CN219016108U

CN219016108U - Cable body detection robot

Info

Publication number: CN219016108U
Application number: CN202220940660.8U
Authority: CN
Inventors: 黄明辉
Original assignee: Guangdong Rongjun Construction Engineering Testing Corp ltd
Current assignee: Guangdong Rongjun Construction Engineering Testing Corp ltd
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2023-05-12
Anticipated expiration: 2032-04-21

Abstract

The utility model relates to the technical field of bridge detection, in particular to a rope detection robot. The rope body detection robot comprises a climbing device, a detection device and a positioning device, wherein the climbing device comprises a body, a plurality of rotary wings and a driving piece, the body is provided with a yielding through groove, the yielding through groove can be sleeved on the rope body, the plurality of bodies are arranged at intervals along the circumferential direction of the top surface of the body, the detection device is connected to the body and used for detecting the appearance of the rope body, the positioning device is connected to the body, and the positioning device is used for measuring the moving distance of the body. Through utilizing the rotor to rotate to provide lift, make the body can follow the cable body and remove, the external defect of cable body can be detected to detection device on the body, can fix a position the defect place through the distance that the positioner record body moved this moment. Because the climbing mechanism is simple in structure and light in weight, the problem that the cable detection robot is too heavy and consumes large energy is avoided, and the working efficiency and the convenience of cable defect detection are improved.

Description

Cable body detection robot

Technical Field

The utility model relates to the technical field of bridge detection, in particular to a rope detection robot.

Background

Along with the rapid development of modern bridge construction in China, more and more large-span bridges are produced, and the large-span bridges mostly adopt bridge structures such as suspension bridges, cable-stayed bridges, suspender arch bridges and the like, and are characterized in that main stress members are cables and slings, and along with the time, the bridge cable bodies are exposed in the atmosphere for a long time and are corroded by wind blowing, sun drying, rain spraying, environmental pollution and the like, the surfaces of the bridge cable bodies are seriously damaged, and the surface of the bridge bodies are not easily found in daily maintenance, so that adverse effects are brought to the whole cable-stayed bridge. Therefore, effective inspection of the cable body bar is necessary.

The prior art mainly comprises a telescope, an unmanned aerial vehicle, an overhaul hanging basket and a cable climbing robot. The telescope has many vision blind areas and can not be checked in many places; the unmanned aerial vehicle is affected by wind and cable arrangement, cannot fly around the cable in a short distance, only can find some obvious defects, and cannot be inspected in many places; the time and labor consumption and the cost for overhauling the hanging basket are high; the rope climbing robot is a mature and convenient means at present, and can comprehensively detect the appearance condition of the rope, but the rope climbing robot adopts mechanical power along the rope climbing, the whole quality is large, the installation is inconvenient and the energy consumption is caused, and the recovery is difficult easily.

There is therefore a need for a cable detection robot that solves the above-mentioned problems.

Disclosure of Invention

The utility model provides a rope detection robot which can solve the problem of heavy conditions of a traditional rope climbing robot and improve working efficiency and convenience.

To achieve the purpose, the utility model adopts the following scheme:

the utility model provides a cable body detection robot for carry out outward appearance to the cable body and detect, including climbing device, detection device and positioner, this climbing device includes the body, a plurality of rotor and driving piece, this body is provided with the logical groove of stepping down, this logical groove of stepping down can the cover locate this cable body, a plurality of this bodies set up along the top surface circumference interval of this body, the output and this rotor of this driving piece are connected, this driving piece is configured to drive this rotor and rotates, this detection device connects in this body, this detection device is used for detecting the outward appearance of this cable body, this positioner connects in this body, this positioner is used for measuring the travel distance of this body.

As an alternative, the detecting device includes a plurality of cameras, the plurality of cameras are disposed on the top surface of the body, and the cameras face towards the cable body.

As an alternative, the positioning device comprises a plurality of guiding components and ranging components, wherein the guiding components are uniformly arranged on the side wall of the yielding through groove at intervals, and the ranging components are arranged on the bottom surface of the body.

As an alternative, the guiding component comprises a pressing rod and a first roller, the pressing rod is connected to the side wall of the yielding through groove, and the first roller is rotationally connected with the pressing rod.

As an alternative, the ranging component comprises a connecting rod, a magnetic sensor and a second roller, wherein the connecting rod is connected with the body, the second roller is rotationally connected with the connecting rod, and the magnetic sensor is arranged on a rotating shaft of the second roller.

As an alternative, the rope detection robot further comprises a transmission module and a monitor, the transmission module is arranged on the body, the transmission module is in communication connection with the detection device and the positioning device, and the transmission module can transmit signals to the monitor.

Alternatively, the rope detection robot further comprises a remote control device for remotely controlling the body to move along the rope.

Alternatively, the remote control device comprises a remote controller and a signal processor, wherein the signal processor is in communication connection with the remote controller, and the signal processor is electrically connected with the driving piece.

As an alternative, the cable detection robot further comprises an energy supply device, the energy supply device is arranged in the body, and the energy supply device is used for providing a power source.

Alternatively, the power supply device comprises a plurality of lithium batteries, and the plurality of lithium batteries are uniformly arranged in the body along the circumferential direction of the body.

The beneficial effects of the utility model are as follows:

in the rope body detection robot provided by the utility model, the lifting force is provided by utilizing the rotation of the rotor wing, so that the body can move along the rope body, the detection device on the body can detect the appearance defect of the rope body, and the position of the defect can be positioned by recording the moving distance of the body through the positioning device. Because the climbing mechanism is simple in structure and light in weight, the problem that the cable detection robot is too heavy and consumes large energy is avoided, and the working efficiency and the convenience of cable defect detection are improved.

Drawings

Fig. 1 is a schematic structural view of a rope detection robot provided by the utility model under a visual angle;

fig. 2 is a schematic structural view of the cable detection robot provided by the utility model under another view angle;

fig. 3 is a schematic structural view of a guide assembly provided by the present utility model.

In the figure:

100. a climbing device; 110. a body; 111. a yielding through groove; 120. a rotor; 200. a camera; 300. a positioning device; 310. a guide assembly; 311. a compression bar; 312. a first roller; 320. a ranging assembly; 321. a connecting rod; 322. a second roller; 400. a transmission module; 500. a remote controller; 600. a lithium battery; 700. a rope body.

Detailed Description

The technical scheme of the utility model is further described below by the specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present utility model are shown.

In the present utility model, directional terms, such as "upper", "lower", "left", "right", "inner" and "outer", are used for convenience of understanding and are not to be construed as limiting the scope of the present utility model unless otherwise specified.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 3, the present embodiment provides a rope body detection robot for performing appearance detection on a rope body 700. The cable detection robot comprises a climbing device 100, a detection device and a positioning device 300, wherein the climbing device 100 comprises a body 110, a plurality of rotary wings 120 and driving pieces, the body 110 is provided with a yielding through groove 111, the yielding through groove 111 can be sleeved on the cable body 700, the plurality of bodies 110 are arranged along the circumferential interval of the top surface of the body 110, the output end of the driving piece is connected with the rotary wings 120, the driving pieces are used for driving the rotary wings 120 to rotate, the detection device is connected with the body 110 and used for detecting the appearance of the cable body 700, the positioning device 300 is connected with the body 110, and the positioning device 300 is used for measuring the moving distance of the body 110. Through utilizing rotor 120 rotation to provide the lift, make body 110 can follow cable body 700 and remove, the detection device on the body 110 can detect the outward appearance defect of cable body 700, can fix a position the position of defect through the distance that positioner 300 record body 110 moved this moment. Because the climbing mechanism is simple in structure and light in weight, the problem that the cable detecting robot is too heavy and consumes large energy is avoided, and the working efficiency and the convenience of detecting the defects of the cable body 700 are improved.

Specifically, the detecting device in this embodiment includes a plurality of cameras 200, where the plurality of cameras 200 are disposed on the top surface of the body 110, and the cameras 200 face the cable body 700. By arranging the camera 200 to face the rope body 700, an maintainer can check the appearance condition of the rope body 700 to judge whether defects exist. By arranging a plurality of cameras 200 to surround the cable body 700, the blind area of the visual field can be eliminated, so that the accuracy of detection work is ensured.

The positioning device 300 in this embodiment includes a plurality of guiding assemblies 310 and a ranging assembly 320, wherein the plurality of guiding assemblies 310 are uniformly spaced on the side wall of the yielding through groove 111, and the ranging assembly 320 is disposed on the bottom surface of the body 110. By arranging the guide assembly 310 to fix and correct the moving path of the body 110, the condition that the body 110 is deviated relative to the center of the cable body 700 is avoided, and the moving accuracy of the body 110 is ensured. The distance measuring component 320 is disposed on the bottom surface of the body 110 and can record the moving distance of the body 110, so as to locate the position where the defect occurs.

Specifically, the guide assembly 310 in this embodiment includes a pressing rod 311 and a first roller 312, the pressing rod 311 is connected to a side wall of the yielding through groove 111, and the first roller 312 is rotatably connected to the pressing rod 311. The pressing rod 311 can press the first roller 312 to the cable body 700, so as to ensure contact between the first roller 312 and the cable body 700, so as to improve the moving stability of the body 110. Further, the pressing rod 311 may be a pneumatic link 321 or a spring link 321, so as to ensure that the link 321 applies pressure to the first roller 312 in the direction of the cable body 700. In other embodiments, the pressing rod 311 may be of other types, so long as the connecting rod 321 can apply pressure to the first roller 312 in the direction of the cable body 700, which is not limited herein.

Specifically, the ranging component 320 in the present embodiment includes a connecting rod 321, a magnetic sensor, and a second roller 322, wherein the connecting rod 321 is connected with the body 110, the second roller 322 is rotationally connected with the connecting rod 321, and the magnetic sensor is disposed on a rotating shaft of the second roller 322. When the second roller 322 passes through one turn, the magnetic sensor generates a pulse signal, the number of turns of the second roller 322 can be calculated by counting the pulse signal, and the distance moved by the body 110 can be obtained by calculating, so that the position of the defect position is obtained. The detection component in this embodiment may use products that are mature in the market, such as ranging wheels, and will not be described herein.

In order to facilitate monitoring of the defect position, the cable detection robot in this embodiment further includes a transmission module 400 and a monitor, the transmission module 400 is disposed on the body 110, the transmission module 400 is in communication connection with the detection device and the positioning device 300, and the transmission module 400 can transmit signals to the monitor. The detection device and the positioning device 300 transmit signals to the transmission module 400, the transmission module 400 transmits signals to the monitor, and an maintainer can check the working states of the detection device and the positioning device 300 on the monitor, so that whether the appearance of the cable body 700 is defective or not can be judged, and the moving distance of the body 110 when the defective position is obtained, and the position of the appearance defect of the cable body 700 can be accurately judged.

Further, the cable detection robot in this embodiment further includes a remote control device for remotely controlling the movement of the body 110 along the cable 700. Through using remote control unit can guarantee that the inspector conveniently removes cable detection robot subaerial to promote the convenience of detection work.

Specifically, the remote control device in this embodiment includes a remote controller 500 and a signal processor, where the signal processor is communicatively connected to the remote controller 500 and the signal processor is electrically connected to the driving element. The inspector can send instructions to the signal processor through the remote controller 500 on the ground, so as to control the driving member, and the rotor 120 drives the body 110 to move to different positions of the cable body 700.

The cable detection robot in this embodiment further includes an energy supply device, which is disposed in the body 110 and is used for providing a power source.

Specifically, the energy supply device in this embodiment includes a plurality of lithium batteries 600, and a plurality of lithium batteries 600 evenly set up along body 110 circumference in body 110 to guarantee that body 110's weight distribution is even, can avoid influencing rotor 120's work because gravity distribution is uneven in the removal in-process, can guarantee that rotor 120 produces even lifting force, in order to promote the operating stability of cable detection robot.

It is to be understood that the above-described embodiments of the present utility model are provided by way of illustration only and not limitation of the embodiments thereof. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims

1. The utility model provides a cable body detection robot for carry out outward appearance detection to cable body (700), its characterized in that, including climbing device (100), detection device and positioner (300), climbing device (100) include body (110), a plurality of rotor (120) and driving piece, body (110) are provided with and give way logical groove (111), give way logical groove (111) can be overlapped and locate cable body (700), a plurality of body (110) are followed top surface circumference interval setting of body (110), the output of driving piece with rotor (120) are connected, the driving piece is configured to drive rotor (120) are rotated, detection device connect in body (110), detection device is used for detecting the outward appearance of cable body (700), positioner (300) are connected in body (110), positioner (300) are used for measuring the travel distance of body (110).

2. The rope detection robot according to claim 1, wherein the detection device comprises a plurality of cameras (200), the plurality of cameras (200) are arranged on the top surface of the body (110), and the cameras (200) are opposite to the rope body (700).

3. The rope detection robot according to claim 1, wherein the positioning device (300) comprises a plurality of guiding assemblies (310) and ranging assemblies (320), the plurality of guiding assemblies (310) are uniformly arranged on the side wall of the yielding through groove (111) at intervals, and the ranging assemblies (320) are arranged on the bottom surface of the body (110).

4. A cable detection robot according to claim 3, wherein the guiding assembly (310) comprises a pressing rod (311) and a first roller (312), the pressing rod (311) is connected to the side wall of the yielding through groove (111), and the first roller (312) is rotatably connected with the pressing rod (311).

5. A cable detection robot according to claim 3, characterized in that the distance measuring assembly (320) comprises a connecting rod (321), a magnetic sensor and a second roller (322), the connecting rod (321) is connected with the body (110), the second roller (322) is rotatably connected with the connecting rod (321), and the magnetic sensor is arranged on a rotating shaft of the second roller (322).

6. The rope detection robot according to claim 1, further comprising a transmission module (400) and a monitor, the transmission module (400) being arranged in the body (110), the transmission module (400) being in communication connection with the detection device and the positioning device (300), the transmission module (400) being capable of transmitting signals to the monitor.

7. The cable detection robot of claim 1, further comprising a remote control for remotely controlling the movement of the body (110) along the cable (700).

8. The cable detection robot of claim 7, wherein the remote control device comprises a remote control (500) and a signal processor, the signal processor being communicatively coupled to the remote control (500), the signal processor being electrically coupled to the driving member.

9. The rope detection robot according to claim 1, further comprising an energy supply device arranged in the body (110), the energy supply device being adapted to provide a power source.

10. The rope detection robot according to claim 9, wherein the power supply means comprises a plurality of lithium batteries (600), the plurality of lithium batteries (600) being uniformly arranged in the body (110) along the circumferential direction of the body (110).