CN210597012U - Rotary crawling detector for detecting outer cross-sectional shape of bridge inhaul cable - Google Patents
Rotary crawling detector for detecting outer cross-sectional shape of bridge inhaul cable Download PDFInfo
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- CN210597012U CN210597012U CN201921205281.9U CN201921205281U CN210597012U CN 210597012 U CN210597012 U CN 210597012U CN 201921205281 U CN201921205281 U CN 201921205281U CN 210597012 U CN210597012 U CN 210597012U
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Abstract
The utility model relates to a detect rotatory detector of crawling of bridge cable outer cross sectional shape, including the robot of crawling of parcel on the cable of being surveyed, install profile measurement mechanism on the robot of crawling, the robot of crawling includes outer frame and installs the initiative wheelset on outer frame, driven wheelset, the battery, the wheel tangential of initiative wheelset, the wheel tangential of driven wheelset supports tightly with the cable of being surveyed respectively, and be α angles with the axial of the cable of being surveyed respectively, be provided with driving motor on the initiative wheelset, driving motor's output shaft and the wheel coaxial coupling of initiative wheelset, profile measurement mechanism is including being close to the range finding probe of being surveyed the cable, the robot of crawling drives profile measurement mechanism and has accomplished the measurement of cable outer cross sectional shape when being surveyed cable surface spiral and go forward, this technical mechanism is reasonable, measuring method is simple, and convenient for operation, and has the great application prospect.
Description
Technical Field
The utility model relates to a surface nondestructive test field, concretely relates to detect rotatory detector of crawling of outer cross sectional shape of bridge cable.
Background
The stay cable structure system is a main bearing component of a bridge, the safety and the durability of the stay cable structure system are very important to the normal use and the overall safety of the bridge, once the outer cross section of the stay cable is damaged or deteriorated, the bearing capacity of the stay cable can be gradually lost, so that the bridge is collapsed to cause serious accidents, severe social influences and huge economic losses are caused, and how to detect the shape of the outer cross section of the bridge stay cable and ensure the health safety of the stay cable structure system becomes a problem which is very concerned by engineering technicians.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the technical problem who exists among the prior art, provide a detect rotatory detector of crawling of outer cross sectional shape of bridge cable, it is inboard to set up the robot of crawling of parcel surveyed cable with profile measurement mechanism, and it gos forward to spiral around being surveyed the cable through the robot of crawling, drives profile measurement mechanism and spirals on being surveyed the cable surface and go forward to accomplish the inspection to being surveyed cable 360. The measuring method is reasonable in mechanism, simple in measuring method and convenient to operate, greatly simplifies the measuring method for measuring the cross section profile of the stay cable, can crawl up and down along the measured stay cable in a rotating mode by means of the automatic rotating crawling robot, completes measurement of the outer cross section shape of the stay cable while rotating crawling, and has great application prospect.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a rotary crawling detector for detecting the shape of the outer section of a bridge cable comprises a crawling robot wrapped on a tested cable, wherein a contour measuring mechanism is installed on the crawling robot, the crawling robot comprises an outer frame, a driving wheel set, a driven wheel set and a battery, the driving wheel set, the driven wheel set and the battery are fixedly installed on the outer frame respectively, wheel faces of the driving wheel set and wheel faces of the driven wheel set are abutted against the tested cable respectively, an angle of α degrees is formed between a wheel tangential direction of the driving wheel set and a wheel tangential direction of the driven wheel set and the axial direction of the tested cable respectively, a driving motor is arranged on the driving wheel set and is electrically connected with the battery, a fixing portion of the driving motor is connected with a fixing portion of the driving wheel set, an output shaft of the driving motor is coaxially arranged with and fixedly connected with the wheel of the driving wheel set, the contour measuring mechanism comprises a distance measuring probe, the distance measuring probe is installed on the outer frame through a support, and the distance measuring probe is close to the tested cable.
The driving motor drives the crawling robot to ascend or descend along the surface of the detected inhaul cable in a spiral shape with the spiral angle of α, the profile measuring mechanism is used for detecting the surface of the detected inhaul cable while circling and ascending or descending along the crawling robot, the continuous data of the outline of the detected inhaul cable are measured, and the shape of the outer section of the detected inhaul cable is detected through the data change of the profile measuring mechanism, so that whether the outer section of the inhaul cable is damaged or not and is degraded or not is judged.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
Preferably, at least, be equipped with a set of driving wheel group, driving wheel group includes at least one action wheel, action wheel fixed mounting be in outer frame is last, the wheel face of action wheel with the cable is supported tightly by being surveyed, the axle center of action wheel with driving motor's output shaft fixed connection. The driving motor drives the driving wheel to operate, and the driving wheel drives the driven wheel to operate in the same direction when moving forwards, so that the whole crawling robot is driven.
Preferably, at least one group of driven wheel group is arranged, the driven wheel group comprises at least one driven wheel, and the wheel surface of the driven wheel is tightly abutted to the cable to be detected. Driven wheelset and initiative wheelset are mutually supported, will be surveyed the cable and press from both sides tightly driven wheelset with between the initiative wheelset, surveyed the cable respectively with every from the driving wheel tangent, a plurality of follow driving wheel with surveyed the cable surface and support tightly, effectively provide the support for crawling the robot.
Preferably, the driving wheel set and the driven wheel set are mounted on the outer frame through elastic supports. Elastic components such as compression spring or compression shell fragment can be set up on the elastic support piece and elasticity is increased for support piece, under elastic support piece's effect, the initiative wheelset with driven wheelset can be compressed tightly on being surveyed the cable surface more reliably, even surveyed the impaired unevenness in cable surface, the initiative wheelset with driven wheelset also can with being surveyed the cable surface and support tightly.
Preferably, the direction of the elastic force of the elastic supporting element, the direction of the pressure applied to the surface of the detected cable by the driving wheel and the direction of the pressure applied to the surface of the detected cable by the driven wheel are all the same as the normal direction of the detected cable. Elastic support member, action wheel, from the driving wheel normal direction atress of being surveyed the cable, can increase the efficiency that compresses tightly of crawling robot and being surveyed the cable, reduce the component force when compressing tightly, do benefit to the steadiness of crawling robot and being surveyed the cable contact.
Preferably, the tangential direction of the driving wheel and the axial direction of the cable to be tested form an angle of α degrees, the tangential direction of the driven wheel and the axial direction of the cable to be tested form an angle of α degrees, the angle of α degrees is not equal to n x pi/2, n is an integer, the angles formed by all the driving wheels and the driven wheels and the axial direction of the cable to be tested are the same, the arrangement can ensure that the crawling robot moves synchronously in all directions in the operation process, the movement resistance is reduced, meanwhile, the driven wheels can provide guiding and supporting functions for the driving wheels, the arrangement of the angle of α degrees avoids the situation that the driving wheels and the driven wheels are perpendicular to or parallel to the cable to be tested respectively, the crawling track of the crawling robot is planned to be a spiral line which is beneficial to circling along the outer surface of the cable to be tested, and the crawling robot carries the profile measuring mechanism.
Preferably, the profile measuring mechanism further comprises a probe roller, the probe roller is mounted on the outer frame through an elastic support, the distance measuring probe is mounted on a fixed part of the probe roller, and the probe roller is in contact with the measured inhaul cable. The profile measuring mechanism is connected with the outer frame through the elastic connecting piece, when the outer surface of the measured inhaul cable is provided with the convex point, the elastic connecting piece is compressed, the probe roller drives the ranging probe to climb over the convex point, and the ranging probe is prevented from being damaged by an obstacle.
Preferably, the ranging probe is a linear displacement sensor. The linear displacement sensor measures continuous displacement data of the distance measuring probe and the outer surface of the measured inhaul cable, and continuous displacement data change is judged, so that the condition of the outer surface of the measured inhaul cable is judged.
Preferably, the ranging probe is an optoelectronic profilometer. The photoelectric profile measuring instrument can adopt a laser profile meter to perform two-dimensional scanning on the outer surface of the tested stay cable, so that the damage condition of the outer surface of the tested stay cable is judged after operation.
Preferably, the distance measuring probe is a CCD camera. The outer surface of the detected stay cable is photographed through the distance measuring probe, and the damage condition of the outer surface of the detected stay cable is judged through the photographed image.
The utility model has the advantages that the drive motor drives the crawling robot to ascend or descend along the surface of the detected inhaul cable in a spiral shape with a spiral angle of α, the outline measuring mechanism follows the crawling robot to ascend or descend in a spiral mode, the distance measuring probe detects the surface of the detected inhaul cable, continuous data of the outline of the detected inhaul cable is measured, the shape of the outer section of the detected inhaul cable is detected through data change, and therefore whether the outer section of the inhaul cable is damaged or not is judged.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic front view of an embodiment of the present invention;
fig. 3 is a schematic top view of an embodiment of the present invention;
FIG. 4 is a schematic view of a side view of an embodiment of the present invention;
fig. 5 is a schematic cross-sectional view taken along the line a-a in fig. 4 according to an embodiment of the present invention;
fig. 6 is a schematic top view of a second embodiment of the present invention;
fig. 7 is the utility model discloses the stay rope and the wheel angle schematic diagram of awaiting measuring.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises an outer frame, 101, a supporting plate, 102, a connecting piece, 103, a double-headed screw, 2, a driving wheel set, 201, a driving motor, 202, a driving wheel, 3, a driven wheel set, 301, a first driven wheel set, 3011, a driven wheel, 302, a second driven wheel set, 303, a third driven wheel set, 4, a battery, 5, a contour measuring mechanism, 501, a distance measuring probe, 502, a probe roller, 503, a roller supporting rod, 6, a measured cable, 7 and a wheel set supporting rod.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
The first embodiment is as follows:
the rotary crawling detector for detecting the outer cross-sectional shape of the bridge cable comprises a crawling robot wrapped on a cable to be detected, a contour measuring mechanism 5 is installed on the crawling robot, the crawling robot comprises an outer frame 1, a driving wheel set 2, a driven wheel set 3 and a battery 4, the driving wheel set 2, the driven wheel set 3 and the battery 4 are fixedly installed on the outer frame 1 respectively, the driving wheel set 2 and the driven wheel set 3 are oppositely arranged on two sides of the cable 6 to be detected, wheel faces of the driving wheel set 2 and wheel faces of the driven wheel set 3 are abutted against the outer surface of the cable 6 to be detected respectively, α degrees are formed between the tangential direction of a wheel of the driving wheel set 2 and the tangential direction of a wheel of the driven wheel set 3 respectively and the axial direction of the cable 6 to be detected, a driving motor 201 is arranged on the driving wheel set 2, the driving motor 201 is electrically connected with the battery 4, a fixing portion of the driving motor 201 is connected with a fixing portion of the driving wheel set 2, an output shaft of the cable of the driving motor 201 is coaxially arranged with and fixedly connected with the wheel of the driving wheel set 2, the contour measuring mechanism 5 comprises a.
More specifically, the outer frame 1 includes two support plates 101 with the same shape and size, the two support plates 101 are parallel and symmetrically disposed on two sides of the cable 6 to be measured, the two support plates 101 are parallel to the axial edge of the cable 6 to be measured and fixedly connected by a plurality of connecting plates 102, four corners of the support plates 101 are respectively fixedly connected by a double-headed screw 103 and a nut in a one-to-one correspondence manner, the two support plates 101 are fixed to form the outer frame 1, the driving wheel set 2 and the driven wheel set 3 are disposed opposite to each other on two sides of the cable 6 to be measured, the wheel surface of the driving wheel set 2 and the wheel surface of the driven wheel set 3 are respectively abutted against the cable 6 to be measured, the cable 6 to be measured is clamped between the driving wheel set 2 and the driven wheel set 3, the wheel tangential direction of the driving wheel set 2 and the wheel tangential direction of the driven wheel set 3 are respectively at an angle α with the axial direction of the cable 6 to be measured, in the embodiment, a set of the driving wheel set 2 and three sets of the driving wheel set 3, the driving wheel set 2 and the first driven wheel set 301 are disposed on a first layer, the second driven wheel set 302 and a third driven wheel set 303 are disposed on a second layer, the first layer is disposed parallel to a second layer, the support plate 101 and a second layer is disposed parallel to the wheel set, the second layer, the wheel set is disposed with the driving wheel set, the driving wheel set is disposed on the driving wheel set, the driving wheel set of the driving wheel set is disposed on the driving wheel.
The driving motor 201 drives the crawling robot to ascend or descend along the surface of the tested inhaul cable 6 in a spiral shape with the spiral angle of α, the profile measuring mechanism 5 ascends or descends along the circling of the crawling robot, meanwhile, the ranging probe 501 detects the surface of the tested inhaul cable 6, continuous data of the outline of the tested inhaul cable 6 are measured, and the shape of the outer section of the tested inhaul cable 6 is detected through data change of the profile measuring mechanism, so that whether the outer section of the inhaul cable is damaged or not and is degraded or not is judged.
On the basis of the above technical solution, the present embodiment can be further improved as follows.
In this embodiment, a set of driving wheel set 2 is provided, the driving wheel set 2 includes a driving wheel 202 and a driven wheel 3011, the driving wheel 202 and the driven wheel 3011 are mounted on the outer frame 1 in parallel, the wheel surface of the driving wheel 202 and the wheel surface of the driven wheel 3011 are respectively abutted against the cable 6 to be tested, and the axis of the driving wheel 202 is fixedly connected to the output shaft of the driving motor 201. The driving motor 201 drives the driving wheel 202 to operate, and the driving wheel 202 drives the driven wheel 3011 to operate towards the same direction when moving forward, so that the whole crawling robot is driven.
As a replaceable preferred scheme, two driving wheels 202 arranged in parallel can be further arranged on the driving wheel set 2, wheel surfaces of the two driving wheels 202 are both abutted against the tested cable 6, and the axis of each driving wheel 202 is fixedly connected with an output shaft of one driving motor 201, so that each driving motor 201 drives one driving wheel 202 respectively. Alternatively, the output shaft of the driving motor 201 may be connected to a driving gear coaxially, the axes of two adjacent driving gears 202 are respectively connected to a driven gear coaxially, and the two driven gears are both engaged with the driving gear, so that one driving motor 201 can drive two driving gears 202 simultaneously. The two driving wheels 202 are arranged on the driving wheel set 2, and the two driving wheels 202 run at the same rotating speed under the driving action of the driving motor 201, so that the crawling robot can be driven to move forward more stably and reliably.
In this embodiment, each set of driven wheels 3 includes two driven wheels 3011 arranged in parallel, and the wheel surface of the driven wheel 3011 is tightly abutted to the cable 6 to be tested. Driven wheelset 3 and driving wheel group 2 are mutually supported, will be surveyed cable 6 and press from both sides tightly between driven wheelset 3 and the driving wheel group 2, each driven wheelset 3 includes two parallel arrangement from driving wheel 3011, is surveyed cable 6 and is tangent from driving wheel 3011 with every respectively, and a plurality of wheel faces from driving wheel 3011 all support tightly with being surveyed cable 6 surface, effectively provide the support for crawling the robot.
In this embodiment, the driving wheel set 2 and the driven wheel set 3 are mounted on the outer frame 1 through the wheel set support rod 7, and the wheel set support rod 7 is an elastic support member with a telescopic function. Can set up elastic component such as compression spring or compression shell fragment in the wheelset bracing piece 7 and increase elasticity for support piece, under the effect of wheelset bracing piece 7, initiative wheelset 2 and driven wheelset 3 can be compressed tightly on being surveyed cable 6 surfaces more reliably, even by being surveyed 6 damaged unevenness in cable surface, initiative wheelset 2 and driven wheelset 3 also can with be surveyed cable 6 surfaces and support tightly.
In the embodiment, as shown in fig. 7, the tangential direction of the driving wheel 202 forms an angle α with the axial direction of the tested cable 6, the tangential direction of the driven wheel 3011 forms an angle α with the axial direction of the tested cable 6, the angle α is not equal to n x pi/2, n is an integer, the tangential directions of all the driving wheels 202 and the tangential directions of the driven wheel 3011 are respectively the same as the axial direction of the tested cable 6, so that the arrangement can ensure that the crawling robot synchronously moves in all directions during operation, reduce the movement resistance, simultaneously the driven wheel 3011 can provide guiding and supporting effects for the driving wheel 202, and the angular arrangement of α prevents the driving wheel 202 and the driven wheel 3011 from moving circumferentially along the outer surface of the tested cable 6 (for example, the α is 90 ° or 270 °) or from being parallel (for example, the α is 0 ° or 180 °), when the driving wheel 202 and the driven wheel 3011 are perpendicular to the tested cable 6, the driving wheel 202 and the driven wheel 3011 do not climb up and the straight track of the tested cable 202 and the tested cable 3016 are arranged to facilitate the detection of the tested robot to carry the straight cable 202 and the measuring mechanism for detecting the external surface of the tested robot.
According to actual needs, the driving wheel set 2 can be set as one group or multiple groups, preferably, the sum of the number of the driving wheel set 2 and the number of the driven wheel sets 3 is even number, so as to ensure the balance of the crawling robot.
In this embodiment, the profile measuring mechanism 5 further includes a probe roller 502, the probe roller 502 is mounted on the outer frame 1 through a roller support rod 503, the roller support rod 503 is an elastic support member having a telescopic function, the distance measuring probe 501 is mounted on a fixed portion of the probe roller 502, and the probe roller 502 is in contact with the outer surface of the measured cable 6. The profile measuring mechanism 5 is connected with the outer frame 1 through an elastic connecting piece, when the outer surface of the measured inhaul cable 6 is provided with a convex point, the elastic connecting piece is compressed, the probe roller 502 drives the ranging probe 501 to climb over the convex point, and the ranging probe 501 is prevented from being damaged by an obstacle.
In this embodiment, the distance measuring probe 501 is a linear displacement sensor. The linear displacement sensor measures continuous displacement data of the distance measuring probe 501 and the outer surface of the measured inhaul cable 6, and the condition of the outer surface of the measured inhaul cable is judged by judging the change of the continuous displacement data.
Preferably, the distance measuring probe 501 may also be an electro-optical profile measuring instrument. The photoelectric profile measuring instrument can adopt a laser profile meter to perform two-dimensional scanning on the outer surface of the tested stay cable 6, so that the damage condition of the outer surface of the tested stay cable is judged after operation.
Preferably, the distance measuring probe 501 may also be a CCD camera. The outer surface of the tested stay cable 6 is photographed through the ranging probe 501, and the photographed image is calculated through the existing image processing technology, so that the damage condition of the outer surface of the tested stay cable 6 is judged.
Example two:
as shown in fig. 6, which is a top view of the second embodiment, the outer frame 1 includes four rectangular support plates 101 with the same shape, the four support plates 101 are configured as rectangular cylinders without a pair of parallel surfaces, the cable 6 to be measured penetrates through the pair of parallel surfaces absent on the outer frame 1 and is parallel to the four support plates 101, the adjacent support plates 101 are perpendicular to each other and fixedly connected to form the outer frame 1, the driving wheel group 2 and the driven wheel group 3 are disposed opposite to each other on the outer surface of the cable 6 to be measured, the wheel surfaces of the driving wheel group 2 and the driven wheel group 3 respectively abut against the cable 6 to be measured, the cable 6 to be measured is clamped between the driving wheel group 2 and the driven wheel group 3, the wheel tangential direction of the driving wheel group 2 and the wheel tangential direction of the driven wheel group 3 respectively form an angle α with the axial direction of the cable 6 to be measured, the angle n is not equal to pi/2, n is an integer, the driving wheel group 2 and the three driven wheel groups 3 are disposed in the driving wheel group, the driving wheel group 2 and the driven wheel group 3, the first driven wheel group 301 are disposed on the first layer, the second driven wheel group 302 and the third driven wheel group 303 are disposed on the second layer, the second layer 303, the driving wheel group 201 is disposed on the driving wheel group 2 and the supporting plate 201, the driving wheel group 201 is disposed on the driving wheel group 2, the outer frame, the driving wheel group 201, the driving wheel group, the driving wheel mechanism, the driving wheel group 201 is disposed coaxially, the driving wheel mechanism, the supporting plate.
In this embodiment, at least one set of driving wheel set 2 is provided, the driving wheel set 2 includes a driving wheel 202, the driving wheel 202 is fixedly installed on the outer frame 1, a wheel surface of the driving wheel 202 abuts against the cable 6 to be tested, and an axis of the driving wheel 202 is fixedly connected to an output shaft of the driving motor 201. The driving motor 301 drives the driving wheel 202 to operate, and the driving wheel 202 drives the driven wheel 3011 to operate in the same direction when moving forward, so that the whole crawling robot is driven.
In this embodiment, each group of driven wheel sets 3 includes a driven wheel 3011, and the wheel surface of the driven wheel 3011 is abutted against the cable 6 to be tested. Driven wheelset 3 and driving wheel group 2 are mutually supported, will be surveyed cable 6 and press from both sides tightly between driven wheelset 3 and driving wheel group 2, and it is tangent with every follow driving wheel 3011 respectively to be surveyed cable 6, and a plurality of follow driving wheels 3011 support tightly with being surveyed cable 6 surface, effectively provide support and direction for the robot of crawling.
In this embodiment, the driving wheel set 2 and the driven wheel set 3 are mounted on the outer frame 1 through the wheel set support rod 7, and the wheel set support rod 7 is an elastic support member with a telescopic function. Can set up elastic component such as compression spring or compression shell fragment in the wheelset bracing piece 7 and increase elasticity for support piece, under the effect of wheelset bracing piece 7, initiative wheelset 2 and driven wheelset 3 can be compressed tightly on being surveyed cable 6 surface more reliably, even by being surveyed 6 damaged unevenness in surface of cable, initiative wheelset 2 and driven wheelset 3 also can support tightly with being surveyed the surface of cable 6.
In this embodiment, as shown in fig. 6, the direction of the elastic force of the wheel set supporting rod 7 is the same as the normal direction of the cable 6 to be tested. The direction of the elastic force of the wheel set supporting rod 7, the direction of the pressure applied to the surface of the tested cable 6 by the driving wheel 202, and the direction of the pressure applied to the surface of the tested cable 6 by the driven wheel 3011 are all the same as the normal direction of the tested cable 6. The wheel set supporting rod 7, the driving wheel 202 and the driven wheel 3011 are stressed in the normal direction of the tested inhaul cable 6, the compression efficiency of the crawling robot and the tested inhaul cable 6 can be increased, the component force during compression is reduced, and the contact stability of the crawling robot and the tested inhaul cable 6 is facilitated.
In the embodiment, as shown in fig. 7, the tangential direction of the driving wheel 202 forms an angle α with the axial direction of the tested cable 6, the tangential direction of the driven wheel 3011 forms an angle α with the axial direction of the tested cable 6, the angle α is not equal to n x pi/2, n is an integer, the tangential directions of all the driving wheels 202 and the tangential directions of the driven wheel 3011 are respectively the same as the axial direction of the tested cable 6, so that the arrangement can ensure that the crawling robot synchronously moves in all directions during operation, reduce the movement resistance, simultaneously the driven wheel 3011 can provide guiding and supporting effects for the driving wheel 202, and the angular arrangement of α prevents the driving wheel 202 and the driven wheel 3011 from moving circumferentially along the outer surface of the tested cable 6 (for example, the α is 90 ° or 270 °) or from being parallel (for example, the α is 0 ° or 180 °), when the driving wheel 202 and the driven wheel 3011 are perpendicular to the tested cable 6, the driving wheel 202 and the driven wheel 3011 do not climb up and the straight track of the tested cable 202 and the tested cable 3016 are arranged to facilitate the detection of the tested robot to carry the straight cable 202 and the measuring mechanism for detecting the external surface of the tested robot.
According to actual needs, the driving wheel set 2 can be set into one group or multiple groups, preferably, the sum of the number of the driving wheel set 2 and the number of the driven wheel sets 3 is even number, so as to ensure the balance of the crawling robot.
In this embodiment, the profile measuring mechanism 5 further includes a probe roller 502, the probe roller 502 is mounted on the outer frame 1 through a roller support rod 503, the roller support rod 503 is an elastic support member having a telescopic function, the distance measuring probe 501 is mounted on a fixed portion of the probe roller 502, and the probe roller 502 is in contact with the outer surface of the measured cable 6. The profile measuring mechanism 5 is connected through elastic connection spare between 1 with outer frame, and when being surveyed 6 surfaces of cable, elastic connection spare is compressed, and probe gyro wheel 502 drives range probe 501 and climbs this bump, prevents that the barrier from damaging range probe 501, and range probe 501 notes the data on being surveyed the cable 6 surface simultaneously.
In this embodiment, the distance measuring probe 501 is a linear displacement sensor. The linear displacement sensor measures continuous displacement data of the distance measuring probe 501 and the outer surface of the measured inhaul cable 6, and the condition of the outer surface of the measured inhaul cable 6 is judged by judging the change of the continuous displacement data.
Preferably, the distance measuring probe 501 may also be an electro-optical profile measuring instrument. The photoelectric profile measuring instrument can adopt a laser profile meter to perform two-dimensional scanning on the outer surface of the tested stay cable 6, so that the damage condition of the outer surface of the tested stay cable 6 is judged after operation.
Preferably, the distance measuring probe 501 may also be a CCD camera. The outer surface of the tested stay cable 6 is photographed through the ranging probe 501, and the photographed image is calculated through the existing image processing technology, so that the damage condition of the outer surface of the tested stay cable 6 is judged.
The driving motor 201 drives the crawling robot to ascend or descend along the surface of the tested inhaul cable 6 in a spiral shape with the spiral angle of α, the profile measuring mechanism 5 follows the crawling robot to spirally ascend or descend, meanwhile, the distance measuring probe 501 detects the outer surface of the tested inhaul cable 6, continuous data of the outer profile of the tested inhaul cable 6 are measured and stored, the shape of the outer section of the tested inhaul cable 6 is detected through data change, and therefore whether the outer section of the inhaul cable is damaged or not is judged.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. A rotary crawling detector for detecting the shape of the outer section of a bridge cable comprises a crawling robot wrapped on a detected cable, and a profile measuring mechanism (5) is installed on the crawling robot, and is characterized in that the crawling robot comprises an outer frame (1), a driving wheel set (2), a driven wheel set (3) and a battery (4), the driving wheel set (2), the driven wheel set (3) and the battery (4) are fixedly installed on the outer frame (1) respectively, the wheel surfaces of the driving wheel set (2) and the driven wheel set (3) are tightly abutted to the detected cable (6) respectively, the wheel tangential direction of the driving wheel set (2) and the wheel tangential direction of the driven wheel set (3) are α degrees in the axial direction of the detected cable (6) respectively, a driving motor (201) is arranged on the driving wheel set (2), the driving motor (201) is electrically connected with the battery (4), the fixing portion of the driving motor (201) is connected with the fixing portion of the driving wheel set (2), the output shaft of the driving motor (201) is coaxially connected with the wheel set (2), and the driving wheel set (501) is coaxially installed on the detected cable (501), and the ranging mechanism comprises a ranging probe (501).
2. The rotating crawling detector for detecting the external cross-sectional shape of a bridge cable according to claim 1, wherein at least one set of driving wheel set (2) is provided, the driving wheel set (2) comprises at least one driving wheel (202), the driving wheel (202) is fixedly installed on the outer frame (1), a wheel surface of the driving wheel (202) is abutted against the cable (6) to be detected, and an axis of the driving wheel (202) is fixedly connected with an output shaft of the driving motor (201).
3. The rotary crawling detector for detecting the external cross-sectional shape of the bridge guy cable according to claim 1, wherein at least one group of driven wheel sets (3) is provided, each driven wheel set (3) comprises at least one driven wheel (3011), and the wheel surface of each driven wheel (3011) is tightly abutted to the guy cable (6) to be detected.
4. The rotary crawling detector for detecting the external cross-sectional shape of a bridge guy cable according to any one of claims 1 to 3, wherein the driving wheel set (2) and the driven wheel set (3) are mounted on the outer frame (1) through elastic supports.
5. The rotary crawling detector for detecting the external cross-sectional shape of a bridge guy cable according to claim 4, wherein the direction of the elastic force of the elastic support, the direction of the pressure applied to the surface of the detected guy cable (6) by the driving wheel (202), and the direction of the pressure applied to the surface of the detected guy cable (6) by the driven wheel (3011) are all the same as the normal direction of the detected guy cable (6).
6. The rotary crawling detector for detecting the external cross-sectional shape of a bridge cable according to claim 1, wherein the profile measuring mechanism (5) further comprises a probe roller (502), the probe roller (502) is mounted on the outer frame (1) through an elastic support, the distance measuring probe (501) is mounted on a fixed part of the probe roller (502), and the probe roller (502) is in contact with the cable (6) to be detected.
7. The rotary crawling detector for detecting the external cross-sectional shape of a bridge cable according to claim 1, wherein the angle α is not equal to n x pi/2, and n is an integer.
8. The rotary crawling detector for detecting the external cross-sectional shape of the bridge guy cable according to claim 1, wherein the distance measuring probe (501) is a linear displacement sensor.
9. The rotary crawling detector for detecting the external cross-sectional shape of the bridge guy cable according to claim 1, wherein the distance measuring probe (501) is an electro-optical profile measuring instrument.
10. The rotating crawling detector for detecting the external cross-sectional shape of the bridge cable according to claim 1, wherein the distance measuring probe (501) is a CCD camera.
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| CN201921205281.9U CN210597012U (en) | 2019-07-29 | 2019-07-29 | Rotary crawling detector for detecting outer cross-sectional shape of bridge inhaul cable |
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| CN201921205281.9U CN210597012U (en) | 2019-07-29 | 2019-07-29 | Rotary crawling detector for detecting outer cross-sectional shape of bridge inhaul cable |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110295544A (en) * | 2019-07-29 | 2019-10-01 | 武汉冠油科技有限公司 | A kind of rotation detecting bridge cable outer cross section shape is creeped detector |
| CN114319102A (en) * | 2022-01-21 | 2022-04-12 | 山东大学 | Cable detection robot and working method thereof |
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2019
- 2019-07-29 CN CN201921205281.9U patent/CN210597012U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110295544A (en) * | 2019-07-29 | 2019-10-01 | 武汉冠油科技有限公司 | A kind of rotation detecting bridge cable outer cross section shape is creeped detector |
| CN110295544B (en) * | 2019-07-29 | 2024-02-06 | 武汉冠油科技有限公司 | Rotary crawling detector for detecting external cross section shape of bridge inhaul cable |
| CN114319102A (en) * | 2022-01-21 | 2022-04-12 | 山东大学 | Cable detection robot and working method thereof |
| CN114319102B (en) * | 2022-01-21 | 2023-02-28 | 山东大学 | Cable detection robot and working method thereof |
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