guiding mechanism that guiding cylinder 10 and directive wheel 7 are formed, the piston rod end of mobile cylinder 6 is connected in upper body 1 by floating junction 12, cylinder body is connected in lower body 2 by axis of centres ear 9, back shaft 5 is connected in upper body 1, and the supporting seat 15 of interior dress linear motion bearing 14 links to each other with lower body 2 through cushion 16.
Because this robot designs and uses at the high-altitude suspension cable specially, so very be suitable on the suspension cable of high-altitude, carrying out descending operation, utilize it as carrier, the scheduled operation of being correlated with will be very convenient.
The utility model content
Technical problem to be solved in the utility model provides the robot automatic checkout system of a kind of high-altitude suspension cable.Its higher for this absolute altitude of high-altitude suspension cable, flexible bigger locked-coil rope, utilize special-purpose creeping cable robot to be carrier, additional corresponding functional modules, make the robot that only has lifting/climbing function originally become multifunctional device with suspension cable detection/maintenance function, both had tiltedly pulling on and moved freely/function of lifting/climbing, can carry out the coherent detection/maintenance work of cable at suspension cable again, operating efficiency and operational security improve greatly.
The technical solution of the utility model is: the robot automatic checkout system that a kind of high-altitude suspension cable is provided, comprise by upper body, lower body and mobile/squirmy robot body that supporting mechanism constitutes and robot console that is positioned at ground, it is characterized in that: on robot body, suspension cable steel wire flaw detection sensor, micro-optical camera, robot run-length encoding module, on-site signal amplification/processing module and data-signal transmission/sending module are set; Robot console on ground is provided with data-signal transmission module, suspension cable detection data processing module and DBM; Adopt wired or wireless signal transfer mode to carry out transfer of data between described data-signal transmission/sending module and the data-signal transmission module.
Further, described suspension cable steel wire flaw detection sensor and micro-optical camera are arranged on the upper body or lower body of robot body.
Further, described suspension cable steel wire flaw detection sensor and micro-optical camera are along robot body radial circumference symmetry or uniform setting;
Concrete, described suspension cable steel wire flaw detection sensor is weak magnetic non-destructive control probe, acoustic sounding probe or x-ray detection probe.
Described micro-optical camera is CCD or CMOS sensitization camera.
Described robot run-length encoding module is run-length encoding device or displacement encoder and peripheral circuit thereof.
Described on-site signal amplification/processing module comprises vision signal amplifying circuit, mould/number conversion circuit at least.
Described suspension cable detects data processing module and comprises compression of images card and digital hard disc video recorder at least.
Compared with the prior art, the utility model has the advantages that:
1. utilize creeping cable robot to be carrier, additional detected, data are handled and transport module, in conjunction with the robot ground control cabinet, have constituted a complete inside and outside detection system of oblique rollering steel rope;
2. adopt multiple detection means and monitor mode, in the process that robot climbs along suspension cable, the armouring suspension cable is carried out automatic inside and outside detection, and realize synchronously that by signal transmission module ground (bridge floor) is accepted to handle and operation control;
3. the running status of whole system and job task are finished by wired or wireless signal transmission system by the ground control system command and control, and operating efficiency and operational security improve greatly.
Description of drawings
Fig. 1 is a frame for movement schematic diagram of the present utility model;
Fig. 2 is a circuit module structural representation of the present utility model;
Fig. 3 is that flaw detection sensor and micro-optical camera are provided with pattern diagram;
Fig. 4 is that another flaw detection sensor and micro-optical camera are provided with pattern diagram.
1 is suspension cable among the figure, and 2 is robot body, and 3 is detection probe or camera, and 4 is the ground robot console.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
Among Fig. 1, the technical program is on robot body 2, be provided with suspension cable steel wire flaw detection sensor and/or micro-optical camera 3, adopt multiple detection means and monitor mode, in the process that robot climbs along suspension cable 1, the armouring suspension cable is carried out automatic inside and outside detection, and realize synchronously that by signal transmission module ground (bridge floor) is accepted to handle and operation control.
Suspension cable steel wire flaw detection sensor and micro-optical camera can be arranged on the upper body or lower body of robot body.
Among Fig. 2, on robot body 1, suspension cable steel wire flaw detection sensor, micro-optical camera, robot run-length encoding module, on-site signal amplification/processing module and data-signal transmission/sending module are set.
Adopt wired or wireless signal transfer mode to carry out transfer of data between its data-signal transmission/sending module and the data-signal transmission module.
Its suspension cable steel wire flaw detection sensor is weak magnetic non-destructive control probe, acoustic sounding probe or x-ray detection probe.
Its micro-optical camera is CCD or CMOS sensitization camera.
Its robot run-length encoding module is run-length encoding device or displacement encoder and peripheral circuit thereof.
Its on-site signal amplification/processing module comprises vision signal amplifying circuit, mould/number conversion circuit at least.
Its suspension cable detects data processing module and comprises compression of images card and digital hard disc video recorder at least.
The crucial inventive point of native system is to carry relevant device by robot, by ground control system robot command construction operation, detects in automatic checkout system is carried out suspension cable under the support of intelligent robot and outer detection.
Its outer detection to the cable-stayed bridge cable is to adopt the miniature video camera technology, mainly checks aging, be full of cracks, the hole of outer surface; Its interior detection to the cable-stayed bridge cable can be adopted means such as advanced weak magnetic Dynamic Non-Destruction Measurement, acoustic sounding technology, x-ray detection technology, mainly detects situations such as the inner fracture of wire of cable, corrosion.
Utilize the magnetic leakage measurement technology to be: when the suspension cable steel wire promptly is magnetized by flaw detection sensor to the know-why of the detection of the fracture of wire of suspension cable, corrosion, in case have defective in the oblique rollering steel rope, then can on the oblique rollering steel rope, produce leakage field, flaw detection sensor just can reflect the information of cable wire defective, promptly when the oblique rollering steel rope passes through flaw detection sensor, because the variation that the cross section metal that the wearing and tearing of suspension cable steel wire produce is long-pending, cause the variation of magnetic flux in the cable wire that has magnetized, flaw detection sensor just can capture relevant suspension cable cross section metal and amass change information thus.These information are by the conversion of A/D converter, stray field information in the oblique rollering steel rope regional area is handled, can detect the fracture of wire and the corrosion defective of oblique rollering steel rope, the situation of change of main flux intensity in the magnetic loop can be handled again on the other hand, can detect the change information of the long-pending summation of cross section metal of the oblique rollering steel rope that causes because of wearing and tearing and corrosion.
Detected oblique rollering steel rope is carried out the purpose of omnidistance coding, is to determine and write down and respectively detect the position and lack the particular location of limitting existence by encoder.
The technical program has been used the high clear anti-interference camera technique of asking, built-in auto iris, automatic-balanced BLC, wireless sound shadow transmission system, four tunnel image compression cards, four way word DVRs are finished the outer surface inspection monitoring by the MICROCOMPUTER PROCESSING technology.
During concrete enforcement, use the beam split camera lens by four cameras, monitor and photograph suspension cable jacket surface situation from four angles simultaneously, light is resolved into three kinds of composition light of red, green, blue, then according to the size of its light intensity, convert the corresponding signal of telecommunication to through optical-electrical converter, amplify the vision signal that treatment conversion becomes luminance signal, colour signal, synchronizing signal etc. to form then.By wireless sound shadow transmission system, image compression card, industrial computer it is outputed to many picture processors, realize that single-image and many pictures switch,, accurately demonstrate the image on oblique rollering steel rope surface in detail at last by display output live video monitoring image.Can be at any time in checking process carry out the position record and emphasis is checked repeatedly to oblique rollering steel rope jacket surface defectiveness part.
Because above-mentioned probe, camera and each functional circuit/module are prior art and commercially available prod, so its concrete circuit structure, connected mode each other and operation principle, no longer narrate at this, those of ordinary skill in the art after grasping and having understanded the thinking of dealing with problems and method of the technical program, need not through creative work, can reproduce the technical program, reach the technique effect of expection.
Among Fig. 3, suspension cable steel wire flaw detection sensor and/or micro-optical camera 3 are symmetrical arranged along the radial circumference of robot body 2.
Among Fig. 4, suspension cable steel wire flaw detection sensor and/or micro-optical camera 3 are along the uniform setting of the radial circumference of robot body 2.
This detection system can realize the drag-line of cable-stayed bridge cable, scenic spot cableway and building is checked comprehensively the security situation of cable wire in damaged situation of jacket outer surface and the suspension cable sheath efficiently and safely, the security situation that comprises cable wire in damaged situation of suspension cable jacket outer surface and the sheath, each side such as its surface aging, be full of cracks, shedding, hole and inner fracture of wire, slight crack, pulling force are carried out correct effective diagnosis, and the working security in its detection efficiency and the testing process is that traditional handicraft is incomparable.
Because the utility model utilizes special-purpose creeping cable robot to be carrier, additional relevant detection/maintenance function module, make the robot that only has lifting/climbing function originally become multifunctional device with suspension cable detection/maintenance function, both had tiltedly pulling on and moved freely/function of lifting/climbing, can carry out the coherent detection/maintenance work of cable at suspension cable again, operating efficiency and operational security improve greatly.
The utility model can be widely used in detection, the area of maintenance of various rope/cables.
Claims (8)
1. the robot automatic checkout system of a high-altitude suspension cable comprises by upper body, lower body and mobile/squirmy robot body that supporting mechanism constitutes and robot console that is positioned at ground, it is characterized in that:
On robot body, suspension cable steel wire flaw detection sensor, micro-optical camera, robot run-length encoding module, on-site signal amplification/processing module and data-signal transmission/sending module are set;
Robot console on ground is provided with data-signal transmission module, suspension cable detection data processing module and DBM;
Adopt wired or wireless signal transfer mode to carry out transfer of data between described data-signal transmission/sending module and the data-signal transmission module.
2. according to the robot automatic checkout system of the described high-altitude of claim 1 suspension cable, it is characterized in that described suspension cable steel wire flaw detection sensor and micro-optical camera, be arranged on the upper body or lower body of robot body.
3. according to the robot automatic checkout system of claim 1 or 2 described high-altitude suspension cables, it is characterized in that described suspension cable steel wire flaw detection sensor and micro-optical camera, along robot body radial circumference symmetry or uniform setting.
4. according to the robot automatic checkout system of the described high-altitude of claim 1 suspension cable, it is characterized in that described suspension cable steel wire flaw detection sensor is weak magnetic non-destructive control probe, acoustic sounding probe or x-ray detection probe.
5. according to the robot automatic checkout system of the described high-altitude of claim 1 suspension cable, it is characterized in that described micro-optical camera is CCD or CMOS sensitization camera.
6. according to the robot automatic checkout system of the described high-altitude of claim 1 suspension cable, it is characterized in that described robot run-length encoding module is run-length encoding device or displacement encoder and peripheral circuit thereof.
7. according to the robot automatic checkout system of the described high-altitude of claim 1 suspension cable, it is characterized in that described on-site signal amplification/processing module comprises vision signal amplifying circuit, mould/number conversion circuit at least.
8. according to the robot automatic checkout system of the described high-altitude of claim 1 suspension cable, it is characterized in that described suspension cable detects data processing module and comprises compression of images card and digital hard disc video recorder at least.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201098926U CN201645495U (en) | 2010-02-08 | 2010-02-08 | Robot automatic detection system for overhead stay cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201098926U CN201645495U (en) | 2010-02-08 | 2010-02-08 | Robot automatic detection system for overhead stay cable |
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| Publication Number | Publication Date |
|---|---|
| CN201645495U true CN201645495U (en) | 2010-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010201098926U Expired - Fee Related CN201645495U (en) | 2010-02-08 | 2010-02-08 | Robot automatic detection system for overhead stay cable |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621159A (en) * | 2012-04-24 | 2012-08-01 | 重庆大学 | Cable sheath breakage detection device and integrated detection system |
| CN102632937A (en) * | 2012-05-04 | 2012-08-15 | 安徽工业大学 | Crawling mechanism for peristaltic cable robot |
| CN102887187A (en) * | 2012-10-23 | 2013-01-23 | 四川省电力公司西昌电业局 | Electromagnetic-type intelligent climbing robot |
| CN106965184A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot |
| CN109676627A (en) * | 2019-02-22 | 2019-04-26 | 刘兴超 | A kind of posture correction intelligent inspection robot |
| CN109706838A (en) * | 2019-02-22 | 2019-05-03 | 刘兴超 | A kind of climbing robot of cable defects detection and positioning |
| CN115497260A (en) * | 2022-08-08 | 2022-12-20 | 天津城建大学 | Bridge cable defect early warning device for magnetic flux leakage and visual analysis |
-
2010
- 2010-02-08 CN CN2010201098926U patent/CN201645495U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621159A (en) * | 2012-04-24 | 2012-08-01 | 重庆大学 | Cable sheath breakage detection device and integrated detection system |
| CN102632937A (en) * | 2012-05-04 | 2012-08-15 | 安徽工业大学 | Crawling mechanism for peristaltic cable robot |
| CN102887187A (en) * | 2012-10-23 | 2013-01-23 | 四川省电力公司西昌电业局 | Electromagnetic-type intelligent climbing robot |
| CN106965184A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | A kind of control system of Character of Cable Force of Cable stayed Bridge climbing robot |
| CN109676627A (en) * | 2019-02-22 | 2019-04-26 | 刘兴超 | A kind of posture correction intelligent inspection robot |
| CN109706838A (en) * | 2019-02-22 | 2019-05-03 | 刘兴超 | A kind of climbing robot of cable defects detection and positioning |
| CN115497260A (en) * | 2022-08-08 | 2022-12-20 | 天津城建大学 | Bridge cable defect early warning device for magnetic flux leakage and visual analysis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20130208 |