A bridge cable inspection robot

Abstract

The present application discloses a bridge cable inspection robot that can inspect bridge cables more safely, reliably, and efficiently. The robot comprises a body, a main support wheel, a side support wheel structure, a main support motor, a main support wheel obstacle-crossing leg-lifting motor, and a detection module. The main support wheel is movably connected to the body and contacts the bridge cable. The main support motor is connected to the main support wheel and is used to drive the main support wheel to move on the bridge cable. The side support wheel structure is provided on the body and contacts the handrail of the bridge cable to provide support and guidance to prevent the bridge cable inspection robot from deviating from the bridge cable. The main support wheel obstacle-crossing leg-lifting motor is connected to the main support wheel and is used to drive the main support wheel to cross obstacles on the bridge cable. The detection module is provided below the body and is used to inspect the bridge cable.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a bridge cable detection robot. Background Art

[0002] The main cables of a suspension bridge bear the entire weight of the bridge and are its most crucial supporting component. Due to the long-term stresses placed on the cables and the effects of wind, rain, and sunlight, they are susceptible to surface corrosion, clip slippage, and internal wire breakage. Therefore, to ensure the safety and proper functioning of bridge structures, regular cable inspections are essential. The "Highway Bridge and Culvert Maintenance Code" requires regular inspections, supplemented by visual observation and instrumental observations. Close proximity to each component is essential for careful inspection for defects. Currently, commonly used inspection tools include telescopes, manual hanging baskets, and robots equipped with high-definition cameras. Telescopes are relatively effective auxiliary inspection tools, but they are still not fully capable of regular cable inspections. Manual hanging basket inspections are labor-intensive and disrupt traffic flow. Furthermore, inspectors are working at height, posing significant safety risks.

[0003] With the development of robotics, research has begun on the use of robots for assisted inspections. However, due to the diverse structures, large spans, large main cable diameters, multiple cable clamps, and high winds of suspension bridges, inspections present significant challenges, including difficulty, low efficiency, and poor safety. Existing research has limited research on inspection machines specifically designed for suspension bridge main cables. Other approaches to assisted inspections using robots for bridge cables suffer from issues such as portability and cumbersome installation, and they also fail to meet the engineering application requirements for rapid inspection of suspension bridge main cables.

[0004] The diverse structures of suspension bridges, large spans and diameters of main cables, multiple cable clamp obstacles, and high-altitude winds result in prominent technical difficulties such as difficulty, low efficiency, and poor safety in manual inspection. Summary of the Invention

[0005] The present application provides a bridge cable inspection robot, specifically comprising:

[0006] Airframe and main support wheels, side support wheel structure, main support motor, main support wheel obstacle-crossing leg-lifting motor and detection module;

[0007] The main support wheel is movably connected to the body and is in contact with the bridge cable;

[0008] The main support motor is connected to the main support wheel and is used to drive the main support wheel to move on the bridge cable;

[0009] The side support wheel structure is provided on the body and contacts the handrail rope of the bridge cable, and is used for supporting and guiding to prevent the bridge cable detection robot from deviating from the bridge cable;

[0010] The main support wheel obstacle-crossing leg-lifting motor is connected to the main support wheel and is used to drive the main support wheel to cross the obstacle on the bridge cable;

[0011] The detection module is arranged below the body and is used to detect the bridge cables.

[0012] Optionally, the side support wheel structure is clamped on a target handrail rope of the bridge cable, and the target handrail rope is a handrail rope among the handrail ropes of the bridge cable that is closest to the bridge cable.

[0013] Optionally, the bridge cable inspection robot includes at least two sets of side support wheel structures.

[0014] Optionally, each set of the side support wheel structures includes a first side support wheel and a second side support wheel, and the first side support wheel is connected to the second side support wheel via a linear bearing.

[0015] Optionally, each group of the side support wheel structures also includes a side support wheel spring, which is used to move the first side support wheel and / or the second side support wheel toward the center of the body when the first side support wheel and / or the second side support wheel come into contact with the fixing plate and U-bolt on the support rod of the bridge cable, so as to pass over the fixing plate and U-bolt on the support rod of the bridge cable.

[0016] Optionally, the first side support and the second side support wheels are specially made V-shaped wheels, and the specially made V-shaped wheels match the fixing plates and U-shaped bolts on the support rods of the target handrail rope and the bridge cable.

[0017] Optionally, the main support motor drives the main support wheel to move on the bridge cable through a motor synchronous belt transmission.

[0018] Optionally, the main support wheel includes a first main support wheel and a second main support wheel, and the main support wheel obstacle-overcoming leg-lifting motor includes a first main support wheel obstacle-overcoming leg-lifting motor and a second main support wheel obstacle-overcoming leg-lifting motor, wherein the first main support wheel is connected to the first main support wheel obstacle-overcoming leg-lifting motor through a first four-bar linkage structure, and the second main support wheel is connected to the second main support wheel obstacle-overcoming leg-lifting motor through a second four-bar linkage structure.

[0019] Optionally, when the bridge cable inspection robot is crossing an obstacle on the bridge cable, the main support wheel obstacle-crossing leg-lifting motor controls the first main support wheel to move to a position higher than the obstacle on the bridge cable through a first four-bar linkage structure, and the main support motor drives the second main support wheel to move, so that the first main support wheel crosses the obstacle on the bridge cable;

[0020] When the first support wheel passes over the obstacle on the bridge cable, the main support wheel obstacle-passing leg-lifting motor controls the second main support wheel to a position higher than the obstacle on the bridge cable through the second four-bar linkage structure, and the main support motor drives the first main support wheel to move, so that the second main support wheel passes over the obstacle on the bridge cable.

[0021] Optionally, the number of the main support motors corresponds to the number of the main support wheels, and the number of the main support wheel obstacle-overcoming leg-lifting motors corresponds to the number of the main support wheels.

[0022] In summary, it can be seen that the bridge cable inspection robot provided by the present application, when crossing an obstacle on the bridge cable, the main support wheel obstacle-crossing leg-lifting motor controls the main support wheel to lift up and cross the obstacle on the bridge cable, and the side support wheel (passive) replaces the main support wheel to bear the force. During the operation or obstacle-crossing process of the bridge cable inspection robot, the side support wheel is stuck on the lowest handrail rope to prevent the robot from deviating to the left or right. Compared with the application of manual bridge inspection, it is safer, more reliable and more efficient. Compared with the solution of using handrail ropes as track motion, the bridge cable inspection robot provided by the present application can carry heavier inspection and maintenance equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the working environment of the bridge cable inspection robot provided in an embodiment of the present application;

[0024] Figure 2 An axonometric diagram of the bridge cable inspection robot provided in an embodiment of the present application;

[0025] Figure 3 A side view of a bridge cable inspection robot provided in an embodiment of the present application;

[0026] Figure 4 A top view of the bridge main cable detection robot provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of a bridge cable robot provided in an embodiment of the present application overcoming obstacles on a bridge cable;

[0028] Figure 6 A schematic structural diagram of the side support wheel provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] An embodiment of the present application provides a bridge cable inspection robot that can quickly inspect bridge cables.

[0030] The following combination Figures 1 to 6 Provide explanation.

[0031] See also Figure 1 , Figure 1 A schematic diagram of the working environment of the bridge cable inspection robot provided in an embodiment of the present application includes:

[0032] Bridge cable 100, bridge cable inspection robot 200, cable clamp 101, support rod 102, upper handrail 103 and lower handrail 104;

[0033] When the bridge cable inspection robot 200 moves on the bridge cable 100, the side support wheels of the bridge cable inspection robot 200 contact the lower handrail 104 to support the bridge cable inspection robot 200 and prevent the bridge cable inspection robot 200 from deviating from the bridge cable 100. When the bridge cable inspection robot 200 passes through the crossbar 1021 between the support rods 102, the bridge cable inspection robot 200 lifts the main support wheels to cross the crossbar 1021. Figure 2 For detailed explanation:

[0034] See also Figure 2 , Figure 2 The axonometric diagram of the bridge cable inspection robot 200 provided in the embodiment of the present application includes:

[0035] Body 201, main support wheel 202, side support wheel structure 203, main support motor 204, main support wheel obstacle lifting motor 205 and detection module 206;

[0036] The main support wheel 202 is movably connected to the body 201 and is in contact with the bridge cable 100;

[0037] The main support motor 204 is connected to the main support wheel 202 and is used to drive the main support wheel 202 to move on the bridge cable 100;

[0038] The side support wheel structure 203 is provided on the body 201 and contacts the handrail of the bridge cable 100 for supporting and guiding the bridge cable inspection robot 200 to prevent the bridge cable inspection robot 200 from deviating from the bridge cable 100;

[0039] The main support wheel obstacle-crossing leg-lifting motor 205 is connected to the main support wheel 202 and is used to drive the main support wheel 202 to cross obstacles on the bridge cable 100;

[0040] The detection module 206 is disposed below the body 201 and is used to detect the bridge cable 100 .

[0041] Furthermore, the side support wheel structure 203 is stuck in the target handrail rope 104 of the bridge cable 100. The target handrail rope 104 is the handrail rope closest to the bridge cable among the handrail ropes of the bridge cable 100 (the target handrail rope is taken as the lower handrail rope as an example for explanation here, of course, it can also be other handrail ropes, and there is no specific limitation. When other handrail ropes are selected, it is only necessary to adjust the position of the side support wheel 203 of the bridge cable detection robot 200).

[0042] The bridge cable inspection robot 200 includes at least two sets of side support wheel structures 203, see Figure 4 , Figure 4 This is a top view of the bridge main cable inspection robot 200 provided in an embodiment of the present application. The side support wheel structure includes a first side support wheel 2031 and a second side support wheel 2032. The first side support wheel 2031 and the second side support wheel 2032 are connected by a linear bearing 2035. The side support wheel structure 203 also includes a side support wheel 2033 and a side support wheel 2034. The side support wheel 2033 and the side support wheel 2034 are connected by a linear bearing.

[0043] The following combination Figure 3 as well as Figure 4 For an explanation of the main support wheel 202 in the bridge cable inspection robot 200, please refer to Figure 3 , Figure 3 This is a side view of a bridge cable inspection robot 200 provided in an embodiment of the present application. A main support motor 204 drives the main support wheel 202 to move on the bridge cable 100 via a motor synchronous belt transmission 2043. The main support motor 204 includes a first main support motor 2041 and a second main support motor 2042. The main support wheel 202 includes a first main support wheel 2021 and a second main support wheel 2022. The main support motor 204 includes a first main support motor 2041 and a second main support motor 2042. The first main support motor 2041 drives the first main support wheel 2021 to move on the bridge cable 100 via a motor synchronous belt transmission, and the second main support motor 2042 drives the second main support wheel 2022 to move on the bridge cable 100 via a motor synchronous belt transmission.

[0044] See also Figure 3The main support wheel obstacle-overcoming leg-lifting motor 205 includes a first main support wheel obstacle-overcoming leg-lifting motor 2051 and a second main support wheel obstacle-overcoming leg-lifting motor 2052, wherein the first main support wheel 2021 is connected to the first main support wheel obstacle-overcoming leg-lifting motor 2051 via a first four-bar linkage 2071, and the second main support wheel 2022 is connected to the second main support wheel obstacle-overcoming leg-lifting motor 2052 via a second four-bar linkage 2072. The main support wheel 202 and the main support wheel obstacle-overcoming leg-lifting motor 205 are connected by a four-bar linkage structure, which includes two states, a support state and an obstacle-overcoming state: in the support state, the dead point 2075 of the four-bar linkage structure is used to support the force, as shown in FIG. Figure 3 The two connecting rods 2073 are connected in a straight line, and the dead point 2075 between the two connecting rods is used to support the force and reduce the motor torque. When in the obstacle crossing state, the obstacle crossing leg lifting motor 205 drives the connecting rod 2073 to rotate and lift the main support wheel 202. The above description uses a single four-bar linkage as an example. That is, when the bridge cable inspection robot 200 runs on the bridge cable 100, the first four-bar linkage 2071 and the second four-bar linkage 2072 are in the supporting state. When the bridge cable inspection robot 200 is crossing an obstacle, one of the first four-bar linkage 2071 and the second four-bar linkage 2071 is in the supporting state, and the other four-bar linkage is in the obstacle crossing state.

[0045] It should be noted that the number of main support motors corresponds to the number of main support wheels, and the number of main support wheel obstacle-overcoming leg-lifting motors corresponds to the number of main support wheels. In other words, the main support wheels are associated with the main support motors and the main support wheel obstacle-overcoming leg-lifting motors. This association can be that there are as many main support wheels as there are main support motors and main support wheel obstacle-overcoming leg-lifting motors. Of course, there can also be other associations, such as one main support wheel corresponding to two main support motors and two main support wheel obstacle-overcoming leg-lifting motors. The specific relationship is not limited.

[0046] The following combination Figures 1 to 5 The following describes how the bridge cable inspection robot 200 traverses an obstacle on the bridge cable 100 .

[0047] See also Figure 5 , Figure 5 Schematic diagram of the bridge cable robot 200 navigating obstacles on the bridge cable 100 provided in an embodiment of the present application.

[0048] like Figure 5As shown, when the bridge cable inspection robot 200 is crossing an obstacle on the bridge cable 100, that is, when the bridge cable inspection robot 200 runs to the support rod 102 of the bridge cable, since there is a cross bar 1021 in the middle of the support rod 102, at this time, the bridge cable inspection robot 200 needs to pass through the cross bar 1021, and the first main support wheel obstacle crossing leg lifting motor 2051 controls the first main support wheel 2021 to move to a position higher than the obstacle on the bridge cable 100 through the first four-bar linkage structure 2071, as shown in FIG. Figure 5 As shown, the first main support wheel obstacle-overcoming leg-lifting motor 2051 controls the first main support wheel 2021 to be lifted over the crossbar 1021. At this time, the first four-bar linkage 2071 is in the obstacle-overcoming state, and the second four-bar linkage 2072 is in the supporting state, keeping the height of the first main support wheel 2021 unchanged. The second main support motor 2042 drives the second main support wheel 2022 to move, so that the first main support wheel 2021 passes over the obstacle on the bridge cable 100.

[0049] When the first support wheel 2021 passes over the obstacle on the bridge cable 100, the second main support wheel obstacle-passing leg-lifting motor 2052 controls the second main support wheel to a position higher than the obstacle on the bridge cable through the second four-bar linkage structure, and the first main support motor 2041 drives the first main support wheel 2021 to move, so that the second main support wheel 2022 passes over the obstacle on the bridge cable 100. Figure 3 301, when the bridge cable inspection robot 200 overcomes an obstacle, the second main support wheel obstacle-overcoming leg-lifting motor 2052 drives the connecting rod 2073 on the second four-bar structure 2072 to rotate, moving in the direction shown by 301 in the figure to overcome the obstacle. That is to say, after the first main support wheel 2021 passes over the cross bar 1021, the first main support wheel obstacle-overcoming leg-lifting motor 2051 can be used to control the first main support wheel 2021 to move toward the direction of the bridge cable 100 until the first main support wheel 2021 contacts the bridge cable 100. When the second main support wheel 2022 encounters the cross bar 1021 between the support rods 102, the second main support wheel obstacle-overcoming leg-lifting motor 2052 controls the second main support wheel 2022 to a height higher than the cross bar 1021 through the second four-bar linkage 2072. At this time, the first four-bar linkage 2071 is in a supporting state, and the second four-bar linkage 2072 is in an obstacle-overcoming state, keeping the height of the second main support wheel 2021 unchanged, and the first main support motor 2041 drives the first main support wheel 2021 to move, so that the second main support wheel 2022 passes over the obstacle on the bridge cable 100.

[0050] See also Figure 4 、 Figure 5 as well as Figure 6Each set of side support wheels also includes a side support wheel spring 2036, which is used to move the first side support wheel and / or the second side support wheel toward the center of the body 201 when the first side support wheel 2031 and / or the second side support wheel 2032 come into contact with the fixing plate and U-bolt 1022 on the target handrail rope 104, so as to pass over the fixing plate and U-bolt 1022 on the target handrail rope 104.

[0051] like Figure 5 As shown, when the bridge cable inspection robot 200 is normally traveling on the bridge cable 100, the first four-link structure 2071 and the second four-link structure are in a supporting state, as shown in 501, and the side support wheels support the bridge cable inspection robot 200 to prevent the bridge cable inspection robot 200 from deviating from the bridge cable 100;

[0052] When the first main support wheel obstacle-overcoming leg-lifting motor 2051 controls the first main support wheel 2021 to lift over the crossbar 1021, the first four-link structure 2071 is in an obstacle-overcoming state, and the second four-link structure 2072 is in a supporting state, as shown in Figure 501. The side support wheel is subjected to the upward force of the lower handrail rope 104. At this time, the height of the first main support wheel 2021 is kept unchanged. The side support wheels and the second main support wheels support the bridge cable detection robot 200, and the second main support motor 2042 drives the second main support wheel 2022 to move, so that the first main support wheel 2021 passes over the obstacle on the bridge cable 100.

[0053] When the second main support wheel 2022 encounters the crossbar 1021 between the support rods 102, the second main support wheel obstacle-overcoming leg-lifting motor 2052 controls the second main support wheel 2022 to a height higher than the crossbar 1021 via the second four-bar linkage 2072. At this time, the first four-bar linkage 2071 is in a supporting state, and the second four-bar linkage 2072 is in an obstacle-overcoming state, maintaining the height of the second main support wheel 2021 unchanged. The bridge cable inspection robot 200 is supported by the first main support wheel 2021 and the side support wheels, and the first main support wheel 2021 is driven by the first main support motor 2041 to move, allowing the second main support wheel 2022 to cross the obstacle on the bridge cable 100. Therefore, when the bridge cable inspection robot is in operation, the dead point position support of the four-bar linkage can be used to reduce the motor torque, so that it can cross obstacles such as the handrail support rod when overcoming obstacles, ensuring the safe and stable movement of the robot.

[0054] like Figure 5 As shown in 502, when the side support wheel hits the fixing plate and U-bolt 1022 on the support rod 102, the fixing plate and U-bolt squeeze the side support wheel, and the side support wheel compresses the side support wheel spring 2036 and moves toward the center of the body 201 (as shown in FIG. Figure 4As shown in 401 in the figure, move in the direction indicated by the arrow) to pass over the fixing plate and U-bolt on the support rod 102.

[0055] See Figure 6 , Figure 6 Schematic diagram of the structure of the side support wheel provided in the embodiment of the present application, wherein the side support wheel is a specially made V-shaped wheel, which matches the fixing plate and U-shaped bolt on the support rod of the target handrail rope and the bridge cable, as shown in FIG. Figure 6 As shown, area 601 matches the lower handrail rope 104, and area 602 matches the fixing plate and U-bolt 1022 on the support rod 102 of the bridge cable 100. Through the specially designed V-shaped wheel, the handrail rope can support the bridge cable detection robot during obstacle crossing and operation, and at the same time, the bridge cable detection robot 200 can adapt to handrail ropes of different widths, and can also reduce the impact from the fixing plate and U-bolt 1022 when crossing obstacles.

[0056] In summary, it can be seen that the bridge cable inspection robot provided by the present application, when crossing an obstacle on the bridge cable, the main support wheel obstacle-crossing leg-lifting motor controls the main support wheel to lift up and cross the obstacle on the bridge cable, and the side support wheel (passive) replaces the main support wheel to bear the force. During the operation or obstacle-crossing process of the bridge cable inspection robot, the side support wheel is stuck on the lowest handrail rope to prevent the robot from deviating to the left or right. Compared with the application of manual bridge inspection, it is safer, more reliable and more efficient. Compared with the solution of using handrail ropes as track motion, the bridge cable inspection robot provided by the present application can carry heavier inspection and maintenance equipment.

[0057] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A bridge cable inspection robot, characterized in that: include: Airframe and main support wheels, side support wheel structure, main support motor, main support wheel obstacle-crossing leg-lifting motor and detection module; The main support wheel is movably connected to the body and is in contact with the bridge cable; The main support motor is connected to the main support wheel and is used to drive the main support wheel to move on the bridge cable; The side support wheel structure is provided on the body and contacts the handrail rope of the bridge cable, and is used for supporting and guiding to prevent the bridge cable detection robot from deviating from the bridge cable; The bridge cable inspection robot includes at least two sets of side support wheel structures, each set of side support wheel structures includes a first side support wheel and a second side support wheel, the first side support wheel and the second side support wheel are connected by a linear bearing; the first side support wheel and the second side support wheel are specially made V-shaped wheels, and the specially made V-shaped wheels match the target handrail rope and the fixing plate and U-shaped bolt on the support rod of the bridge cable; The main support wheel obstacle-crossing leg-lifting motor is connected to the main support wheel and is used to drive the main support wheel to cross the obstacle on the bridge cable; The main support wheel includes a first main support wheel and a second main support wheel, and the main support wheel obstacle-crossing leg-lifting motor includes a first main support wheel obstacle-crossing leg-lifting motor and a second main support wheel obstacle-crossing leg-lifting motor, wherein the first main support wheel is connected to the first main support wheel obstacle-crossing leg-lifting motor through a first four-bar linkage structure, and the second main support wheel is connected to the second main support wheel obstacle-crossing leg-lifting motor through a second four-bar linkage structure; when the bridge cable detection robot crosses an obstacle on the bridge cable, the main support wheel obstacle-crossing leg-lifting motor controls the first main support wheel to move to a position higher than the obstacle on the bridge cable through the first four-bar linkage structure, and the main support motor drives the second main support wheel to move, so that the first main support wheel crosses the obstacle on the bridge cable; when the first main support wheel crosses the obstacle on the bridge cable, the main support wheel obstacle-crossing leg-lifting motor controls the second main support wheel to a position higher than the obstacle on the bridge cable through the second four-bar linkage structure, and the main support motor drives the first main support wheel to move, so that the second main support wheel crosses the obstacle on the bridge cable; The detection module is arranged below the body and is used to detect the bridge cables.

2. The bridge cable inspection robot according to claim 1, characterized in that: The side support wheel structure is clamped on the target handrail rope of the bridge cable, and the target handrail rope is the handrail rope closest to the bridge cable among the handrail ropes of the bridge cable.

3. The bridge cable inspection robot according to claim 1, characterized in that: Each group of the side support wheel structures also includes a side support wheel spring, which is used to move the first side support wheel and / or the second side support wheel toward the center of the machine body when the first side support wheel and / or the second side support wheel come into contact with the fixing plate and the U-bolt on the support rod of the bridge cable, so as to pass over the fixing plate and the U-bolt on the support rod of the bridge cable.

4. The bridge cable inspection robot according to claim 1, characterized in that: The main support motor drives the main support wheel to move on the bridge cable through a motor synchronous belt transmission.

5. The bridge cable inspection robot according to any one of claims 1 to 4, characterized in that: The number of the main support motors corresponds to the number of the main support wheels, and the number of the main support wheel obstacle-overcoming leg-lifting motors corresponds to the number of the main support wheels.

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