Light high-strength intelligent detection robot for detecting appearance and cable force of bridge inhaul cable

Abstract

The invention discloses a light high-strength intelligent detection robot for bridge cable appearance and cable force detection. The light high-strength intelligent detection robot comprises a main frame, a crawling mechanism, a camera, an end induction sensor and a cable force sensor mechanism. And the cable force sensor mechanism is arranged, so that the cable force sensor can be accurately controlled to be tightly attached to the inhaul cable, and the cable force of the bridge inhaul cable can be accurately collected. Wireless communication is adopted between the cable climbing robot equipment and the control system, remote control is achieved, appearance diseases of the bridge inhaul cable are shot through a camera, the distance of the cable climbing robot is collected through a distance encoder, the distance is updated in time in images, the diseases and defects are visually displayed, and after detection is finished, detection personnel can conveniently detect the bridge inhaul cable through video image data. And the disease appearance is demonstrated and repaired in time. The cable climbing robot equipment has the characteristics of high detection efficiency, multiple detection parameters, high reliability, low energy consumption, low use and maintenance cost and the like, and can adapt to cable strut appearance and cable force detection of various cable-stayed bridges, cable bridges and arch bridges in China.

Description

technical field [0001] The invention relates to the technical field of bridge cable detection, in particular to a light-duty high-strength intelligent detection robot used for the detection of bridge cable appearance and cable force. Background technique [0002] With the rapid development of bridge engineering technology in the world, the bridge span is also increasing, which increases the difficulty of bridge cable force detection and high requirements. The main task of developing a climbing robot is to carry testing equipment along the vertical cable and stay cable, climb on the surface of the cable that is straight, concave, convex, and uneven, and complete the inspection of cable appearance and cable force. The bridge cable is the most important component in the cable bridge, which directly bears the bridge load and controls the internal force distribution and line type of the entire bridge deck system. Usually, the cable is easily vibrated under the action of high str...

AI Technical Summary

Problems solved by technology

[0004] 1. When the cable force sensor detects the cable force, it needs to be close to the cable to achieve accurate measurement. The tighter it is, the more accurate it is. The conventional bridge cable force test is to bind the sensor to the cable rod. Due to the binding of the sensor by different testers The fixed slack is different, which will also cause deviations when the sensor collects data

The cable force sensors of some detection robots are fixed to the frame of the robot, but the cable diameters of different bridges are different, resulting in different distances between the cable force sensor and the cable, or even a long distance, making it difficult to accurately measure the cable force ; And for crawling, the cable force sensor and the cable cannot be close together, because the climbing resistance is large if they are close together, and the cable force sensor will be damaged

[0005] 2. The cable force test points of conventional bridges are relatively high. It is difficult for inspectors to reach the cable force test points through the shrinking stairs, and the test height cannot be reached. The conventional cable force test test data will have errors

The test personnel climbed too high in the routine, and there were great safety hazards in the personnel experiment

[0006] 3. The existing cable-climbing robot has no intelligent obstacle avoidance function. Traditional solutions use video images or people to observe obstacles from a distance; Or the judgment lags behind, and it is impossible to observe the obstacles in front of the climbing robot in a timely and accurate manner. The robot continues to run when it encounters obstacles, which may cause the climbing robot to collide with obstacles or cause the equipment to fall due to the wheel locking of the robot.

[0007] 4. If the existing cable-climbing robot encounters a fault in the high-altitude cable detection, equipment operation alarm, sudden power failure of the circuit, component failure, etc.; the mechanical power of the cable-climbing robot will be suddenly interrupted at this time, which will cause the cable-climbing robot A rapid fall from high altitude will cause damage to the robot equipment, and the rapid fall of the equipment will also damage the PE sheath of the bridge cable. If you are not careful, it will pose a safety hazard to the personnel on site.

[0008] 5. Most of the existing climbing robot mechanisms have many joints, large size, heavy weight, poor load capacity, etc., and are easily restricted by conditions

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