A bridge cable disease self-identification and detection robot

Abstract

The present invention relates to the technical field of robots, and in particular to a robot for self-identifying and detecting diseases of bridge cables. The robot includes two clamping plates. On one side where the two clamping plates are in contact, rectangular clamping openings are provided. On one side of the rectangular clamping opening, a roller groove is provided. A roller is arranged in the roller groove, and a rubber ring is sleeved on the circumferential wall of the roller. A motor is installed on the top of the clamping plate. On the top of the clamping plate and at the edge, a fixing plate is provided. Threaded holes are symmetrically provided on the fixing plate, and threaded columns are arranged in the two threaded holes. A detector is arranged on one side of the clamping plate. Through the cooperation among the roller, the rubber ring, the motor and the fixing plate provided by the present invention, while the two motors and the two detectors are powered on, the detector detects the bridge cable. The output shaft of the motor rotates, and the roller and the rubber ring roll on the bridge cable together, enabling the overall device to move upward, solving the problem that the robot cannot perform self-identifying detection on the disease locations of bridge cables with a height of more than 200 cm.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot for self-identifying and detecting diseases of bridge stay cables. Background Art

[0002] A robot is a machine device that automatically performs work. It can either accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. Its task is to assist or replace human work, such as in the manufacturing industry, construction industry, or dangerous work;

[0003] The robots in the prior art can only self-identify and detect bridge stay cables at a height of 0 - 200 cm from the ground. The robots cannot self-identify and detect the disease locations of bridge stay cables at a height above 200 cm. In view of this, we propose a robot for self-identifying and detecting diseases of bridge stay cables. Summary of the Invention

[0004] The purpose of the present invention is to provide a robot for self-identifying and detecting diseases of bridge stay cables to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A robot for self-identifying and detecting diseases of bridge stay cables includes two symmetric clamping plates. The two clamping plates are hinged. On one side where the two clamping plates contact each other, a rectangular clamping opening is provided. On one side of the rectangular clamping opening, a roller groove is provided. On the upper and lower sides of the roller groove, rotation holes are provided. A roller is provided in the roller groove. On the upper and lower sides of the roller, rotation shafts are provided. The rotation shafts are located in the rotation holes. A rubber ring is sleeved on the circumferential wall of the roller; A motor is installed on the top of the clamping plate. The output shaft of the motor extends into the clamping plate and is connected to one of the rotation shafts; On the top of the clamping plate and at the edge, a fixing plate is provided. Threaded holes are symmetrically provided on the fixing plate. Threaded posts are provided in the two threaded holes; On the side of the clamping plate away from the rectangular clamping opening, a detector is provided.

[0007] As a preferred or improved embodiment of the present invention, the detector is fixed to the clamping plate by screws, and the motor is fixed to the clamping plate by screws.

[0008] As a preferred or improved embodiment of the present invention, the fixing plate and the clamping plate are of an integrally formed structure, and the output shaft of the motor is tightly welded to one of the rotation shafts.

[0009] As a preferred or improved embodiment of the present invention, the roller and the rotation shaft are of an integrally formed structure, and the roller is tightly adhered to the rubber ring.

[0010] As a preferred embodiment or an improvement of the present invention, the roller is rotatably connected to the roller groove, and the roller groove has a semi-circular structure.

[0011] As a preferred embodiment or an improvement of the present invention, the diameter of the roller groove is greater than the diameter of the rubber ring, and the height of the roller groove is greater than the height of the rubber ring. The rubber ring is rotatably connected to the roller groove.

[0012] As a preferred embodiment or an improvement of the present invention, the size of the rotating shaft is adapted to the size of the rotating hole, and the rotating shaft is rotatably connected to the rotating hole.

[0013] As a preferred embodiment or an improvement of the present invention, the output shaft of the motor is rotatably connected to the clamping plate.

[0014] As a preferred embodiment or an improvement of the present invention, the length of the fixing plate is equal to the length of the clamping plate, and the two fixing plates are located between the two motors.

[0015] As a preferred embodiment or an improvement of the present invention, the threaded hole is threadedly connected to the threaded post.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: By providing rollers, rubber rings, motors and fixing plates, the rectangular clamping openings on the two clamping plates are clamped on the bridge cable, so that the rubber rings on the rollers tightly press against the bridge cable, ensuring that the device will not slip off the bridge cable. Then, the threaded post is placed into the threaded hole and rotated to make the two fixing plates fit tightly, ensuring that the two clamping plates can fit tightly. Then, the two motors and the two detectors are powered on at the same time, so that the two detectors start to perform self-identification detection on the bridge cable. The output shafts of the two motors drive a rotating shaft to rotate respectively, and the rollers and the rubber rings rotate together, enabling the overall device to move upward along the bridge cable, solving the problem that the robot cannot perform self-identification detection on the disease areas of bridge cables with a height of more than 200 cm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a schematic cross-sectional structure diagram of the clamping plate in the present invention;

[0019] Figure 3 is a schematic diagram of the structure of the roller and the rubber ring in the present invention;

[0020] Figure 4 is a schematic diagram of a partial structure of the present invention.

[0021] In the figure: clamping plate 1; rectangular clamping opening 11; roller groove 12; rotating hole 13; roller 2; rotating shaft 21; rubber ring 3; motor 4; fixing plate 5; threaded hole 51; threaded post 6; detector 7. Detailed implementation manners

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0024] Please refer to Figures 1-4 , the present invention provides a technical solution: a self-identifying and detecting robot for bridge stay cable diseases, including two symmetrical clamping plates 1, the two clamping plates 1 are hinged, and rectangular clamping openings 11 are formed on one side of the two clamping plates 1 in contact with each other. A roller groove 12 is formed on one side of the rectangular clamping opening 11, and rotating holes 13 are formed on the upper and lower sides of the roller groove 12. A roller 2 is arranged in the roller groove 12. Rotating shafts 21 are arranged on the upper and lower sides of the roller 2, the rotating shafts 21 are located in the rotating holes 13, and a rubber ring 3 is sleeved on the circumferential wall of the roller 2; a motor 4 is installed on the top of the clamping plate 1, and the output shaft of the motor 4 extends into the clamping plate 1 and is connected to one of the rotating shafts 21; a fixing plate 5 is arranged at the edge of the top of the clamping plate 1, and threaded holes 51 are symmetrically formed on the fixing plate 5, and threaded posts 6 are arranged in the two threaded holes 51; a detector 7 is arranged on one side of the clamping plate 1 away from the rectangular clamping opening 11.

[0025] In this embodiment, the detector 7 is fixed to the clamping plate 1 by screws, and the motor 4 is fixed to the clamping plate 1 by screws, ensuring that the detector 7 and the motor 4 can work stably on the clamping plate 1.

[0026] In this embodiment, the fixing plate 5 and the clamping plate 1 are of an integrally formed structure, ensuring the structural stability of the fixing plate 5 and the clamping plate 1. The output shaft of the motor 4 is tightly welded to one of the rotating shafts 21; when the motor 4 is powered on, the output shaft of the motor 4 can drive the rotating shaft 21, and the rotating shaft 21 then drives the roller 2 and the rubber ring 3 to rotate together.

[0027] In this embodiment, the roller 2 and the rotating shaft 21 are integrally formed structures. The roller 2 is tightly bonded to the rubber ring 3 to ensure the structural stability of the roller 2, the rotating shaft 21, and the rubber ring 3. When the rotating shaft 21 rotates in the rotating hole 13, it can drive the roller 2 and the rubber ring 3 to rotate together in the roller groove 12.

[0028] In this embodiment, the roller 2 is rotatably connected to the roller groove 12 to ensure that the roller 2 can rotate in the roller groove 12. The roller groove 12 is in a semi-circular shape structure, so that part of the structures of the roller 2 and the rubber ring 3 are located in the rectangular clamping opening 11, and can clamp the bridge cable and roll on the bridge cable.

[0029] In this embodiment, the diameter of the roller groove 12 is larger than the diameter of the rubber ring 3, and the height of the roller groove 12 is larger than the height of the rubber ring 3. The rubber ring 3 is rotatably connected to the roller groove 12 to prevent the rubber ring 3 from rubbing against the side wall of the roller groove 12 when the rubber ring 3 rotates in the roller groove 12, which affects the rolling of the rubber ring 3 on the bridge cable and causes the whole to move upward slowly on the bridge cable.

[0030] In this embodiment, the size of the rotating shaft 21 is adapted to that of the rotating hole 13, and the rotating shaft 21 is rotatably connected to the rotating hole 13 to ensure that the rotating shaft 21 can rotate normally in the rotating hole 13.

[0031] In this embodiment, the output shaft of the motor 4 is rotatably connected to the clamping plate 1 to ensure that the motor 4 can work normally on the clamping plate 1.

[0032] In this embodiment, the length of the fixing plate 5 is equal to the length of the clamping plate 1, and the two fixing plates 5 are located between the two motors 4 to ensure that when the two fixing plates 5 are tightly closed, the two clamping plates 1 are also tightly closed.

[0033] In this embodiment, the threaded hole 51 is threadedly connected to the threaded column 6, so that the threaded column 6 can rotate in the threaded hole 51, and the two fixing plates 5 can be tightly fitted together through the threaded column 6.

[0034] In this embodiment, the motor 4 involved in the present invention adopts an HH-TBDJ-50K permanent magnet synchronous motor. The motor 4 involved in the present invention is a prior art and will not be elaborated here. The content protected by the present invention does not involve the improvement of the structure and working principle of the motor 4.

[0035] In this embodiment, the output shaft of the motor 4 can rotate clockwise and counterclockwise. When the output shaft of the motor 4 rotates clockwise and encounters a large resistance and cannot rotate clockwise, at this time, the output shaft of the motor 4 will rotate counterclockwise.

[0036] In this embodiment, the rubber ring 3 has great elasticity and friction force, ensuring that the rubber ring 3 can extrude the bridge cable, and ensuring that the overall device can move upward stably on the bridge cable.

[0037] In this embodiment, an infrared laser emitter and an infrared laser receiver are provided in the detector 7. The infrared laser emitter and the infrared laser receiver are connected to the detector 7. The laser emitted by the infrared laser emitter through the hole in the splint 1 is reflected by the surface of the bridge cable and then received by the infrared laser receiver through the hole in the splint 1. The detector 7 records the round-trip time of the laser at the same time. Half of the product of the speed of light and the round-trip time is the distance between the detector 7 and the surface of the measured bridge cable. If there are pits or cracks on the surface of the bridge cable, the detected distance becomes longer, so as to determine whether the bridge cable is cracked or has pits. The detector 7 is a prior art and will not be elaborated in the present invention.

[0038] When the bridge cable disease self-identifying detection robot of this embodiment is in use, the rectangular clamping openings 11 on the two splints 1 are clamped on the bridge cable, so that the rubber ring 3 on the roller 2 tightly presses the bridge cable to prevent the device from sliding down on the bridge cable. Then, the threaded column 6 is placed into the two threaded holes 51 and rotated to make the two fixing plates 5 fit tightly, ensuring that the two splints 1 also fit tightly. Subsequently, the two motors 4 and the two detectors 7 are powered on at the same time to make the two detectors 7 start to work, and the device can perform self-identifying detection on the disease location of the bridge cable. The output shafts of the two motors 4 drive a rotating shaft 21 to rotate in the rotating hole 13 respectively, and make the roller 2 and the rubber ring 3 rotate together in the roller groove 12. The rubber ring 3 also rolls upward on the bridge cable to ensure that the overall device moves upward on the bridge cable. When the overall device moves close to the top of the bridge cable, it will be blocked by the bridge, and the output shaft of the motor 4 will rotate counterclockwise. At the same time, it drives the rotating shaft 21, the roller 2 and the rubber ring 3 to rotate counterclockwise, so that the overall device moves downward on the bridge cable. In this way, the detection of the bridge cable at a height of more than 200 cm is completed.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-identifying and detecting robot for bridge cable diseases, comprising two symmetrical clamping plates (1), characterized in that: The two clamping plates (1) are hinged. On one side where the two clamping plates (1) contact each other, a rectangular clamping opening (11) is provided. On one side of the rectangular clamping opening (11), a roller groove (12) is provided. On the upper and lower sides of the roller groove (12), rotation holes (13) are provided. A roller (2) is provided in the roller groove (12). On the upper and lower sides of the roller (2), rotating shafts (21) are provided. The rotating shafts (21) are located in the rotation holes (13). A rubber ring (3) is sleeved on the circumferential wall of the roller (2); A motor (4) is installed on the top of the clamping plate (1). The output shaft of the motor (4) extends into the clamping plate (1) and is connected to one of the rotating shafts (21); On the top of the clamping plate (1) and at the edge, a fixing plate (5) is provided. Thread holes (51) are symmetrically provided on the fixing plate (5). A threaded column (6) is provided in the two thread holes (51); On the side of the clamping plate (1) away from the rectangular clamping opening (11), a detector (7) is provided; The diameter of the roller groove (12) is larger than the diameter of the rubber ring (3), and the height of the roller groove (12) is larger than the height of the rubber ring (3). The rubber ring (3) is rotatably connected to the roller groove (12); The size of the rotating shaft (21) is adapted to the rotation hole (13), and the rotating shaft (21) is rotatably connected to the rotation hole (13); The output shaft of the motor (4) is rotatably connected to the clamping plate (1); The detector (7) is fixed to the clamping plate (1) by screws, and the motor (4) is fixed to the clamping plate (1) by screws; The fixing plate (5) and the clamping plate (1) are of an integrally formed structure, and the output shaft of the motor (4) is tightly welded to one of the rotating shafts (21); The roller (2) and the rotating shaft (21) are of an integrally formed structure, and the roller (2) is tightly bonded to the rubber ring (3).

2. The bridge stay cable disease self-identification detection robot according to claim 1, characterized in that: The roller (2) is rotatably connected to the roller groove (12), and the roller groove (12) is in a semi-circular structure.

3. The bridge stay cable disease self-identification detection robot according to claim 1, wherein: The length of the fixing plate (5) is equal to the length of the clamping plate (1), and the two fixing plates (5) are located between the two motors (4).

4. The bridge stay cable disease self-identifying detection robot according to claim 1, wherein: The thread hole (51) is threadedly connected to the threaded column (6).

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