CN206219982U - A kind of electric-control system of stayed-cable bridge cable wire automatic detection device - Google Patents

Abstract

The utility model provides a kind of electric-control system of stayed-cable bridge cable wire automatic detection device, including a remote control, a model- following control device, a monitoring reception device, a motor, a touching return switch and an image pick-up detection mechanism；The motor, touching return switch and image pick-up detection mechanism are electrically connected with the model- following control device；The remote control and monitoring reception device with the model- following control device wireless connection.The utility model advantage is：Controlled in wireless (including control advance, retrogressing, stopping, governing speed etc.) can be carried out to automatic detection device by remote control, use very flexibly, conveniently, and can save because of the high cost problem that deployment cable tie is come, and reduce when walking because of the troublesome problem brought on cable winds to cable wire；Recorded and shown in the video recording that image pick-up detection mechanism shoots can in real time being transferred back into monitoring reception device, technical staff can facilitated to transfer video recording at any time and checked.

Description

A kind of electric-control system of stayed-cable bridge cable wire automatic detection device

Technical field

The utility model is related to a kind of electric-control system, refers in particular to a kind of automatically controlled system of stayed-cable bridge cable wire automatic detection device System.

Background technology

Used as a kind of new bridge type, because its is handsome in appearance, cost compares relatively low cable-stayed bridge, and shock resistance is good, just gets over To appear on great rivers more.The main bearing member drag-line of cable-stayed bridge, due to being chronically exposed among air, is subject to Wind, Exposure to Sunlight, the erosion drenched with rain with environmental pollution, its surface occur different degrees of burn into cracking and inner wire appearance Phenomenon of rupture.The corrosion on drag-line surface and the phenomenon of rupture of inner wire seriously threaten the quality safety of cable-stayed bridge, or even meeting Cause great traffic accident.Therefore, drag-line is regularly detected and maintenance is very important.

For the detection of drag-line quality, manual detection, this detection method is mostly used to use hoisting trolley at present Carrying is manually detected to drag-line top from drag-line bottom to drag-line, and this hoisting trolley weight reaches up to a hundred kilograms, right Inherently a kind of infringement of drag-line, at the same the detection efficiency and accuracy, detection cycle of this artificial naked eyes detection method it is long, into This height, dangerous big and influence traffic.

Lot of domestic and international R＆D institution had all carried out technology and the theoretical research work of cable robot in recent years, and took Obtained some practical achievements.The walking operation principle of the outer robot of these domestic Outer Tubes is made a general survey of, nothing more than following several：It is based on Self-locking or the pneumatic worming mechanism of static friction principle；Spiral climbing mechanism based on rolling friction principle；Rubbed based on overcoming to move Wipe the mechanism of straight line moving；Based on prismatic pair and the secondary articulated type climbing mechanism of rotation；Parallel based on parallel institution is creeped Mechanism.Wherein wheeled and pneumatic worming is most commonly seen.Respectively there are advantage and disadvantage, wheeled robot fortune in the robot of both forms It is dynamic continuous, control is easier, but obstacle climbing ability is restricted.Pneumatic worming motion is discontinuous, is not easy to ensure motion Stationarity, and air compressor is needed, using inconvenient.

For example, Shen Qing Publication day is：2015.05.13, application publication number is the Chinese invention patent public affairs of CN104612045A A kind of cable detection robot for cable-stayed bridge system, including frame are opened, multiple power climbing devices have been provided with frame, it is the plurality of Power climbing device is circumferentially distributed, and power climbing device includes actuating unit and two climbing devices, on two climbing devices Lower to set and connected by synchronous drive mechanism, each climbing device includes that the roller rolled on cable can be attached to, wherein one The roller of individual climbing device drives it to rotate by actuating unit, and synchronous drive mechanism can drive two machines that climb setting up and down All roller synchronous rotaries of structure.There is following defect in the program：Using three power climbing devices, structure is more complicated；Adopt With electromagnetic braking motor, when cable robot is powered off suddenly, electromagnetic braking motor is just no longer able to turn after being stopped, and is somebody's turn to do Robot system does not design the descending mechanism of correlation, reclaims extremely dangerous under powering-off state.

As Shen Qing Publication day is：2011.11.02, Authorization Notice No. is the Chinese utility model patent of CN202023146U A kind of cable detection robot for cable-stayed bridge is disclosed, the robot is made up of upper body and lower body two parts, and the upper body includes Upper body plate, through upper body plate and before and after symmetrical a pair of upper body screw rods, be respectively fixed on the spring of each upper body screw rod bottom and each Every parallel a pair or so of lower spring end upper body rubber wheel is fixed on, the lower body includes lower body plate, is fixed on lower body plate Threephase asynchronous, motor gear box case and mutually interlocked with motor gear box case and with upper body rubber wheel up and down corresponding two To lower body rubber wheel, the upper body plate is mutually fixed with lower body plate by lower body screw rod.The defect of the program is：Using upper and lower body Four rubber wheels are respectively provided with, in the presence of the spring of hold-down gear one, robot is kept suitable pressure with cable, it is this Unreasonable structure, because the frictional force on rubber wheel and drag-line surface is not easily controlled, it is easy to spinned around drag-line or rocked back and forth Shake；And the program uses wired power supply, the length of cable have to be larger than the height of the bridge cable that robot is climbed, and high-altitude is made It is inconvenient during industry.

Such as Shen Qing Publication day：2014.04.02, application publication number is disclosed for the Chinese invention patent of CN103696365A A kind of Character of Cable Force of Cable stayed Bridge robot, including：Active module, slave module, detection module, power failure protection module, the active mould , with active vehicle frame as mounting platform, with driven carriage as mounting platform, the detection module is with camera branch for the slave module for block Support is mounting platform, the power failure protection module with mounting bracket be install carrier；The active vehicle frame and driven carriage pass through Connection crotch, connection strap connection；The detection module by camera tripod respectively with the active vehicle frame and described driven Vehicle frame is connected；The power failure protection module is connected by mounting bracket with the active vehicle frame.There is following defect in the program：Using Wireless remote control is controlled, and is not provided with top protection device, and robot is easy to due to the delayed of remote control that the excess of stroke is stuck on top； And without the related descending mechanism of design, accepted next time in powering-off state extremely dangerous.

There are that the inefficient, overall mass of climbing is big due to existing cable robot, complex structure, mounting and adjusting not Convenient, adaptability is poor, using having the shortcomings that line traffic control, there is no automatic descending mechanism, top not to be not provided with protection device.Therefore, It is necessary to develop a kind of automation equipment for accurately detecting that can be climbed along bridge cable automatically and can be carried out to drag-line, and It is also an essential job for the device assembles a set of special electric-control system after developing the device.

The content of the invention

The technical problems to be solved in the utility model, is a kind of the automatically controlled of stayed-cable bridge cable wire automatic detection device of offer System, automatic detection device is carried out by the electric-control system controlled in wireless (including control advance, retreat, stop, regulation speed Degree etc.), and technical staff can be facilitated to transfer video recording at any time check.

What the utility model was realized in：A kind of electric-control system of stayed-cable bridge cable wire automatic detection device, including one Remote control, a model- following control device, a monitoring reception device, a motor, a touching return switch and a camera detection Mechanism；The motor, touching return switch and image pick-up detection mechanism are electrically connected with the model- following control device；It is described Remote control and monitoring reception device with the model- following control device wireless connection；

The model- following control device includes that one second battery pack, a speed adjusting module, one rotate forward control unit, a reversion control Unit, a voltage transformation module, a video acquisition module, a video transmission module, walking control module and a remote control control Molding block；Second battery pack is connected with the voltage transformation module；The video acquisition module, video transmission module, Travelling control module and remote control module are connected in parallel, and are connected with the voltage transformation module；The speed governing Module is connected with the voltage transformation module；It is described rotating forward control unit and reversion control unit with the speed adjusting module It is connected；The motor connects the rotating forward control unit and reversion control unit respectively.

Further, the monitoring reception device includes one first battery pack, a video reception module and a monitoring note Record module；The video reception module is connected with monitoring record module, and is powered by first battery pack.

Further, the image pick-up detection mechanism includes a plurality of camera assemblies.

The utility model has the advantage of：1st, after using the electric-control system, can be by remote control to automatic detection device Carry out controlled in wireless (including control advances, retrogressings, stopping, governing speed etc.), use it is very flexible, facilitate, and can be with Save because of the high cost problem that deployment cable tie is come, and because the trouble brought on cable winds to cable wire is asked when reducing walking Topic；2nd, touching return switch is provided with, can effectively prevents automatic detection device from being collided with cable wire top, this can be reduced Automatic detection device is damaged；3rd, can by image pick-up detection mechanism shoot video recording transfer back in real time monitoring reception device in Recorded and shown, technical staff can facilitated to transfer video recording at any time and checked.

Brief description of the drawings

The utility model is further described in conjunction with the embodiments with reference to the accompanying drawings.

Fig. 1 is the theory diagram of the electric-control system of the utility model stayed-cable bridge cable wire automatic detection device.

Fig. 2 is the theory diagram of model- following control device in the utility model.

Fig. 3 is the theory diagram of monitoring reception device in the utility model.

Fig. 4 is the rearview for implementing the automatic detection device that the utility model is needed to use.

Fig. 5 is the left view of Fig. 4.

Fig. 6 is the top view for implementing the automatic detection device that the utility model is needed to use.

Fig. 7 is the rearview of the driving mechanism in automatic detection device.

Fig. 8 is the top view of driving mechanism in automatic detection device.

Fig. 9 is the right view of Fig. 7.

Figure 10 is the front view of image pick-up detection mechanism in automatic detection device.

Figure 11 is the front view of follower in automatic detection device.

Figure 12 is the side view of follower in automatic detection device.

Figure 13 is the top view of follower in automatic detection device.

Figure 14 is the structural representation of centrifugal brake in automatic detection device.

Description of reference numerals：

100- automatic detection devices, 1- frames, 11- underframes, 111- bearing blocks, 12- middle frames, 13- guide upright posts, 2- Image pick-up detection mechanism, the left camera assemblies of 21-, the right camera assemblies of 22-, camera assembly under 23-, 2a- cameras, 2b- shooting supports, 3- driving mechanisms, 31- motors, 32- drive sprockets, drive sprocket before 33-, 331- sprocket pieces, drive sprocket after 34-, 35- Active chain, the driven chains of 36-, driving shaft before 37-, driving shaft after 38-, 39- taper active rubber tires, the axle sleeves of 391- first, 4- Follower, 41- upper frames, the mounting holes of 411- first, the mounting holes of 412- second, 42- locking members, 421- adjusting bolts, 422- Compression spring, 423- locking nuts, 424- pads, 43- driven shafts, the driven rubber tire of 44- tapers, the axle sleeves of 441- second, 5- centrifugations Arrestment mechanism, 51- centrifugal brakes, 511- unilateral bearings, 512- brake hubs, 513- brake mandrels, 5131- brake block is put Put groove, 514- springs, 515- fan-shaped brake blocks, 6- touching return switches, 7- is automatically controlled and Transmission system, 71- model- following control devices, The battery packs of 711- second, 712- speed adjusting modules, 713- rotates forward control unit, 714- reversion control units, 715- voltage transformation moulds Block, 716- video acquisition modules, 717- video transmission modules, 718- travelling control modules, 719- remote control modules, 72- is distant Control device, 73- monitoring reception devices, the battery packs of 731- first, 732- video reception modules, 733- monitoring record modules, 8- cable wires Clamping zone, 9- cable wires.

Specific embodiment

Refer to shown in Fig. 1 to Fig. 3, a kind of electric-control system 200 of stayed-cable bridge cable wire automatic detection device 100, the electricity Control system 200 includes that a model- following control device 71, the monitoring of an a remote control 72, reception device 73, a motor 31, are touched Return switch 6 and an image pick-up detection mechanism 2；The motor 31, touching return switch 6 and image pick-up detection mechanism 2 are equal Electrically connected with the model- following control device 71；The remote control 72 and monitoring reception device 73 with the model- following control device 71 wireless connections；Wherein, remote control 72 is used to send remote signal to model- following control device 71, and monitoring reception device 73 is used to connect Receive and record the video recording transmitted from model- following control device 71.

The model- following control device 71 includes that one second battery pack 711, a speed adjusting module 712, rotate forward control unit 713rd, one reversion control unit 714, a voltage transformation module 715, a video acquisition module 716, a video transmission module 717, The one walking remote control module 719 of control module 718 and；Second battery pack 711 and the voltage transformation module 715 It is connected, the voltage transformation module 715 is used for the conversion of voltage；The video acquisition module 716, video transmission module 717, OK Walk control module 718 and remote control module 719 is connected in parallel, and be connected with the voltage transformation module 715, its In, video acquisition module 716 is used for the video recording for coordinating image pick-up detection mechanism 2 to gather the surface of cable wire 9；Video transmission module 717 is used Transmission is synchronized in the video recording to being collected；Travelling control module 718 is used to carry out travelling control to motor 31, with reality The actions such as advance, retrogressing or the stopping of existing automatic detection device 100；Remote control module 719 is sent out for receiving remote control 72 The control signal for going out, and corresponding control action is performed according to control signal；The speed adjusting module 712 and the voltage transformation mould Block 715 is connected, and speed adjusting module 712 is used to control the different gait of march of automatic detection device 100；The rotating forward control unit 713 and reversion control unit 714 be connected with the speed adjusting module 712；The motor 31 connect respectively it is described just Turn control unit 713 and reversion control unit 714, rotating forward control unit 713 is used to control rotating forward for motor 31, instead Turn control unit 714 for controlling rotating backward for motor 31.

The monitoring reception device 73 includes one first battery pack 731, a video reception module 732 and a monitoring record Module 733；The video reception module 732 is connected with monitoring record module 733, video reception module 732 be used for receive from Model- following control device 71 transmits video recording, and monitoring record module 733 is used to record and show video recording, and by the described first electricity Pond group 731 is powered.

Refer to shown in Fig. 4 to Figure 14, wherein, the automatic detection device 100 also includes a frame 1, a driving mechanism 3rd, a follower 4 and a centrifugal braking mechanism 5；The driving mechanism 3 is arranged on the middle and lower part of the frame 1；It is described from Motivation structure 4 is set in the top of the frame 1, and makes to form a cable wire clamp area between the driving mechanism 3 and follower 4 Domain 8, operationally, cable wire 9 is held in the cable wire clamping zone 8, and drives whole automatic inspection by the driving mechanism 3 Device 100 is surveyed to be climbed or glide downwards upwards along the cable wire 9 of stayed-cable bridge；

The image pick-up detection mechanism 2 is arranged on the middle part and bottom of the frame 1, and by the image pick-up detection mechanism 2 pairs The cable wire 9 of stayed-cable bridge is shot；The centrifugal braking mechanism 5 is connected with the driving mechanism 3, and by the centrifugation system Motivation structure 5 controls the speed of the glide downwards of whole automatic detection device 100.

The touching return switch 6 is arranged on the front end of the frame 1.In the mistake that automatic detection device 100 climbs upwards Cheng Zhong, when touching return switch 6 touches the top of cable wire 9, will send touching signal and follow control to electric-control system 200 Device processed 71, model- following control device 71 receive touching signal after just control automatic detection device 100 stop upwards climbing or Glide downwards, to prevent automatic detection device 100 from being collided with the top of cable wire 9.

Please be shown in emphasis reference picture 10, the frame 1 includes a underframe 11, a middle frame 12 and four guide upright posts 13；Four bottoms of the guide upright post 13 are fixedly connected with four angles of the underframe 11 respectively, and the middle frame 12 is consolidated Surely it is arranged in the middle part of the guide upright post 13 of the both sides of cable wire clamping zone 8.In the specific implementation, the frame 1 is used Bar section of stainless steel is formed by welding, and main screw lift is light；Four tail ends of guide upright post 13 can reduce structure using taper, Installed with the cooperation for facilitating driving mechanism 3 and follower 4.

Please emphasis with reference to shown in 7 to Fig. 9, the driving mechanism 3 includes drive sprocket 33, before a drive sprocket 32, Driving shaft 38 and four tapers after driving shaft 37, before drive sprocket 34, an active chain 35, a driven chain 36, afterwards Active rubber tire 39, is provided with two sprocket pieces 331 on the preceding drive sprocket 33；The motor 31 is equal with drive sprocket 32 The lower section of the underframe 11 is arranged on, and drives the drive sprocket 32 to rotate by the motor 31；It is main before described Moving axis 37 and rear driving shaft 38 are rotatably arranged on the top of the underframe 11, the preceding driving shaft 37 and rear driving shaft 38 Middle part is symmetrically arranged with described in two and is arranged with a first axle between taper active rubber tire 39, and taper active rubber tire 39 described in two Set 391, in the specific implementation, the small end face of two taper active rubber tires 39 is oppositely arranged, and can so make the surface of cable wire 9 fine Be fitted between two taper active rubber tires 39, set the first axle sleeve 391 purpose be：On the one hand two tapers can be prevented actively The axial float of rubber tire 39, on the other hand can facilitate the installation and removal of taper active rubber tire 39, i.e., in installation and removal, Only need to unclamp wherein one end of preceding driving shaft 37 or rear driving shaft 38 and be capable of achieving installation and removal.The preceding drive chain Wheel 33 and rear drive sprocket 34 are arranged at the top of the drive sprocket 32, and the one end of the preceding driving shaft 37 with it is described Preceding drive sprocket 33 is fixedly connected, and the other end of the preceding driving shaft 37 is connected with the centrifugal braking mechanism 5；It is main after described The one end of moving axis 38 is fixedly connected with the rear drive sprocket 34, the other end of the rear driving shaft 38 and the centrifugal brake Mechanism 5 is connected；The drive sprocket 32 is meshed with the active chain 35, the active chain 35 and the preceding drive chain Any sprocket piece 331 in wheel 33 is meshed, and drives the preceding drive sprocket 33 to rotate by the drive sprocket 32, goes forward side by side And the taper active rubber tire 39 before driving on driving shaft 37 rotates；Another sprocket piece 331 of the preceding drive sprocket 33 with it is described Driven chain 36 is meshed, and the rear drive sprocket 34 is meshed with the driven chain 36, and by the preceding drive sprocket 33 drive the synchronous rotaries of rear drive sprocket 34, and and then the taper active rubber tire 39 after driving on driving shaft 38 rotate.

The front and back ends of the underframe 11 are each provided with two bearing blocks 111 with clutch shaft bearing (not shown), it is described before Bearing block 111 is rotated and be connected described in the two of driving shaft 37 and front end, the rear driving shaft 38 and rear end two described in bearing block 111 Rotate connection.

Please emphasis reference picture 11 to shown in Figure 13, the follower 4 includes a upper frame 41, a locking member 42, two Driven shaft 43 and four driven rubber tires 44 of the taper with second bearing (not shown)；Four angles of the upper frame 41 are respectively provided with One first mounting hole 411；The follower 4 is sheathed on the top of the guide upright post 13 by first mounting hole 411, And be connected with the middle frame 12 by the locking member 42；Driven shaft 43 is fixedly installed on the upper frame 41 described in two Lower section, the middle part per the driven shaft 43 is symmetrically arranged with the driven rubber tire 44 of taper described in two, and the driven glue of taper described in two One second axle sleeve 441 is arranged between wheel 44, in the specific implementation, the small end face of the driven rubber tire 44 of two tapers is oppositely arranged, this Sample can be such that the surface of cable wire 9 is fitted between the driven rubber tire 44 of two tapers well, set the purpose of the second axle sleeve 441 and be： On the one hand the axial float of the driven rubber tire 44 of two tapers can be prevented, on the other hand can facilitates the installation of the driven rubber tire 44 of taper And dismounting, i.e., in installation and removal, it is only necessary to unclamp wherein one end of driven shaft 43 and be capable of achieving installation and removal；It is described Region between taper active rubber tire 39 and the driven rubber tire 44 of taper is the cable wire clamping zone 8.

The locking member 42 includes two adjusting bolts, 421, two compression springs 422 and the and of some locking nuts 423 Pad 424；The both sides of the upper frame 41 are respectively provided with one second mounting hole 412；Bottom per the adjusting bolt 421 passes through The locking nut 423 and the lock of pad 424 are paid on the middle frame 12, and top sequentially passes through second mounting hole 412 With compression spring 422, and locked by the locking nut 423 and pad 424.Wherein, compression spring 422 can be used for cable wire The regulation of clamping zone 8, during automatic detection device 100 is walked along cable wire 9, if the diameter of cable wire 9 becomes big, so that it may Up pushed up with by compression spring 422, cable wire clamping zone 8 is become big；If the diameter of cable wire 9 diminishes, compression spring 422 is in bullet Will recover in the presence of power, cable wire clamping zone 8 is diminished.

Please be shown in emphasis reference picture 14, the centrifugal braking mechanism 5 includes two centrifugal brakes 51, per the centrifugal brake Device 51 includes a unilateral bearing 511, a brake hub 512,513, two springs 514 of a brake mandrel and two sectors Brake block 515；The other end of the preceding driving shaft 37 and rear driving shaft 38 respectively by the unilateral bearing 511 with it is described Brake mandrel 513 is connected；The upper and lower surface of the brake mandrel 513 is respectively provided with a brake block standing groove 5131, every institute State fan-shaped brake block 515 to be placed in brake block standing groove 5131 described in, by described between fan-shaped brake block 515 described in two The connection of spring 514 is tensed；The brake hub 512 is set in the outside of the fan-shaped brake block 515, and makes the brake hub 512 end is fixedly connected with the bearing block 111 on the underframe 11；Driven in the preceding driving shaft 37 and rear driving shaft 38 During the brake mandrel 513 rotates, the fan-shaped brake block 515 will be with the braked wheel in the presence of eccentricity The inwall of hub 512 produces friction catch, when implementing, friction plate can be set in the cambered surface of fan-shaped brake block 515 and (not schemed Show), to reach preferable braking effect.Operationally, if the automatic detection device 100 climbs upwards, preceding active Axle 37 and rear driving shaft 38 can all be rotated along the rotation direction of unilateral bearing 511, and centrifugal brake 51 does not work；Such as Really just in glide downwards, then preceding driving shaft 37 and rear driving shaft 38 can all drive centrifugal brake to the automatic detection device 100 51 brake mandrel 513 rotates together, and brake mandrel 513 can drive two fan-shaped brake blocks 515 to be rotated again, work as speed When degree reaches certain numerical value, two fan-shaped brake blocks 515 will be expanded outwardly under the influence of centrifugal force, and and brake hub 512 inwall produces friction catch, declines sliding speed；Meanwhile, when sliding speed drops to certain value, two fan-shaped brakings Block 515 can be received and return to original state to inside contracting again in the presence of the elastic force of spring 514, therefore can realize will be to downslide Capable speed control is within the scope of preferably.

Please be shown in emphasis reference picture 10, the image pick-up detection mechanism 2 includes a plurality of camera assemblies (not shown), in this reality In applying example, the image pick-up detection mechanism 2 includes a left camera assembly 21, a right camera assembly 22 and once camera assembly 23； The left camera assembly 21 and right camera assembly 22 are separately positioned on the left and right sides of the rear end of the frame 1, the lower camera assembly In 23 bottoms for being arranged on the rear end of the frame 1, and the left camera assembly 21, right camera assembly 22 and lower camera assembly 23 Camera 2a set towards the cable wire clamping zone 8.In the specific implementation, left camera assembly 21, right camera assembly 22 And lower camera assembly 23 is fixed in frame 1 by a shooting support 2b, in order that the effect for shooting is more preferably, can also be Camera 2a sides set shooting assist illuminator (not shown), and light filling is carried out during shooting to facilitate.

The operation principle of the electric-control system 200 of the utility model stayed-cable bridge cable wire automatic detection device 100 is as follows：

Firstly, it is necessary to follower 4 is first removed from automatic detection device 100, and the oblique pull that will be detected The cable wire 9 of cable bridge is placed in cable wire clamping zone 8；Then the first mounting hole 411 on follower 4 is inserted in guide upright post 13 Top, the second mounting hole 412 on follower 4 is inserted in the top of adjusting bolt 421；Then, in adjusting bolt 421 Upper end puts compression spring 422 and pad 424, and is locked with locking nut 423, makes taper active rubber tire 39 and the driven glue of taper Wheel 44 tightly clamps cable wire 9；

After cable wire 9 is clamped, remote control of the progress signal to model- following control device 71 is just sent by remote control 72 Module 719, remote control module 719 just controls travelling control module 718 to drive motor 31 to rotate forward, that is, drive and rotate forward control Unit 713 works, and to promote automatic detection device 100 to climb upwards, now, preceding driving shaft 37 and rear driving shaft 38 all can be along The rotation direction of unilateral bearing 511 is rotated, and centrifugal brake 51 does not work；Video acquisition module 716 is controlled to match somebody with somebody simultaneously Close the video recording that camera 2a comes the surface of Real-time Collection cable wire 9；The video recording being collected then is transferred to prison by video transmission module 717 Control reception device 73, monitors the video reception module 732 of reception device 73 after video recording is received, and video recording just is sent into monitoring Logging modle 733 is recorded and shown, to facilitate technical staff to check the surface of cable wire 9；

Automatic detection device 100 touches cable wire 9 and pushes up during climbing upwards, when climbing to touching return switch 6 During portion, travelling control module 718 of the touching signal to model- following control device 71 is just sent, travelling control module 718 will be controlled Motor 31 is stopped, and automatic detection device 100 is stopped walking；Afterwards by remote control 72 send backing signal to With the remote control module 719 of control device 71, remote control module 719 just controls travelling control module 718 to drive electricity Machine 31 is inverted, i.e., driver inversion control unit 714 works, to drive the glide downwards of automatic detection device 100, now, preceding active Axle 37 and rear driving shaft 38 can all drive the brake mandrel 513 of centrifugal brake 51 to rotate together, the meeting again of brake mandrel 513 Two fan-shaped brake blocks 515 are driven to be rotated；When the speed for gliding reaches certain numerical value, two fan-shaped brake blocks 515 Will expand outwardly under the influence of centrifugal force, and friction catch is produced with the inwall of brake hub 512, so that sliding speed Decline；Meanwhile, when sliding speed drops to certain value, two fan-shaped brake blocks 515 again can be in the presence of the elastic force of spring 514 Inside contract and receive and return to original state.Certainly, during automatic detection device 100 is walked, when excessive velocities (excessively slow) When, remote control module 719 of the reduce-speed sign (signal for faster) to model- following control device 71 can also be sent by remote control 72, Remote control module 719 just controls the speed that the adjustment motor 31 of speed adjusting module 712 is rotated, so as to realize acceleration or deceleration work( Energy.

In sum, the utility model has the following advantages that：1st, after using the electric-control system, can be by remote control to certainly Motion detection device carries out controlled in wireless (including control advance, retrogressing, stopping, governing speed etc.), uses very flexible, side Just, and can save because deployment cable tie come high cost problem, and reduce walking when because being brought on cable winds to cable wire Troublesome problem；2nd, touching return switch is provided with, can effectively prevents automatic detection device from being collided with cable wire top, this Can reduce and automatic detection device is damaged；3rd, the video recording that image pick-up detection mechanism shoots can in real time be transferred back into monitoring to connect Recorded in receiving apparatus and shown, technical staff can facilitated to transfer video recording at any time and checked.

Although the foregoing describing specific embodiment of the present utility model, those familiar with the art should Work as understanding, the specific embodiment described by us is merely exemplary, rather than for the limit to scope of the present utility model Fixed, those of ordinary skill in the art should in the equivalent modification and change made according to spirit of the present utility model Cover in scope of the claimed protection of the present utility model.

Claims (3)

1. a kind of electric-control system of stayed-cable bridge cable wire automatic detection device, it is characterised in that：Control is followed including a remote control, one Device processed, a monitoring reception device, a motor, a touching return switch and an image pick-up detection mechanism；It is described to drive electricity Machine, touching return switch and image pick-up detection mechanism are electrically connected with the model- following control device；The remote control and monitoring Reception device with the model- following control device wireless connection；

The model- following control device includes that one second battery pack, a speed adjusting module, one rotate forward control unit, a reversion control list Unit, a voltage transformation module, a video acquisition module, a video transmission module, walking control module and a remote control Module；Second battery pack is connected with the voltage transformation module；The video acquisition module, video transmission module, OK Walk control module and remote control module is connected in parallel, and be connected with the voltage transformation module；The speed governing mould Block is connected with the voltage transformation module；It is described rotating forward control unit and reversion control unit with the speed adjusting module phase Connection；The motor connects the rotating forward control unit and reversion control unit respectively.

2. a kind of electric-control system of stayed-cable bridge cable wire automatic detection device as claimed in claim 1, it is characterised in that：It is described Monitoring reception device includes one first battery pack, a video reception module and a monitoring record module；The video reception mould Block is connected with monitoring record module, and is powered by first battery pack.

3. a kind of electric-control system of stayed-cable bridge cable wire automatic detection device as claimed in claim 1, it is characterised in that：It is described Image pick-up detection mechanism includes a plurality of camera assemblies.