CN218383739U - Automatic deviation rectifying system of main cable inspection vehicle - Google Patents
Automatic deviation rectifying system of main cable inspection vehicle Download PDFInfo
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- CN218383739U CN218383739U CN202222047581.7U CN202222047581U CN218383739U CN 218383739 U CN218383739 U CN 218383739U CN 202222047581 U CN202222047581 U CN 202222047581U CN 218383739 U CN218383739 U CN 218383739U
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Abstract
The utility model relates to a main cable inspection vehicle deviation rectification control device technical field aims at solving the problem that the existing main cable inspection vehicle has no mechanical forced guide device, when the stress of the inspection vehicle is unbalanced or the initial state has an included angle with the main cable central line, the inspection vehicle deviates to influence the normal work of the inspection vehicle, and provides an automatic deviation rectification system of the main cable inspection vehicle, which comprises an ultrasonic sensor arranged on the main cable inspection vehicle, wherein the ultrasonic sensor is used for detecting the distance between the mounting surface of the ultrasonic sensor and a main cable handrail rope, the ultrasonic sensor is connected with a controller, the controller is connected with a deviation rectification mechanism, and the deviation rectification mechanism is connected with a travelling wheel of the main cable inspection vehicle; the utility model discloses can judge skew direction and angle of main push-towing rope inspection car automatically to can in time control the mechanism of rectifying, rectify to the main push-towing rope inspection car, make the main push-towing rope inspection car return automatically, guarantee that main push-towing rope inspection car can the safe operation, thereby improve walking efficiency, avoid the dangerous condition to take place.
Description
Technical Field
The utility model relates to a main push-towing rope inspection car deviation rectification control device technical field particularly, relates to an automatic deviation rectification system of main push-towing rope inspection car.
Background
The main rope is as the lifeline of suspension bridge, has main rope, hoist cable, the corrosion of cable clamp surface, and the bolt fracture, and the cable clamp bolt is not hard up, and the cable clamp slides and the wind-resistant shock attenuation facility of hoist cable breaks down the disease such as, and under the general condition, maintain through setting up interim facility, but this kind of mode has brought pressure for the traffic, has considerable high altitude weight thing risk simultaneously. For the convenience of later maintenance, a main cable inspection vehicle for maintenance and movable operation is manufactured. The traction type self-walking main cable inspection vehicle provides power through the hoisting equipment and walks on the surface of the main cable through the multiple groups of walking wheels.
Because the main cable surface is the circular arc, and the main cable inspection car need climb, does not have the guide device of machinery compulsory, when inspection car atress is uneven or initial state and main cable central line have the contained angle, the inspection car will the off tracking, the phenomenon that the inspection car fell down on handrail wire rope or the phenomenon that guardrail and cable clamp pole setting are wiped and are hung the interference appears.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an automatic deviation rectification system of main push-towing rope inspection car to solve current main push-towing rope inspection car and do not have machinery and force guider, when the uneven or initial condition of inspection car atress has the contained angle with the main push-towing rope central line, the skew takes place for the inspection car, influences its problem of normal work.
The utility model discloses a technical scheme who adopts following realizes:
the utility model provides an automatic deviation rectification system of main push-towing rope inspection car, is including installing the ultrasonic sensor on the main push-towing rope inspection car, ultrasonic sensor is used for detecting distance between ultrasonic sensor's installation face and the main push-towing rope, ultrasonic sensor links to each other with the controller, the controller links to each other with the mechanism of rectifying, the mechanism of rectifying with the walking wheel of main push-towing rope inspection car links to each other.
The utility model discloses a theory of operation does: ultrasonic sensor is used for detecting distance between ultrasonic sensor's installation face and the main cable handrail rope judges the skew condition (including skew direction and angle) of main cable inspection car, the controller will the signal that ultrasonic sensor gathered is handled, and gives the mechanism of rectifying sends the instruction, thereby controls the walking wheel deflects, keeps the normal walking gesture of main cable inspection car.
Automatic deviation rectifying system of main push-towing rope inspection car can judge the skew direction of main push-towing rope inspection car and angle automatically to can in time control mechanism of rectifying, rectify main push-towing rope inspection car, make the main push-towing rope inspection car return automatically, guarantee that main push-towing rope inspection car can the safe operation, thereby improve walking efficiency, avoid the dangerous condition to take place.
As a preferred technical scheme:
the walking wheels at the foremost end and the rearmost end of the main cable inspection vehicle are connected with the deviation rectifying mechanisms.
The foremost end and the rearmost end refer to the foremost end and the rearmost end of the main cable inspection vehicle in the traveling direction. The main cable inspection vehicle is characterized in that the traveling wheels at the foremost end and the rearmost end of the main cable inspection vehicle are provided with deviation rectifying mechanisms, so that the vehicle head and the vehicle tail of the main cable inspection vehicle can be rectified in time.
As a preferred technical scheme:
the ultrasonic sensors are mounted at the left end and the right end of the head of the main cable inspection vehicle and the left end and the right end of the tail of the vehicle, and all the ultrasonic sensors are connected with the controller.
As a preferred technical scheme:
the deviation rectifying mechanism is installed on a frame of the main cable inspection vehicle.
As a preferred technical scheme:
the walking wheel is installed on the wheel carrier, the mechanism of rectifying includes guiding axle, connecting rod and telescoping device, the one end of guiding axle with the frame links to each other, the other end of guiding axle with the wheel carrier rotates to be connected, the one end of connecting rod with the guiding axle links to each other, the other end of connecting rod with the one end of telescoping device links to each other, the other end of telescoping device is connected on the wheel carrier.
The guide shaft and the connecting rod are equivalently connected to the frame and are relatively fixed with the frame, and the distance between the wheel frame and the connecting rod is adjusted through the telescopic device, so that the wheel frame and the traveling wheels connected with the wheel frame rotate, and the deviation rectification of the main cable inspection vehicle is realized.
As a preferred technical scheme:
the controller is connected with the telescopic device.
The controller is used for controlling the expansion and contraction of the expansion and contraction device.
As a preferred technical scheme:
the telescopic device is a servo motor or a stepping motor.
As a preferred technical scheme:
the controller is a programmable logic controller.
As a preferred technical scheme:
the controller is a PLC or a single chip microcomputer.
As a preferable technical scheme:
the controller is installed in an electric cabinet on the main cable inspection vehicle.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
automatic deviation rectifying system of main push-towing rope inspection car can judge the skew direction of main push-towing rope inspection car and angle automatically to can in time control mechanism of rectifying, rectify main push-towing rope inspection car, make the main push-towing rope inspection car return automatically, guarantee that main push-towing rope inspection car can the safe operation, thereby improve walking efficiency, avoid the dangerous condition to take place.
Mechanism of rectifying can accurate control walking wheel pivoted absolute angle, control power and execution power are strong, have guaranteed main push-towing rope inspection car safe operation.
Drawings
FIG. 1 is a schematic connection diagram of an automatic deviation rectifying system of a main cable inspection vehicle.
Fig. 2 is an installation schematic diagram of the automatic deviation rectifying system of the main cable inspection vehicle.
Fig. 3 is a partial installation schematic of an ultrasonic sensor.
FIG. 4 is a schematic structural diagram of the deviation rectifying mechanism.
Fig. 5 is a schematic view of the ideal state of the main cable inspection vehicle.
Fig. 6 is a schematic view of the main cable inspection vehicle for left deviation of the vehicle head and right deviation of the vehicle tail.
Fig. 7 is a schematic view of the main cable for checking the left deviation of the car tail and the right deviation of the car head.
Fig. 8 is a schematic diagram of the head and tail of the main cable inspection vehicle deviating to the right.
Fig. 9 is a schematic view of the left deviation of the vehicle head and the vehicle tail of the main cable inspection vehicle.
An icon: 1-ultrasonic sensor, 2-controller, 3-deviation correcting mechanism, 31-guide shaft, 32-connecting rod, 33-telescopic device, 4-travelling wheel, 41-deviation correcting front wheel, 42-deviation correcting rear wheel, 5-frame, 6-main cable handrail rope, 7-main cable and 8-wheel frame.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Because the main cable inspection vehicle runs on the main cable, the situation of deviation can occur due to the influences of uneven stress, wind load, contact surfaces of wheels and the main cable and the like, the truss can be rubbed and hung with the cable clamp handrail or the handrail rope, and even the dangerous situation of falling of the inspection vehicle can occur. In order to solve the above problem, as shown in fig. 1 to 4, the present embodiment provides an automatic deviation rectifying system for a main cable inspection vehicle, which is used for automatic deviation rectification of the main cable inspection vehicle, and includes an ultrasonic sensor 1, a controller 2, and a deviation rectifying mechanism 3.
In this embodiment, main cable inspection car is followed main cable 7 and is moved, be equipped with a plurality of walking wheels 4 on the main cable inspection car, all walking wheels 4 set up along its direction of travel interval in main cable inspection bottom of the car portion, walking wheels 4 with main cable 7 surface contact, and follow main cable 7 surface operation, the cladding of walking wheels 4 outside has the rubber layer, in order to protect main cable 7.
The walking wheels 4 at the foremost end and the rearmost end of the main cable inspection vehicle are connected with the deviation rectifying mechanisms 3 which are a deviation rectifying front wheel 41 and a deviation rectifying rear wheel 42 respectively.
The walking wheel 4 is installed on wheel carrier 8, the mechanism of rectifying 3 includes guiding axle 31, connecting rod 32 and telescoping device 33, the one end of guiding axle 31 with the frame 5 of main push-towing rope inspection car links to each other, the other end of guiding axle 31 with the top of wheel carrier 8 is rotated and is connected, guiding axle 31 with be equipped with the bearing between the wheel carrier 8, the inner circle of bearing with guiding axle 31 links to each other, the outer lane of bearing with the wheel carrier 8 links to each other. One end of the connecting rod 32 is connected with the guide shaft 31, the other end of the connecting rod 32 is connected with one end of the telescopic device 33, and the other end of the telescopic device 33 is connected with the wheel carrier 8. The guide shaft 31 and the connecting rod 32 are bolted or welded, and the guide shaft 31 is a telescopic guide shaft, so that the main cable inspection vehicle can smoothly pass through a position with a certain height difference.
The guide shaft 31 and the connecting rod 32 are kept stationary relative to the frame 5, and the distance between the wheel carrier 8 and the connecting rod 32 is adjusted through the telescopic device 33, so that the wheel carrier 8 and the traveling wheels 4 connected with the wheel carrier rotate, and the deviation rectification of the main cable inspection vehicle is realized.
In this embodiment, the telescopic device 33 is a servo motor or a stepping motor, and can realize absolute positioning, the servo motor and the stepping motor are provided with a lead screw, and the lead screw can stretch and retract.
In order to realize the automatic control of the deviation correcting device, the ultrasonic sensors 1 are arranged at the left end and the right end of the head of the main cable inspection vehicle and the left end and the right end of the tail of the vehicle, and all the ultrasonic sensors 1 are connected with the controller 2. Specifically, ultrasonic sensor 1 is installed on the truss of main cable inspection vehicle front and back side, will ultrasonic sensor 1 divide into two sets ofly, and the left front is 1 group, and the right front is another group, and the distance that two sets of ultrasonic sensor 1 of maximize arranged. When the central line of main cable inspection vehicle is coincided with 7 central lines of main cable, will ultrasonic sensor 1's center is aimed at the main cable handrail rope 6 that is located the homonymy, ultrasonic sensor 1 is used for detecting distance between ultrasonic sensor 1's the installation face and the homonymy main cable handrail rope 6, ultrasonic sensor 1 has great sound cone, can detect in certain angle main cable handrail rope 6. Wherein, the main cable handrail rope 6 is a steel wire rope.
The controller 2 is installed in an electric cabinet on the main cable inspection vehicle, the controller 2 is connected with the telescopic device 33, and the controller 2 is used for controlling the telescopic device 33 to stretch. The controller 2 will the signal that ultrasonic sensor 1 gathered is handled, and give the mechanism 3 of rectifying gives send the instruction, the mechanism 3 of rectifying is used for to the absolute positioning of walking wheel 4 will walking wheel 4 swings to required angle, controls promptly walking wheel 4 is in main cable 7 surface rotates, keeps the normal walking gesture of main cable inspection car.
In this embodiment, the controller 2 is a programmable logic controller, such as a PLC or a single chip microcomputer.
Automatic deviation correcting system of main push-towing rope inspection car can judge the skew direction of main push-towing rope inspection car and angle automatically to mechanism of rectifying can in time control rectifies a deviation, rectifies a deviation to main push-towing rope inspection car, makes main push-towing rope inspection car return automatically, guarantees that main push-towing rope inspection car can the safe operation, thereby improves walking efficiency, avoids the dangerous condition to take place.
The utility model discloses a theory of operation does: and performing difference operation through the change distances detected by the left front ultrasonic sensor, the left rear ultrasonic sensor, the right front ultrasonic sensor and the right rear ultrasonic sensor, judging the deviation direction of the body of the inspection vehicle according to the sign and the size of the difference, and controlling the rotation direction and the angle of the deviation rectifying mechanism according to the deviation angle, namely controlling the deviation rectifying mechanism by using a controller to perform accurate positioning. When the deviation correcting mechanism cannot automatically correct, the ultrasonic sensor cannot detect the handrail rope or exceeds the detection range, and the controller automatically controls the main cable inspection vehicle to stop running.
As shown in fig. 5, at this time, the main cable inspection vehicle is in an ideal standard state (the center line of the main cable inspection vehicle coincides with the center line of the main cable), and the initial value of the main cable handrail rope of each ultrasonic sensor 1 from the corresponding side is recorded: l is Left front ＝X 1 mm；L Left back ＝X 2 mm；L Right front ＝X 3 mm；L Right back ＝X 4 mm。
As shown in fig. 6 to 9, under the action of external force, the truss head of the main cable inspection vehicle tends to be left-biased or right-biased, and the tail of the main cable inspection vehicle also tends to be left-biased or right-biased, at this time, the distance between the ultrasonic sensor 1 and the main cable handrail rope on the corresponding side is: l is Left front ＝X 11 mm；L Left back ＝X 21 mm；L Right front ＝X 31 mm； L Right back ＝X 41 mm。
The controller processes: Δ L Left front ＝(X 11 -X 1 )mm；ΔL Left back ＝(X 21 -X 2 )mm；ΔL Right front ＝(X 31 -X 3 )mm；ΔL Right back ＝(X 4L -X 4 )mL。
ΔL Front side ＝|ΔL Left front |-|ΔL Right front |；ΔL Rear end ＝|ΔL Left back |-|ΔL Right back |。
And (3) condition analysis:
when Δ L Left front And Δ L Right front Simultaneously increasing or simultaneously decreasing:
ΔL front side <When a threshold value is set, a deviation correcting mechanism connected with the deviation correcting front wheel does not act;
ΔL front side Not less than a set threshold value, and Δ L Front side >0, the variable quantity of the left side of the main cable inspection vehicle is larger than that of the right side, and the vehicle head is deviated to the right; Δ L Front side Not less than a set threshold value, and Δ L Front side <And 0, the variable quantity of the left side of the main cable inspection vehicle is smaller than that of the right side, and the vehicle head is deviated to the left. And the deviation rectifying mechanism connected with the deviation rectifying front wheel acts to rectify the deviation of the deviation rectifying front wheel.
When Δ L Left front And Δ L Right front One side increases and one side decreases:
ΔL left front Or Δ L Right front <When a threshold value is set, a deviation correcting mechanism connected with the deviation correcting front wheel does not act;
ΔL left front Or Δ L Right front When the threshold value is not less than the predetermined value, Δ L Left front <0, the vehicle head deviates to the left; Δ L Left front >0, the vehicle head is deviated to the right; Δ L Right front <0, the vehicle head is deviated from the right; Δ L Right front >0, the vehicle head is deviated to the left. And a deviation rectifying mechanism connected with the deviation rectifying front wheel acts to rectify the deviation of the deviation rectifying front wheel.
When Δ L Left back And Δ L Right back Simultaneously increasing or simultaneously decreasing:
ΔL rear end Not less than a set threshold value, and Δ L Rear end >0, the variable quantity of the left side of the main cable inspection vehicle is larger than that of the right side, and the tail of the vehicle deviates to the right; Δ L Rear end Not less than a set threshold value, and Δ L Rear end <And 0, the variation of the left side of the main cable inspection vehicle is smaller than that of the right side, and the tail of the vehicle deviates to the left. And the deviation rectifying mechanism connected with the deviation rectifying rear wheel acts to rectify the deviation of the deviation rectifying rear wheel.
When Δ L Left back And Δ L Right back One side increases and one side decreases:
ΔL left back Or Δ L Right back <When a threshold value is set, a deviation correcting mechanism connected with the deviation correcting rear wheel does not act;
ΔL left back Or Δ L Right back When the threshold value is not less than the set value, Δ L Left back <0, left deviation of the tail of the vehicle; Δ L Left back >0, the tail of the vehicle deviates to the right; Δ L Right back <0, the tail of the vehicle deviates to the right; Δ L Right back >0, left deviation of the tail of the vehicle. And the deviation rectifying mechanism connected with the deviation rectifying rear wheel acts to rectify the deviation of the deviation rectifying rear wheel.
Angle of rotation of front wheel and deviation delta L Front side Proportional ratio, angle of rotation of the deviation-corrected rear wheel and deviation value Delta L Rear end The proportional ratio is obtained, and the controller controls the telescopic length of the motor according to the deviation value, so that the steering angle is controlled.
At deviation value DeltaL Front side And Δ L Rear end When the deviation is smaller than the set threshold value, the deviation rectifying mechanism quickly corrects the deviation rectifying front wheel and the deviation rectifying rear wheel, and the normal walking posture of the main cable inspection vehicle is kept.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic deviation rectification system of main push-towing rope inspection car which characterized in that:
including installing the ultrasonic sensor on main cable inspection car, ultrasonic sensor is used for detecting the distance between ultrasonic sensor's installation face and the main cable handrail rope, ultrasonic sensor links to each other with the controller, the controller links to each other with the mechanism of rectifying, the mechanism of rectifying with the walking wheel of main cable inspection car links to each other.
2. The automatic deviation rectifying system of a main cable inspection vehicle according to claim 1, characterized in that:
the walking wheels at the foremost end and the rearmost end of the main cable inspection vehicle are connected with the deviation rectifying mechanisms.
3. The automatic deviation rectifying system of a main cable inspection vehicle according to claim 1, characterized in that:
the ultrasonic sensors are mounted at the left end and the right end of the head of the main cable inspection vehicle and the left end and the right end of the tail of the vehicle, and all the ultrasonic sensors are connected with the controller.
4. The automatic deviation rectifying system of a main cable inspection vehicle according to claim 1, characterized in that:
the deviation rectifying mechanism is installed on the frame of the main cable inspection vehicle.
5. The automatic deviation rectifying system of a main cable inspection vehicle according to claim 4, wherein:
the walking wheel is installed on the wheel carrier, the mechanism of rectifying includes guiding axle, connecting rod and telescoping device, the one end of guiding axle with the frame links to each other, the other end of guiding axle with the wheel carrier rotates to be connected, the one end of connecting rod with the guiding axle links to each other, the other end of connecting rod with the one end of telescoping device links to each other, the other end of telescoping device is connected on the wheel carrier.
6. The automatic deviation rectifying system of a main cable inspection vehicle according to claim 5, wherein:
the controller is connected with the telescopic device.
7. The automatic deviation rectifying system of a main cable inspection vehicle according to claim 5, wherein:
the telescopic device is a servo motor or a stepping motor.
8. The automatic deviation rectifying system of a main cable inspection vehicle according to claim 1, characterized in that:
the controller is a programmable logic controller.
9. The automatic deviation rectifying system of a main cable inspection vehicle of claim 8, wherein:
the controller is a PLC or a single chip microcomputer.
10. The automatic deviation rectifying system of a main cable inspection vehicle according to any one of claims 1 to 9, wherein:
the controller is installed in an electric cabinet on the main cable inspection vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222047581.7U CN218383739U (en) | 2022-08-04 | 2022-08-04 | Automatic deviation rectifying system of main cable inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222047581.7U CN218383739U (en) | 2022-08-04 | 2022-08-04 | Automatic deviation rectifying system of main cable inspection vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN218383739U true CN218383739U (en) | 2023-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222047581.7U Active CN218383739U (en) | 2022-08-04 | 2022-08-04 | Automatic deviation rectifying system of main cable inspection vehicle |
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| CN (1) | CN218383739U (en) |
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- 2022-08-04 CN CN202222047581.7U patent/CN218383739U/en active Active
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