CN214256405U - Stay cable detection robot - Google Patents
Stay cable detection robot Download PDFInfo
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- CN214256405U CN214256405U CN202022172263.4U CN202022172263U CN214256405U CN 214256405 U CN214256405 U CN 214256405U CN 202022172263 U CN202022172263 U CN 202022172263U CN 214256405 U CN214256405 U CN 214256405U
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- 238000001514 detection method Methods 0.000 title abstract description 31
- 239000000725 suspension Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 201000010099 disease Diseases 0.000 description 7
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 7
- 239000010410 layer Substances 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011241 protective layer Substances 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012031 short term test Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
A stay cable detection robot comprises an upper roller set, a lower roller set, an upper connecting piece, a lower connecting piece, a supporting plate, a single-head telescopic spiral connecting rod, a main support rod piece, a manual fine adjustment rod, a high-definition camera, a high-capacity storage battery, a control device and a wireless signal receiver; the upper roller group comprises 4 upper rollers which are arranged on the periphery of the stay cable to form hoops in four directions; the lower roller group comprises 4 lower rollers which are arranged on the periphery of the stay cable to form hoops in four directions; the manual fine adjustment rod, the high-definition camera, the high-capacity storage battery and the control device are all fixedly arranged on the main support rod piece; the robot greatly saves the labor cost and improves the detection efficiency and accuracy; the disassembly and the assembly are convenient; the adjustable inhaul cable device is suitable for inhaul cables with different pipe diameters through fine adjustment, the adjusting range is large, the application range of the robot is expanded, and the adjustable inhaul cable device can also be suitable for detection work of other rod pieces.
Description
Technical Field
The utility model relates to a detection robot, specifically speaking are suspension cable detection robot.
Background
Cable-stayed bridges are widely applied in the world as a new form of modern bridges. However, the stay cable, which is one of the three major stressed members of the cable-stayed bridge (the pylon, the deck and the stay cable), is exposed to the air for a long time, and is exposed to the sun by wind, rain and rain, the surface of the stay cable will be corroded, aged and cracked to different degrees, which all may pose serious safety hazards to the elegant and spectacular cable-stayed bridge.
In the field of stay cable detection technology, people carriers are slowly drawn from bottom to top along a stay cable by a hoisting traction device to manually detect the stay cable. The traditional maintenance machine is composed of a single group or a plurality of groups of idler wheels, a manned hanging basket mechanism and traction equipment. The roller train is hung on the stay cable, the lower manned hanging basket forms an overhaul trolley, and the trolley is pulled by the traction equipment so as to walk along the stay cable.
The tradition overhauls the dolly at the walking in-process, and stability is relatively poor, especially can form the front and back and sway along its walking direction, because the influence of wind-load in the high altitude simultaneously, still can produce the phenomenon that the dolly rocks around the rotation of axes, easily sends out the incident. On the stay cable with smaller cable diameter, especially on the stay cable with small cable diameter such as double-row cable, the friction force for keeping the direction stable is small because the contact surface between the cable surface and the roller is small, and the trolley is easy to form larger amplitude of the rotation and the swing around the shaft. The trolley swings and rocks in the walking process, so that the operation of workers is influenced, the mechanism is more likely to be damaged or destroyed due to fatigue, and extremely dangerous accidents occur. In addition, the traditional maintenance trolley can be inclined or even derailed due to uneven load distribution of the hanging basket. And the detection depends on manual work, and the problem of low detection quality exists.
SUMMERY OF THE UTILITY MODEL
The to-be-solved problem of the utility model is that the stay cable detection mode among the prior art detects relies on the manual work, detects the not high and problem that has great potential safety hazard of quality.
The utility model adopts the technical proposal that: a stay cable detection robot comprises an upper roller set, a lower roller set, an upper connecting piece, a lower connecting piece, a supporting plate, a single-head telescopic spiral connecting rod, a main support rod piece, a manual fine adjustment rod, a high-definition camera, a high-capacity storage battery, a control device and a wireless signal receiver;
the upper roller group comprises upper rollers which are arranged on the periphery of the stay cable to form hoops in four directions; the upper connecting piece is in a V-shaped structure, the upper end of the upper connecting piece is fixedly connected with the roller shaft of the upper roller, the lower end of the upper connecting piece is hinged with the upper end of the supporting plate, the outer end of the upper connecting piece is hinged with the upper end of the single-head telescopic spiral connecting rod,
the lower roller group comprises lower rollers which are arranged on the periphery of the stay cable to form hoops in four directions; the lower connecting piece is of a V-shaped structure, the lower end of the lower connecting piece is fixedly connected with a roller shaft of the lower roller, the lower end of the lower connecting piece is hinged with the lower end of the supporting plate, and the outer end of the lower connecting piece is hinged with the lower end of the single-head telescopic spiral connecting rod;
the single-head telescopic spiral connecting rod comprises a passive adjusting gear, a hollowed connecting frame, an upper passive adjusting bolt column and a lower passive adjusting bolt column, the upper end of the hollowed connecting frame is in threaded connection with the upper passive adjusting bolt column, the lower end of the hollowed connecting frame is in threaded connection with the lower passive adjusting bolt column, the passive adjusting gear is fixedly arranged in the middle of the hollowed connecting frame, a manual adjusting gear is arranged in the middle of the manual fine adjustment rod, and the manual adjusting gear is meshed with the passive adjusting gear;
the manual fine adjustment rod, the high-definition camera, the high-capacity storage battery and the control device are all fixedly arranged on the main support rod piece.
Furthermore, go up gyro wheel and lower gyro wheel and constitute a set of by two single gyro wheels, can more closely laminate not fretwork with the cable surface among the actual operation process.
Furthermore, a plurality of scale plates are arranged at the upper end of the main support rod piece.
Furthermore, the supporting plate is of a double-layer structure, and the double-layer structure is connected with a plurality of connecting columns.
The utility model has the advantages and the characteristics that:
1. compare the manual work of carry hanging flower basket and detect, stay cable intellectual detection system robot's detection effect is more accurate, has saved the human cost moreover greatly, has improved detection efficiency and degree of accuracy, and the testing process is safe and reliable more also. The stay cable intelligent detection robot can not damage a stay cable in the detection process, is controlled remotely and wirelessly, is very simple and convenient to operate, and can monitor the working state of the robot in real time. In addition, because the traffic does not need to be closed in the operation, the intelligent stay cable detection robot does not obstruct the normal passing of the passing vehicles in the detection process.
2. The utility model discloses easy dismounting only needs to operate alone, and the operation is convenient, saves time. When the robot works on the inhaul cable, the vertical speed can be effectively controlled, the robot can move at a constant speed, 360-degree all-dimensional dead-angle-free rapid detection can be performed on the surface condition of the inhaul cable protective layer by utilizing the high-definition cameras in four directions, the defect position can be accurately positioned, and the work of identifying, measuring, counting and storing diseases is completed. In the climbing process, the video equipment in the robot body can carry out real-time video storage on the shooting condition, technicians monitor the detection process in real time through ground monitoring equipment, and meanwhile, data acquisition is carried out, and finally, a detection report is formed according to the disease condition of the stay cable for reference in later maintenance.
3. The utility model discloses can be applicable to the cable of different pipe diameters through the fine setting, adjustment range is very big, has extended the application scope of robot, also can be applicable to the detection achievement of other members.
4. The utility model discloses structural rigidity is big, and stability is good, light in weight, when high altitude construction, the work of extreme environment such as adaptation vibrations, wind load that can be fine. And the robot is driven through the high capacity battery that charges, and duration is long, through wireless video transmission module with data transmission to on the ground monitor, accomplish the collection of all data by constructor immediately.
Drawings
FIG. 1 is a schematic view of the overall structure of the preferred embodiment of the present invention;
FIG. 2 is a schematic view of a part of the structure of the pipe diameter adjusting part according to the preferred embodiment of the present invention;
FIG. 3 is a schematic view of the exploded labeling structure of FIG. 2;
FIG. 4 is a schematic view of the structure of FIG. 2 at an enlarged scale of the dotted line;
FIG. 5 is a schematic top view of the preferred embodiment of the present invention;
FIG. 6 is a schematic plan view of the upper roller set or the lower roller set according to the preferred embodiment of the present invention;
fig. 7 is a schematic view of the principle of adjusting the pipe diameter according to the preferred embodiment of the present invention (the roller system in dotted line is not yet installed in the initial state of the stay cable, and the roller system in solid line is installed in the stay cable to be in the best working state of being tightly attached).
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
example 1:
a stay cable detection robot comprises an upper roller set 1, a lower roller set 2, an upper connecting piece 3, a lower connecting piece 4, a supporting plate 5, a single-head telescopic spiral connecting rod 6, a main support rod piece 7, a manual fine adjustment rod 8, a high-definition camera 9, a high-capacity storage battery 10, a control device 11 and a wireless signal receiver 12;
the upper roller group 1 comprises 4 upper rollers 1-1 which are arranged on the periphery of the stay cable to form hoops in four directions; the upper connecting piece 3 is in a V-shaped structure, the upper end of the upper connecting piece 3 is fixedly connected with a roller shaft of the upper roller 1-1, the lower end of the upper connecting piece 3 is hinged with the upper end of the supporting plate 5, the outer end of the upper connecting piece 3 is hinged with the upper end of the single-head telescopic spiral connecting rod 6,
the lower roller group 2 comprises 4 lower rollers 2-1 which are arranged on the periphery of the stay cable to form hoops in four directions; the lower connecting piece 4 is of a V-shaped structure, the lower end of the lower connecting piece 4 is fixedly connected with a roller shaft of the lower roller 2-1, the lower end of the lower connecting piece 4 is hinged with the lower end of the supporting plate 5, and the outer end of the lower connecting piece 4 is hinged with the lower end of the single-head telescopic spiral connecting rod 6;
the single-head telescopic spiral connecting rod 6 comprises a passive adjusting gear 61, a hollowed connecting frame 62, an upper passive adjusting bolt column 63 and a lower passive adjusting bolt column 64, the upper end of the hollowed connecting frame 62 is in threaded connection with the upper passive adjusting bolt column 63, the lower end of the hollowed connecting frame 62 is in threaded connection with the lower passive adjusting bolt column 64, the passive adjusting gear 61 is fixedly arranged in the middle of the hollowed connecting frame 62, a manual adjusting gear 81 is arranged in the middle of the manual fine adjusting rod 8, and the manual adjusting gear 81 is meshed with the passive adjusting gear 61;
the manual fine adjustment rod 8, the high-definition camera 9, the high-capacity storage battery 10 and the control device 11 are all fixedly arranged on the main support rod piece 7.
The upper roller 1-1 and the lower roller 2-1 are formed into a group by two single rollers, and can be closely attached to the surface of the inhaul cable without hollowing.
Example 2
The difference from the embodiment 1 is that the upper end of the main support rod 7 is provided with a plurality of scale plates 7-1 for measuring the size of the stay cable diseases.
In order to enhance the structural strength under the condition of light weight as much as possible, the supporting plate 5 is of a double-layer structure, the double-layer structure is connected by a plurality of connecting columns 5-1,
the lower roller group 2 is additionally provided with a small distance measuring roller which can also be tightly attached to the rope body of the stay rope to move, the length value of the stay rope which is finished when the robot climbs the rope can be measured according to the number of rolling circles of the small distance measuring roller in the working process of climbing the rope, and meanwhile, the length value is directly displayed on a display screen of the robot body and fed back to ground monitoring equipment.
The video recording equipment of this scheme cooperation detection robot from taking can carry out 360 all-round no dead angles short-term test to the surface condition of guy rope protective layer to can pinpoint the defect position, accomplish discernment, measurement, statistics and storage work to the disease. The hoop type detection robot adopts the clamping design that can open and shut, and is more convenient with the dismouting of cable, only needs one person to operate, and the operation is convenient, save time. Meanwhile, by adopting the structure, the descending speed of the robot can be effectively controlled, the descending speed of the robot can be controlled within a reasonable range, and the robot can be ensured to safely and reliably return to the ground. In addition, the robot has strong adaptability to pipe diameters and obstacles, can adapt to inhaul cables with different pipe diameters, has a large adjustment range, and is more suitable for detection of flexible power transmission lines and other rods.
The working principle of pipe diameter adaptability adjustment is as follows:
when the manual adjusting gear 81 of the manual fine adjustment rod 8 is rotated, the passive adjusting gear 61 tightly meshed with the gear of the manual fine adjustment rod 8 is correspondingly rotated while the manual adjusting gear 81 is rotated, and the passive adjusting gear 61 drives the single-end telescopic spiral connecting rod 5 to rotate towards the axis direction, so that the adjusting length of the thread is lengthened or shortened along with the rotation. Under the condition that the lengths of the upper passive adjusting bolt columns 63 or the passive adjusting bolt columns 64 are changed, the upper connecting piece 3 and the lower connecting piece 4 are stretched, so that the upper and lower rollers are adjusted to clamp the cable body of the stay cable to a most appropriate degree and can roll up and down on the surface of the stay cable along the length direction under the driving of a motor after the cable body of the stay cable is tightly attached.
The detection robot can carry out 360-degree all-dimensional dead-angle-free rapid detection on the surface condition of the guy rope protection layer, can accurately position the conditions of defect position, disease area and the like, and completes the work of identifying, measuring, counting and storing diseases. In the climbing process, the video equipment in the robot body can carry out real-time video storage on the shooting condition, technicians can monitor the detection process in real time through ground monitoring equipment, and meanwhile, data acquisition is carried out, and finally, a detection report is formed according to the disease condition of the inhaul cable for later maintenance and repair to make reference.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the description of the above embodiments and the description is only for the purpose of illustrating the structural relationships and principles of the present invention, and that there can be various changes and modifications without departing from the spirit and scope of the present invention, and that these changes and modifications all fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a suspension cable inspection robot which characterized in that: the device comprises an upper roller set (1), a lower roller set (2), an upper connecting piece (3), a lower connecting piece (4), a supporting plate (5), a single-head telescopic spiral connecting rod (6), a main support rod piece (7), a manual fine adjustment rod (8), a high-definition camera (9), a high-capacity storage battery (10), a control device (11) and a wireless signal receiver (12);
the upper roller group (1) comprises 4 upper rollers (1-1) arranged on the periphery of the stay cable to form hoops in four directions; the upper connecting piece (3) is of a V-shaped structure, the upper end of the upper connecting piece (3) is fixedly connected with a roller shaft of the upper roller (1-1), the lower end of the upper connecting piece (3) is hinged with the upper end of the supporting plate (5), the outer end of the upper connecting piece (3) is hinged with the upper end of the single-head telescopic spiral connecting rod (6),
the lower roller group (2) comprises 4 lower rollers (2-1) arranged around the stay cable to form hoops in four directions; the lower connecting piece (4) is of a V-shaped structure, the lower end of the lower connecting piece (4) is fixedly connected with a roller shaft of the lower roller (2-1), the lower end of the lower connecting piece (4) is hinged with the lower end of the supporting plate (5), and the outer end of the lower connecting piece (4) is hinged with the lower end of the single-head telescopic spiral connecting rod (6);
the single-head telescopic spiral connecting rod (6) comprises a passive adjusting gear (61), a hollowed connecting frame (62), an upper passive adjusting bolt column (63) and a lower passive adjusting bolt column (64), the upper end of the hollowed connecting frame (62) is in threaded connection with the upper passive adjusting bolt column (63), the lower end of the hollowed connecting frame (62) is in threaded connection with the lower passive adjusting bolt column (64), the passive adjusting gear (61) is fixedly arranged in the middle of the hollowed connecting frame (62), a manual adjusting gear (81) is arranged in the middle of the manual fine adjusting rod (8), and the manual adjusting gear (81) is meshed with the passive adjusting gear (61);
the manual fine adjustment rod (8), the high-definition camera (9), the high-capacity storage battery (10) and the control device (11) are all fixedly arranged on the main support rod piece (7).
2. The stay cable detecting robot according to claim 1, wherein: the upper roller (1-1) and the lower roller (2-1) are formed into a group by two single rollers.
3. The stay cable detecting robot according to claim 1, wherein: the upper end of the main bracket rod piece (7) is provided with a plurality of scale plates (7-1).
4. The stay cable detecting robot according to claim 1, wherein: the supporting plate (5) is of a double-layer structure, and the double-layer structure is connected with a plurality of connecting columns (5-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022172263.4U CN214256405U (en) | 2020-09-28 | 2020-09-28 | Stay cable detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022172263.4U CN214256405U (en) | 2020-09-28 | 2020-09-28 | Stay cable detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214256405U true CN214256405U (en) | 2021-09-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022172263.4U Active CN214256405U (en) | 2020-09-28 | 2020-09-28 | Stay cable detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214256405U (en) |
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2020
- 2020-09-28 CN CN202022172263.4U patent/CN214256405U/en active Active
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