CN204435223U - A kind of cable detection robot for cable-stayed bridge system - Google Patents

A kind of cable detection robot for cable-stayed bridge system Download PDF

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CN204435223U
CN204435223U CN201520031317.1U CN201520031317U CN204435223U CN 204435223 U CN204435223 U CN 204435223U CN 201520031317 U CN201520031317 U CN 201520031317U CN 204435223 U CN204435223 U CN 204435223U
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cable
climbing
frame
sub
stayed bridge
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刘强强
林开亮
龙杰才
王辉
陈立
孟一村
徐友健
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Abstract

本实用新型公开了一种斜拉桥缆索检测机器人系统,包括机架,机架上设置有多个动力爬升机构,该多个动力爬升机构周向均匀分布,动力爬升机构包括动力机构和两个爬升机构,该两个爬升机构上下设置且通过同步传动机构连接,每个爬升机构均包括能贴在缆索上滚动的滚轮,其中一个爬升机构的滚轮通过动力机构带动其旋转,同步传动机构能带动上下设置的两个爬升机构的所有滚轮同步旋转,所述机架包括多个子支撑架,每个动力爬升机构安装在一子支撑架上,相邻的子支撑架通过连接装置连接,所述连接装置能调节相邻两个子支撑架之间的距离。本实用新型具有很高的适应性,能工作于不同直径的缆索上,使用连接装置来连接子支撑架,便于调节机器人系统的总体尺寸。

The utility model discloses a cable detection robot system for a cable-stayed bridge, which comprises a frame on which a plurality of power climbing mechanisms are evenly distributed in the circumferential direction, and the power climbing mechanism includes a power mechanism and two Climbing mechanism, the two climbing mechanisms are set up and down and connected by a synchronous transmission mechanism. Each climbing mechanism includes a roller that can be attached to the cable and rolls. The roller of one climbing mechanism drives it to rotate through a power mechanism. The synchronous transmission mechanism can drive All the rollers of the two climbing mechanisms arranged up and down rotate synchronously. The frame includes a plurality of sub-supporting frames, and each power climbing mechanism is installed on a sub-supporting frame. The adjacent sub-supporting frames are connected by a connecting device. The device can adjust the distance between two adjacent sub-supporting frames. The utility model has high adaptability, can work on cables with different diameters, uses a connecting device to connect sub-support frames, and is convenient for adjusting the overall size of the robot system.

Description

一种斜拉桥缆索检测机器人系统A cable detection robot system for cable-stayed bridge

技术领域technical field

本实用新型属于攀爬机器人领域,具体涉及一种斜拉桥缆索检测机器人系统。The utility model belongs to the field of climbing robots, in particular to a cable detection robot system for a cable-stayed bridge.

背景技术Background technique

斜拉桥是大跨度桥梁的最主要桥型,而缆索是斜拉桥的主要承重部分,其受力构件缆索的内部钢丝在大桥动载荷、雨振、风振的长期作用下,容易出现断裂,因此斜拉桥的检测工作至关重要。目前对缆索的检测并不完善。早期是采用卷扬机拖动吊篮小车的人工方式,工作量大,效率低,安全性差。The cable-stayed bridge is the most important type of long-span bridge, and the cable is the main load-bearing part of the cable-stayed bridge. The internal steel wire of the cable-stayed member cable is prone to breakage under the long-term action of the bridge dynamic load, rain vibration, and wind vibration. , so the detection of cable-stayed bridges is very important. The detection of cables is not perfect at present. In the early stage, the hoist was used to drag the trolley of the hanging basket manually, which resulted in heavy workload, low efficiency and poor safety.

目前出现的斜拉桥缆索检测机器人主要有两种,即电机驱动轮式机器人和气动蠕动式机器人,前者运动连续,结构紧凑,控制简单,攀爬效率高,但其越障能力较差;后者结构简单,由上下两部分组成,中间用气缸连接,每部分均装有三个气缸,交替处于夹紧和上升状态,实现爬升,有较好的越障能力,但控制较为复杂,运动效率低,且体积通常较大。There are two main types of cable detection robots for cable-stayed bridges, namely, motor-driven wheeled robots and pneumatic peristaltic robots. The former moves continuously, has a compact structure, is simple to control, and has high climbing efficiency, but its ability to overcome obstacles is poor; The structure is simple, consisting of upper and lower parts, connected by cylinders in the middle, and each part is equipped with three cylinders, which are alternately in clamping and rising states to achieve climbing and have better obstacle-crossing ability, but the control is more complicated and the movement efficiency is low. , and usually larger in size.

在电机驱动轮式爬升机器人方面,目前也有一些研究成果,但或多或少存在一些不足。很多同类机器人是由两部分组成的,并且其中仅一个装有电机,作为主动部分,另一部分作为从动,起压紧作用,这样方式可能安装比较方便,但爬升能力有限,稳定性差,并且不利于改变机器人总体尺寸。也有一些同类机器人是由三部分组成的,但往往沿缆索轴线方向尺寸较大,缆索自身挠度对机器人运动的影响比较严重。还有一些机器人结构过于简单,过分依赖拉簧的作用来适应不同的缆索,虽有较好的越障能力,但由于整体刚性不足,机器人运动过程中很容易在缆索附近晃动,影响检测质量。总的说来,目前很多同类产品都存在越障能力和运动平稳性之间的矛盾。There are also some research results on motor-driven wheeled climbing robots, but there are more or less deficiencies. Many similar robots are composed of two parts, and only one of them is equipped with a motor as the active part, and the other part is used as the driven part, which acts as a pressing force. This method may be more convenient to install, but the climbing ability is limited, the stability is poor, and it does not It is beneficial to change the overall size of the robot. There are also some similar robots that are composed of three parts, but they are often larger along the axis of the cable, and the deflection of the cable itself has a serious impact on the movement of the robot. Some robots are too simple in structure and rely too much on the effect of tension springs to adapt to different cables. Although they have good obstacle-surmounting ability, due to the lack of overall rigidity, the robot is easy to shake near the cables during movement, which affects the quality of inspection. Generally speaking, many similar products currently have a contradiction between obstacle-surmounting ability and motion stability.

实用新型内容Utility model content

针对现有技术的以上缺陷或改进需求,本实用新型提供了一种斜拉桥缆索检测机器人系统,其目的在于取代落后的人工检测方式,运用遥控的方法,搭载检测设备攀爬缆索,完成缆索检测任务,提供一种安全、高效的缆索检测方式。Aiming at the above defects or improvement needs of the prior art, the utility model provides a cable-stayed bridge cable detection robot system. Detection tasks, providing a safe and efficient cable detection method.

为实现上述目的,按照本实用新型的一个方面,提供了一种斜拉桥缆索检测机器人系统,包括机架,所述机架上设置有多个能贴在缆索表面爬升的动力爬升机构,该多个动力爬升机构周向均匀分布,动力爬升机构包括动力机构和两个爬升机构,该两个爬升机构上下设置且通过同步传动机构连接,每个爬升机构均包括能贴在缆索上滚动的滚轮,其中一个爬升机构的滚轮通过动力机构带动其旋转,所述同步传动机构能带动上下设置的两个爬升机构的所有滚轮同步旋转,所述机架包括多个子支撑架,每个动力爬升机构安装在一子支撑架上,相邻的子支撑架通过连接装置连接,所述连接装置能调节相邻两个子支撑架之间的距离。In order to achieve the above object, according to one aspect of the present invention, a cable-stayed bridge cable detection robot system is provided, including a frame, and the frame is provided with a plurality of power climbing mechanisms that can be attached to the surface of the cable to climb. A plurality of power climbing mechanisms are evenly distributed in the circumferential direction. The power climbing mechanism includes a power mechanism and two climbing mechanisms. The two climbing mechanisms are arranged up and down and connected by a synchronous transmission mechanism. Each climbing mechanism includes a roller that can stick to the cable and roll. , one of the rollers of the climbing mechanism is driven to rotate by the power mechanism, and the synchronous transmission mechanism can drive all the rollers of the two climbing mechanisms arranged up and down to rotate synchronously. The frame includes a plurality of sub-support frames, and each power climbing mechanism is installed On a sub-support frame, adjacent sub-support frames are connected through a connection device, and the connection device can adjust the distance between two adjacent sub-support frames.

优选地,所述动力机构包括电机及减速机,所述爬升机构还包括可转动安装在机架上的第一转轴,减速机驱动第一转轴旋转,机架上安装有支架,支架上安装有第二转轴,第一转轴通过第一传动机构连接有第二转轴,所述滚轮固定安装在第二转轴上,两个爬升机构的第一转轴通过所述的同步传动机构连接。Preferably, the power mechanism includes a motor and a reducer, and the climbing mechanism also includes a first rotating shaft rotatably mounted on the frame, the reducer drives the first rotating shaft to rotate, a bracket is installed on the frame, and a The second rotating shaft, the first rotating shaft is connected with the second rotating shaft through the first transmission mechanism, the rollers are fixedly mounted on the second rotating shaft, and the first rotating shafts of the two climbing mechanisms are connected through the synchronous transmission mechanism.

优选地,支架通过所述的第一转轴安装在机架上,支架与第一转轴之间安装有轴承,两个爬升机构的支架通过拉簧连接在一起,拉簧用于使两个爬升机构的滚轮压紧在缆索上。Preferably, the bracket is installed on the frame through the first rotating shaft, and a bearing is installed between the bracket and the first rotating shaft, and the brackets of the two climbing mechanisms are connected together by a tension spring, and the tension spring is used to make the two climbing mechanisms The rollers are pressed against the cable.

优选地,所述电机为电磁制动电机。Preferably, the motor is an electromagnetic brake motor.

优选地,其中一个支架上安装有拉簧座,所述拉簧座上螺纹连接有拉簧支撑杆,拉簧的一端连接在拉簧支撑杆上,另一端连接在另一支架上。Preferably, an extension spring seat is installed on one of the brackets, and an extension spring support rod is threadedly connected to the extension spring seat. One end of the extension spring is connected to the extension spring support rod, and the other end is connected to the other support.

优选地,所述连接装置包括两根相互贴合在一起的连接板,每根连接板上均设置有多个连接通孔,该多个连接通孔沿连接板的纵向设置,有螺栓装置从连接通孔处穿过两根连接板后将二者固定连接,每根连接板分别固定连接在一子支撑架上。Preferably, the connecting device includes two connecting plates that fit together, and each connecting plate is provided with a plurality of connecting through holes, the plurality of connecting through holes are arranged along the longitudinal direction of the connecting plate, and there are bolt devices from After passing through the two connecting plates at the connecting through hole, the two connecting plates are fixedly connected, and each connecting plate is fixedly connected to a sub-supporting frame respectively.

优选地,所述连接板整体呈长方体,所述连接装置还包括垫块,所述垫块设置在其中一连接板与子支撑架之间,该垫块的厚度与另一连接板的厚度相等。Preferably, the connecting plate is in the shape of a cuboid as a whole, and the connecting device further includes a spacer, the spacer is arranged between one of the connecting plates and the sub-support frame, and the thickness of the spacer is equal to that of the other connecting plate .

优选地,所述子支撑架包括主体架及安装在主体架上的角钢,角钢的一侧连接主体架,其另一侧连接所述的连接装置。Preferably, the sub-support frame includes a main frame and an angle steel installed on the main frame, one side of the angle steel is connected to the main frame, and the other side is connected to the connecting device.

优选地,所述滚轮上设置有用于与缆索接触的橡胶外圈。Preferably, the roller is provided with a rubber outer ring for contacting with the cable.

优选地,每个爬升机构的滚轮的数量为两个,此两个滚轮之间存在间距。Preferably, each climbing mechanism has two rollers, and there is a space between the two rollers.

总体而言,通过本实用新型所构思的以上技术方案与现有技术相比,能够取得下列有益效果:Generally speaking, compared with the prior art, the above technical solutions conceived by the utility model can achieve the following beneficial effects:

1)本实用新型解决了长期以来攀爬机器人系统存在的越障能力与运动平稳性之间的矛盾,全部滚轮通过同步传动机构的带动能够在缆索上同步滚动,以全轮驱动的方式移动,具有优秀的越障能力;1) The utility model solves the long-standing contradiction between the obstacle-surmounting ability and the smoothness of motion in the climbing robot system. All the rollers can roll synchronously on the cable through the drive of the synchronous transmission mechanism, and move in the way of all-wheel drive. Excellent ability to overcome obstacles;

2)具有很高的适应性,能工作于不同直径的缆索上,使用连接装置来连接子支撑架,便于调节机器人系统的总体尺寸;2) It has high adaptability, can work on cables of different diameters, and uses a connecting device to connect the sub-support frame, which is convenient for adjusting the overall size of the robot system;

3)结构简单可靠,同时有较强负载能力,易实现小型化、轻量化,适合户外作业;3) The structure is simple and reliable, and at the same time has a strong load capacity, which is easy to realize miniaturization and light weight, and is suitable for outdoor operations;

4)作为粗调,拉簧有一定的变形范围,作为微调,其调节范围足够大;4) As a coarse adjustment, the extension spring has a certain deformation range, and as a fine adjustment, its adjustment range is large enough;

5)各支架相对独立,滚轮遇到障碍时可以通过拉动拉簧并使支架绕第一转轴转动,以实现支架独立地抬起,减小对机器人系统总体的影响,故运动平稳性好;5) Each bracket is relatively independent. When the roller encounters an obstacle, it can pull the tension spring and rotate the bracket around the first rotating shaft to realize the independent lifting of the bracket and reduce the overall impact on the robot system, so the motion stability is good;

6)电机自带电磁制动功能,能实现断电保护,并有效防止启动时的下滑情况;6) The motor has its own electromagnetic braking function, which can realize power-off protection and effectively prevent the slide when starting;

7)滚轮采用两个并排的方式,加大与缆索的接触面积,提高运动平稳性。7) Two rollers are arranged side by side to increase the contact area with the cable and improve the stability of the movement.

附图说明Description of drawings

图1~图2是本实用新型不同视角下的结构示意图;Figures 1 to 2 are schematic structural views of the utility model under different viewing angles;

图3是本实用新型中动力爬升机构的结构示意图。Fig. 3 is a structural schematic diagram of the power climbing mechanism in the utility model.

具体实施方式Detailed ways

为了使本实用新型的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本实用新型进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本实用新型,并不用于限定本实用新型。此外,下面所描述的本实用新型各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute conflicts with each other.

如图1~图3所示,一种斜拉桥缆索机器人运动装置,包括机架1,所述机架1上设置有多个能贴在缆索表面爬升的动力爬升机构2,该多个动力爬升机构2周向均匀分布。动力爬升机构2包括动力机构21和两个爬升机构22,该两个爬升机构22上下设置且通过同步传动机构23连接。之所以采用两个爬升机构,是为了使本运动装置在缆索上移动时,上下部分能够保持平衡而不会歪倒在缆索上,这样移动起来就比较顺畅。优选地,所述同步传动机构23为同步带传动机构,以保证运动的同步。As shown in Figures 1 to 3, a cable robot movement device for a cable-stayed bridge includes a frame 1, and the frame 1 is provided with a plurality of power climbing mechanisms 2 that can be attached to the surface of the cable to climb. The climbing mechanism 2 is evenly distributed circumferentially. The power climbing mechanism 2 includes a power mechanism 21 and two climbing mechanisms 22 arranged up and down and connected by a synchronous transmission mechanism 23 . The reason why two climbing mechanisms are adopted is that when the moving device moves on the cable, the upper and lower parts can maintain balance and not fall on the cable, so that the movement is smoother. Preferably, the synchronous transmission mechanism 23 is a synchronous belt transmission mechanism to ensure the synchronization of motion.

每个爬升机构22均包括能贴在缆索上滚动的滚轮24,优选地,所述滚轮24上设置有用于与缆索接触的橡胶外圈,以免对缆索造成损坏。滚轮24在缆索上滚动时,则本运动装置能够在缆索上爬升。每个爬升机构22的滚轮24的数量为两个,此两个滚轮24之间存在间距,以便于更好地附在缆索上。其中一个爬升机构22的滚轮24通过动力机构21带动其旋转,所述同步传动机构23能带动同一动力爬升机构2的上下设置的两个爬升机构22的所有滚轮24同步旋转,这样就使得本运动装置的移动比较平稳。Each climbing mechanism 22 includes a roller 24 that can roll on the cable. Preferably, the roller 24 is provided with a rubber outer ring for contacting the cable to avoid damage to the cable. When roller 24 rolls on cable, then this motion device can climb on cable. The number of rollers 24 of each climbing mechanism 22 is two, and there is a distance between the two rollers 24, so as to be better attached to the cables. The roller 24 of one of them climbing mechanism 22 drives its rotation by power mechanism 21, and described synchronous transmission mechanism 23 can drive all rollers 24 of two climbing mechanisms 22 that are arranged up and down of the same power climbing mechanism 2 to rotate synchronously, so just make this motion The movement of the device is relatively smooth.

进一步,所述动力机构21包括电机211及减速机212。所述电机211优选采用电磁制动电机,当缆索机器人突然断电,电磁制动电机停止工作便不能再转动,通过传动装置的同步作用,使得滚轮24不能滚动,本运动装置停在缆索上,起到停电保护作用。优选地,所述机架1上安装的动力爬升机构2的数量为三个,三个动力爬升机构2安装在机架1上时,结构比较稳定,而且三个动力爬升机构2的滚轮24也比较容易附在缆索上滚动,使得本运动装置不容易从缆索上掉下。相应地,电磁制动电机的数量也为三个,三个电磁制动电机同时工作,通过减速机212控制转速,经同步传动机构23进行传动,保证所有的滚轮24作严格的同步转动,以全驱动方式在缆索上移动。另外,控制电磁制动电机的正、反转和停止可以实现缆索机器人的爬升、爬下与定位。Further, the power mechanism 21 includes a motor 211 and a speed reducer 212 . Described motor 211 preferably adopts electromagnetic brake motor, when the cable robot suddenly loses power, the electromagnetic brake motor stops working and just can not rotate again, through the synchronous effect of transmission device, makes roller 24 can not roll, and this kinematic device stops on the cable, Play a role in power failure protection. Preferably, the number of power climbing mechanisms 2 installed on the frame 1 is three, when the three power climbing mechanisms 2 are installed on the frame 1, the structure is relatively stable, and the rollers 24 of the three power climbing mechanisms 2 are also It is relatively easy to be attached to the cable and roll, so that the exercise device is not easy to fall off from the cable. Correspondingly, the quantity of electromagnetic braking motor is also three, and three electromagnetic braking motors work simultaneously, control the rotating speed by speed reducer 212, carry out transmission through synchronous transmission mechanism 23, guarantee that all rollers 24 do strict synchronous rotation, with Full drive to move on the cable. In addition, controlling the forward, reverse and stop of the electromagnetic brake motor can realize the climbing, climbing and positioning of the cable robot.

所述爬升机构22还包括可转动安装在机架1上的第一转轴221,第一转轴221与机架1之间安装有轴承;减速机212驱动第一转轴221旋转,机架1上安装有支架3,支架3上安装有第二转轴223,第二转轴223与支架3之间安装有轴承;第一转轴221通过第一传动机构222连接有第二转轴223,优选地,第一传动机构222选用同步带传动机构;所述滚轮24固定安装在第二转轴223上,两个爬升机构22的第一转轴221通过所述的同步传动机构23连接。The climbing mechanism 22 also includes a first rotating shaft 221 rotatably installed on the frame 1, and a bearing is installed between the first rotating shaft 221 and the frame 1; There is a support 3, a second rotating shaft 223 is installed on the support 3, and a bearing is installed between the second rotating shaft 223 and the support 3; the first rotating shaft 221 is connected with the second rotating shaft 223 through the first transmission mechanism 222, preferably, the first transmission The mechanism 222 is a synchronous belt transmission mechanism; the roller 24 is fixedly mounted on the second rotating shaft 223 , and the first rotating shafts 221 of the two climbing mechanisms 22 are connected through the synchronous transmission mechanism 23 .

作为一种比较优选的方案,所述支架3通过所述的第一转轴221安装在机架3上,支架3与第一转轴221之间安装有轴承,这样支架3与第一转轴221之间可以相互独立地旋转,而不会相互影响。两个爬升机构22的支架3通过拉簧4连接,拉簧4用于使两个爬升机构22的滚轮24压紧在缆索上,拉簧4的设置有助于滚轮24通过障碍。As a more preferred solution, the support 3 is installed on the frame 3 through the first rotating shaft 221, and a bearing is installed between the support 3 and the first rotating shaft 221, so that between the support 3 and the first rotating shaft 221 can be rotated independently of each other without affecting each other. The supports 3 of the two climbing mechanisms 22 are connected by extension springs 4, and the extension springs 4 are used to press the rollers 24 of the two climbing mechanisms 22 on the cables, and the setting of the extension springs 4 helps the rollers 24 pass through obstacles.

其中一个支架3上安装有拉簧座41,所述拉簧座41上螺纹连接有拉簧支撑杆42,拉簧4的一端连接在拉簧支撑杆42上,另一端连接在另一支架3上。拧动拉簧支撑杆42,可以调整拉簧4对支架3的弹力,从而可以调整滚轮24压在缆索上的作用力。本实用新型使用拉簧4,可以使上下两个爬升机构22上的滚轮24的距离比较远,有助于保持整个运动装置的稳定性。One of the brackets 3 is equipped with an extension spring seat 41, the extension spring seat 41 is threadedly connected with an extension spring support rod 42, one end of the extension spring 4 is connected on the extension spring support rod 42, and the other end is connected to another support 3 superior. Twist extension spring support bar 42, can adjust the elastic force of extension spring 4 to support 3, thereby can adjust the active force that roller 24 is pressed on the cable. The utility model uses the extension spring 4, which can make the distance between the rollers 24 on the two climbing mechanisms 22 up and down relatively far, which helps to keep the stability of the whole moving device.

所述机架1包括多个子支撑架10,每个动力爬升机构2安装在一子支撑架10上,相邻的子支撑架10通过连接装置11连接,所述连接装置11能调节相邻两个子支撑架10之间的距离。优选地,相邻的两个子支撑架10之间的连接装置11的数量为两个,该两个连接装置11上下布置,这样便于使子支撑架10保持稳定。优选地,所述子支撑架10的数量为三个,所述连接装置11的数量也相应地设置为三个,相邻的两个连接装置11的夹角为60°,这种三角形的设置有助于保持结构的稳定性。Described frame 1 comprises a plurality of sub-support frames 10, and each power climbing mechanism 2 is installed on a sub-support frame 10, and adjacent sub-support frames 10 are connected by connection device 11, and described connection device 11 can adjust two adjacent sub-support frames. The distance between the support frames 10. Preferably, the number of connecting devices 11 between two adjacent sub-supporting frames 10 is two, and the two connecting devices 11 are arranged up and down, so as to make the sub-supporting frames 10 stable. Preferably, the number of the sub-supports 10 is three, and the number of the connecting devices 11 is correspondingly set to three, and the angle between two adjacent connecting devices 11 is 60°. This triangular arrangement Helps maintain structural stability.

用于调节相邻两个子支撑架10之间距离的连接装置11有很多,譬如连接装置11的结构可以采用一块板,在该板上设置一滑槽,然后利用螺栓穿过滑槽后螺纹连接在一子支撑架10,调节螺栓在滑槽中的位置,可以调节相邻两个子支撑架10的间距;另外,连接装置11的结构还可以选择用两块板相互搭接在一起,在一块板上设置滑槽,另一块板上设置通孔,用螺栓装置113穿过滑槽和通孔后将两块板固定连接在一起,也可以调节连接装置11的长度,从而调节相邻两个子支撑架10的间距。There are many connecting devices 11 for adjusting the distance between two adjacent sub-bracing frames 10. For example, the structure of the connecting device 11 can adopt a plate, on which a chute is set, and then threaded by bolts through the chute. In a sub-support frame 10, adjusting the position of the bolt in the chute can adjust the distance between two adjacent sub-support frames 10; in addition, the structure of the connecting device 11 can also be selected to overlap each other with two plates, in a A chute is set on the board, and a through hole is set on the other board. After passing through the chute and the through hole with a bolt device 113, the two boards are fixedly connected together. The spacing of the support frame 10.

优选地,本实用新型的连接装置11包括两根相互贴合在一起的连接板111,每根连接板111上均设置有多个便于螺栓穿过连接板111的连接通孔112,该多个连接通孔112沿连接板111的纵向设置,有螺栓装置113从连接通孔112处穿过两根连接板111后将二者固定连接,所述螺栓装置113的数量优选为两个以上,每个螺栓装置113从一连接通孔112处穿过。每根连接板111分别固定连接在一子支撑架10上,所述连接板111整体呈长方体,所述连接装置11还包括垫块114,垫块114设置在其中一连接板111与子支撑架10之间,垫块114的厚度与另一连接板111的厚度相等,垫块114用于使一连接板111与另一连接板111错开,则两个连接板111能正确装配而不发生干涉。Preferably, the connecting device 11 of the present utility model includes two connecting plates 111 that fit together, and each connecting plate 111 is provided with a plurality of connecting through holes 112 that are convenient for bolts to pass through the connecting plates 111. The connection through hole 112 is arranged along the longitudinal direction of the connection plate 111, and a bolt device 113 passes through the two connection plates 111 from the connection through hole 112 to securely connect the two. The number of the bolt device 113 is preferably more than two, each A bolt device 113 passes through a connecting through hole 112. Each connection plate 111 is respectively fixedly connected on a sub-support frame 10, and the overall connection plate 111 is a cuboid, and the connection device 11 also includes a spacer 114, which is arranged on one of the connection plates 111 and the sub-support frame 10, the thickness of the spacer 114 is equal to the thickness of the other connecting plate 111, and the spacer 114 is used to stagger one connecting plate 111 and the other connecting plate 111, so that the two connecting plates 111 can be assembled correctly without interference .

所述子支撑架10包括主体架101及安装在主体架101上的角钢102,所述连接装置11安装在角钢102上。每个主体架101中的两端各装一个角钢102,角钢102的一侧与主体架101贴紧,该侧优选设有四个孔,用螺栓螺母固定;连接板111整体呈长方体,其装在角钢102另一侧;角钢102能很方便地将主体架101与连接板111连接起来。The sub-support frame 10 includes a main frame 101 and an angle steel 102 installed on the main frame 101 , and the connecting device 11 is installed on the angle steel 102 . An angle steel 102 is respectively adorned at two ends in each main frame 101, and one side of angle steel 102 is close to main frame 101, and this side is preferably provided with four holes, fixes with bolt nut; On the other side of the angle steel 102 ; the angle steel 102 can easily connect the main body frame 101 with the connecting plate 111 .

如上所述,本实用新型达到完成用小型化、轻量化、性能可靠、适用范围广的斜拉桥缆索机器人系统,辅助完成不同条件下的检测、维护工作的目的;解决了目前斜拉桥采取人工检测与修复、搭载机器笨重、效率低下的问题,降低了检测人员的劳动强度与危险性,加强了可靠性。As mentioned above, the utility model achieves the purpose of using a cable-stayed bridge cable robot system with miniaturization, light weight, reliable performance and wide application range to assist in the detection and maintenance work under different conditions; The problems of manual inspection and repair, heavy equipment and low efficiency reduce the labor intensity and danger of inspectors and enhance reliability.

本领域的技术人员容易理解,以上所述仅为本实用新型的较佳实施例而已,并不用以限制本实用新型,凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本实用新型的保护范围之内。Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and modifications made within the spirit and principles of the utility model Improvements and the like should all be included within the protection scope of the present utility model.

Claims (10)

1. a cable detection robot for cable-stayed bridge system, it is characterized in that: comprise frame (1), described frame (1) is provided with multiple power climbing device (2) that can be attached to cable surface and climb, the plurality of power climbing device (2) circumference is uniformly distributed, power climbing device (2) comprises actuating unit (21) and two climbing devices (22), these two climbing devices (22) setting up and down and by synchronous drive mechanism (23) connect, each climbing device (22) includes the roller (24) that can be attached to and cable rolls, the roller (24) of one of them climbing device (22) drives it to rotate by actuating unit (21), described synchronous drive mechanism (23) can drive all rollers (24) synchronous rotary of two climbing devices (22) setting up and down, described frame (1) comprises multiple sub-bracing frame (10), each power climbing device (2) is arranged on a sub-bracing frame (10), adjacent sub-bracing frame (10) is connected by linkage (11), described linkage (11) can regulate the distance between adjacent two sub-bracing frames (10).
2. a kind of cable detection robot for cable-stayed bridge system according to claim 1, it is characterized in that: described actuating unit (21) comprises motor (211) and reductor (212), described climbing device (22) also comprises the first rotating shaft (221) be rotatably arranged in frame (1), reductor (212) drives the first rotating shaft (221) to rotate, frame (1) is provided with support (3), support (3) is provided with the second rotating shaft (223), first rotating shaft (221) is connected with the second rotating shaft (223) by the first transmission mechanism (222), described roller (24) is fixedly mounted in the second rotating shaft (223), first rotating shaft (221) of two climbing devices (22) is connected by described synchronous drive mechanism (23).
3. a kind of cable detection robot for cable-stayed bridge system according to claim 2, it is characterized in that: support (3) is arranged in frame (3) by described the first rotating shaft (221), between support (3) and the first rotating shaft (221), bearing is installed, the support (3) of two climbing devices (22) is linked together by extension spring (4), and extension spring (4) is pressed on cable for making the roller (24) of two climbing devices (22).
4. a kind of cable detection robot for cable-stayed bridge system according to claim 2, is characterized in that: described motor (211) is electromagnetic braking motor.
5. a kind of cable detection robot for cable-stayed bridge system according to claim 3, it is characterized in that: one of them support (3) is provided with spring base (41), described spring base (41) has been threaded extension spring support bar (42), one end of extension spring (4) is connected on extension spring support bar (42), and the other end is connected on another support (3).
6. a kind of cable detection robot for cable-stayed bridge system according to claim 1, it is characterized in that: described linkage (11) comprises two junction plates (111) together bonded to each other, every root junction plate (111) is provided with multiple connecting through hole (112), the plurality of connecting through hole (112) is arranged along the longitudinal direction of junction plate (111), bolt device (113) is had the two to be fixedly connected with from connecting through hole (112) through after two junction plates (111), every root junction plate (111) is fixedly connected on a sub-bracing frame (10) respectively.
7. a kind of cable detection robot for cable-stayed bridge system according to claim 6, it is characterized in that: described junction plate (111) entirety is in cuboid, described linkage (11) also comprises cushion block (114), described cushion block (114) is arranged on wherein between a plate (111) and sub-bracing frame (10), and the thickness of this cushion block (114) is equal with the thickness of another junction plate (111).
8. a kind of cable detection robot for cable-stayed bridge system according to claim 6, it is characterized in that: described sub-bracing frame (10) comprises main frame (101) and is arranged on the angle steel (102) on main frame (101), the side of angle steel (102) connects main frame (101), the linkage (11) described in its opposite side connects.
9. a kind of cable detection robot for cable-stayed bridge system according to claim 1, is characterized in that: described roller (24) is provided with the rubber outer ring for contacting with cable.
10. a kind of cable detection robot for cable-stayed bridge system according to claim 1, is characterized in that: the quantity of the roller (24) of each climbing device (22) is two, there is spacing between these two rollers (24).
CN201520031317.1U 2015-01-16 2015-01-16 A kind of cable detection robot for cable-stayed bridge system Expired - Fee Related CN204435223U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104612045A (en) * 2015-01-16 2015-05-13 华中科技大学 Cable-stayed bridge cable detection robot system
CN105239504A (en) * 2015-09-01 2016-01-13 东南大学 Cable inspection robot
CN106368123A (en) * 2016-11-01 2017-02-01 中国计量大学 Novel wheel type cable rope climbing device
CN106930185A (en) * 2017-03-30 2017-07-07 同济大学 A kind of robot creeped for Character of Cable Force of Cable stayed Bridge
CN108562275A (en) * 2018-06-05 2018-09-21 北京中交桥宇科技有限公司 A kind of suspension cable mobile video acquisition system
CN115112855A (en) * 2022-07-01 2022-09-27 山东汇科工程检测有限公司 A flaw detection device for bridge steel structure

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104612045A (en) * 2015-01-16 2015-05-13 华中科技大学 Cable-stayed bridge cable detection robot system
CN105239504A (en) * 2015-09-01 2016-01-13 东南大学 Cable inspection robot
CN106368123A (en) * 2016-11-01 2017-02-01 中国计量大学 Novel wheel type cable rope climbing device
CN106368123B (en) * 2016-11-01 2017-12-12 中国计量大学 A kind of novel wheel-type cable rope climbing device
CN106930185A (en) * 2017-03-30 2017-07-07 同济大学 A kind of robot creeped for Character of Cable Force of Cable stayed Bridge
CN106930185B (en) * 2017-03-30 2019-10-01 同济大学 A kind of robot creeped for Character of Cable Force of Cable stayed Bridge
CN108562275A (en) * 2018-06-05 2018-09-21 北京中交桥宇科技有限公司 A kind of suspension cable mobile video acquisition system
CN108562275B (en) * 2018-06-05 2024-08-23 北京中交桥宇科技有限公司 Stay cable mobile video acquisition system
CN115112855A (en) * 2022-07-01 2022-09-27 山东汇科工程检测有限公司 A flaw detection device for bridge steel structure

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