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

Abstract

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

A cable detection robot system for cable-stayed bridge

technical field

The utility model belongs to the field of climbing robots, in particular to a cable detection robot system for a cable-stayed bridge.

Background technique

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.

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.

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.

Utility model content

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.

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.

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.

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.

Preferably, the motor is an electromagnetic brake motor.

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.

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.

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 .

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.

Preferably, the roller is provided with a rubber outer ring for contacting with the cable.

Preferably, each climbing mechanism has two rollers, and there is a space between the two rollers.

Generally speaking, compared with the prior art, the above technical solutions conceived by the utility model can achieve the following beneficial effects:

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) 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) 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) As a coarse adjustment, the extension spring has a certain deformation range, and as a fine adjustment, its adjustment range is large enough;

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) The motor has its own electromagnetic braking function, which can realize power-off protection and effectively prevent the slide when starting;

7) Two rollers are arranged side by side to increase the contact area with the cable and improve the stability of the movement.

Description of drawings

Figures 1 to 2 are schematic structural views of the utility model under different viewing angles;

Fig. 3 is a structural schematic diagram of the power climbing mechanism in the utility model.

Detailed ways

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.

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.

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.

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.

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 .

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.

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.

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.

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.

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 .

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 .

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.

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).