Cable-stayed bridge cable detection device and use method thereof

Abstract

The present invention discloses a cable-stayed bridge cable detection device and a method of using the same, comprising a cable-climbing robot acting on the cable and a plurality of detection cameras installed outside the cable-climbing robot. The present invention adds a pair of cleaning components that move up and down along electric slide rails respectively on the cable-climbing robot. During the detection process, the pair of cleaning components are transmitted to the top of the detection camera and are butted against each other and sleeved on the outside of the cable. A closed cleaning method is adopted in which high-pressure spraying is performed on the outer surface of the cable and the sprayed dust and stains are extracted outwards, so as to avoid the stains on the outer surface of the cable affecting the detection result. When the cable-climbing robot climbs to the top of the cable, a pair of electric slide rails are used to detach and transmit the cleaning components downward respectively, so as to expose the top of the cable and avoid the cleaning components occupying the detection space. During the process, the detection camera can be driven by a driving motor to gradually flip upward as needed to expand the detection surface of the detection camera on the top of the cable.

Description

Technical Field

[0001] The present invention relates to the technical field of steel cable detection, and more specifically, to a cable-stayed bridge steel cable detection device and a use method thereof. Background Art

[0002] Bridge cables are one of the main load-bearing parts of cable-stayed bridges. Due to long-term exposure to the natural environment, cable-stayed bridge cables will inevitably be eroded by natural environmental pollution. In order to ensure the safe use of cable-stayed bridges, avoid damage to cable-stayed bridges and endanger public safety, it is necessary to regularly inspect and maintain bridges and cable-stayed bridge cables.

[0003] In the existing technology, most of the time, climbing inspections are carried out on the surface of steel cables by climbing robots with detection structures. However, in actual use, various impurities and dirt may exist on the surface of the steel cables. For detection methods that rely on visual inspection or high-definition camera technology, serious stains on the surface of the steel cables may seriously interfere with the detection results, resulting in misjudgment or missed judgment.

[0004] After searching, the patent number is CN118392878A, which discloses "A detection device for bridge cables". During the detection, the servo motor drives the output gear to rotate through the rotating shaft. When the output gear rotates, it drives the gear ring to rotate, so that the connecting ring drives the cleaning brush inside it to rotate. When the cleaning brush rotates, impurities on the surface of the cable to be inspected can be removed;

[0005] Although the detection accuracy is guaranteed to a certain extent, the cleaning mechanism is fixedly installed on the top of the entire detection device, and the smart camera is located behind the cleaning mechanism. When the detection device climbs to the top of the steel cable, the cleaning mechanism occupies the top detection space, and the top of the steel cable and the connection point cannot be fully detected. In addition, when a cleaning brush is used for friction cleaning, for continuous detection of multiple steel cables, the cleaning brush is easily stained quickly and affects the subsequent cleaning effect, and the cleaned stains and dust will fall down and re-attach to the steel cable, so there are certain detection limitations.

[0006] To this end, we propose a cable-stayed bridge cable detection device and a method for using the same in response to the above problems. Summary of the invention

[0007] The purpose of the present invention is to solve the existing problems. Compared with the existing technology, a cable-stayed bridge cable detection device and a method of using the same are provided. A pair of cleaning components that can move up and down along the inclined surface of an electric slide rail are added to the cable climbing robot. During the detection process, the pair of cleaning components are conveyed to the top of the detection camera and are butted against each other and sleeved on the outside of the cable. A closed cleaning method is adopted in which high-pressure spraying is performed on the outer surface of the cable and the sprayed dust and stains are extracted outward, thereby ensuring effective cleaning and avoiding the influence of stains on the outer surface of the cable on the detection results. When the cable climbing robot climbs to the top of the cable, a pair of electric slide rails are used to detach and convey the cleaning components downward to expose the top of the cable and avoid the cleaning components occupying the detection space. In this process, as needed, the detection camera is driven by a driving motor to gradually flip upward to expand the detection surface of the detection camera on the top of the cable.

[0008] The object of the present invention can be achieved by the following technical solutions: a cable-stayed bridge cable detection device, comprising a cable climbing robot acting on the cable, the cable climbing robot is provided with a plurality of evenly distributed climbing wheels in the up and down directions, a plurality of evenly distributed fixing frames are annularly installed on the outer end wall of the cable climbing robot, a rotating frame is rotatably installed on the top of the fixing frame, a detection camera arranged inwardly is embedded and installed on the rotating frame, and a driving structure for turning the rotating frame inside out is provided on the fixing frame;

[0009] A pair of connecting frames are fixed on the outer peripheral wall of the wire rope climbing robot, which are symmetrically distributed about the axis of the wire rope climbing robot and are arranged away from the fixed frame. An electric slide rail inclined upward is fixedly installed on the pair of connecting frames. A cleaning component located above the detection camera is installed on the electric slide rail. After the pair of cleaning components are connected to each other, they are movably sleeved on the outside of the wire rope, wherein the cleaning component includes an upper dust collecting hood and a lower dust covering that are connected to each other up and down. The lower dust covering is fixed to the electric slide rail by a bracket. A plurality of blowing pipes are distributed in an annular manner on the lower dust covering, and a suction pipe is externally connected to the upper dust collecting hood.

[0010] Furthermore, the driving structure includes a driven shaft fixed on a rotating frame and rotatably installed inside the top of the fixed frame, a driving shaft matching the driven shaft is rotatably installed inside the bottom of the fixed frame, the driving shaft and the driven shaft are connected via a transmission assembly embedded in the fixed frame, and a driving motor for rotationally driving the driving shaft is fixedly installed on the outer wall of the bottom end of the fixed frame.

[0011] Furthermore, the transmission assembly is a transmission gear fixedly mounted on the driving shaft and the driven shaft respectively, and a transmission belt is installed between a pair of transmission gears. Relying on the cooperation between the driving motor and the transmission assembly, the detection camera on the rotating frame is driven to flip up and down, thereby expanding the shooting range of the detection camera.

[0012] Furthermore, a pair of the lower dust covers are butt-jointed to form a hollow trumpet-shaped structure that is wide at the top and narrow at the bottom. An annular magnetic strip is fixed to the bottom end of the lower dust cover, and a cleaning cotton core wrapped around the outside of the steel cable is fixed to the upper end of the annular magnetic strip.

[0013] Furthermore, the blowing pipe avoids the cleaning cotton core and penetrates upward to the inner side of the lower dust cover, and an air pump connected to multiple blowing pipes is fixed on the outer end wall of the wire rope climbing robot.

[0014] Furthermore, the upper dust collecting cover is a hollow annular structure connected to the top end of the lower dust cover, and a through hole for the steel cable to pass through is formed in the middle of a pair of upper dust collecting covers after they are connected to each other.

[0015] Furthermore, the suction pipe is tilted downward and penetrates into the upper dust collecting hood. A pump connected to the suction pipe is installed on the outer end wall of the wire rope climbing robot, and the other end of the pump is connected to a micro dust removal device also fixed on the wire rope climbing robot.

[0016] The present invention also provides a method for using a cable-stayed bridge cable detection device, comprising the following steps:

[0017] Step 1: Preparatory installation work, first check the equipment to ensure that the equipment can be used normally, then install the device on the cable, start a pair of electric slide rails, and move a pair of cleaning components upward until they are connected to each other and sleeved outside the cable;

[0018] Step 2: Inspection work, start the wire rope climbing robot, the wire rope climbing robot relies on the upper and lower sets of climbing wheels to move upward along the wire rope, and during the climbing process, four sets of inspection cameras are used to inspect the outer end surface of the wire rope;

[0019] During the inspection, multiple blow pipes are used to spray high-pressure air toward the outer end face of the steel cable to clean the outer surface of the steel cable, and then a suction tube is used to extract the stains and gas to prevent the stains on the outer surface of the steel cable from affecting the inspection results. When the steel cable climbing robot climbs to the top of the steel cable, a pair of electric slide rails are used to tilt the cleaning components downward to expose the top of the steel cable. During this process, the detection camera is driven by a drive motor to flip upward as needed to expand the detection area of ​​the detection camera on the top of the steel cable.

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] (1) This scheme is to add a pair of cleaning components to the wire rope climbing robot, which move up and down along a pair of electric slide rails. During the inspection process, the pair of cleaning components are conveyed to the top of the inspection camera and connected to each other and sleeved on the outside of the wire rope, so as to achieve high-pressure spray cleaning of the outer surface of the wire rope before inspection, so as to avoid serious stains on the outer surface of the wire rope affecting the inspection results. When the wire rope climbing robot climbs to the top of the wire rope, the pair of electric slide rails are used to convey the cleaning components downward in an inclined direction, exposing the top of the wire rope without affecting the inspection of the top of the wire rope. In this process, the inspection camera is driven by the driving motor to gradually flip upward as needed, so as to expand the inspection surface of the inspection camera on the top of the wire rope.

[0022] (2) The cleaning structure in this scheme includes an upper dust hood and a lower dust cover connected in an upper and lower manner. The lower dust cover is provided with a plurality of blowing pipes, and the upper dust hood is externally connected with a suction pipe. A pair of cleaning components are transported to the top of the detection camera and then connected to each other and sleeved on the outside of the steel cable. The steel cable is cleaned in a closed manner to prevent the treated dust and stains from falling and overflowing from the cleaning structure and affecting subsequent detection. The outer surface of the steel cable is sprayed with high pressure and the sprayed dust and stains are sucked out. Compared with the traditional cleaning brush friction cleaning, this scheme not only improves the cleaning effect without the need to frequently replace the cleaning brush structure, but also prevents the treated dust and dirt from re-attaching to the outside of the steel cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention when it is working;

[0024] Figure 2 It is a structural schematic diagram of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the joint between the detection camera and the fixing frame of the present invention;

[0026] Figure 4 A cross-sectional view of the joint between the detection camera and the fixing frame of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of a pair of cleaning components of the present invention after being connected;

[0028] Figure 6 It is a schematic structural diagram of the cleaning component of the present invention;

[0029] Figure 7 A schematic structural diagram of the cleaning component of the present invention from another perspective;

[0030] Figure 8 A partial cross-sectional view of a pair of cleaning components of the present invention after being connected;

[0031] Fig. 9It is a schematic diagram of the structure of the present invention when a pair of cleaning components retreat downward after working to the top of the steel cable;

[0032] Fig.10 It is a schematic diagram of the structure of the present invention when the cleaning component is retracted downward and then flipped upward to detect the camera.

[0033] Description of the numbers in the figure:

[0034] 1. Wire rope climbing robot; 2. Fixed frame; 3. Rotating frame; 4. Detection camera; 5. Driving motor; 6. Transmission assembly; 7. Connecting frame; 8. Electric slide rail; 9. Lower dust cover; 10. Blowing pipe; 11. Upper dust hood; 12. Suction pipe; 13. Cleaning cotton core. DETAILED DESCRIPTION

[0035] The following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all the embodiments. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0036] Example 1: The present invention discloses a cable-stayed bridge cable detection device, see Figure 1 , including a wire rope climbing robot 1 acting on the wire rope, the wire rope climbing robot 1 is provided with a plurality of evenly distributed climbing wheels in the upper and lower directions, and the upper and lower sets of climbing wheels provide the wire rope climbing robot 1 with power to climb up along the wire rope.

[0037] See also Figure 2-Figure 4 A plurality of evenly distributed fixing frames 2 are fixedly installed in a ring shape on the outer end wall of the wire rope climbing robot 1, a rotating frame 3 is rotatably installed on the top of the fixing frame 2, and an inwardly arranged detection camera 4 is embedded and installed on the rotating frame 3. The detection surfaces of the four groups of detection cameras 4 are higher than the installation position of the climbing wheel above, and a driving structure for turning the rotating frame 3 inside out is arranged on the fixing frame 2;

[0038] The driving structure includes a driven shaft fixed on the rotating frame 3 and rotatably mounted inside the top of the fixed frame 2, a driving shaft matching the driven shaft is rotatably mounted inside the bottom of the fixed frame 2, the driving shaft and the driven shaft are connected by a transmission assembly 6 embedded in the fixed frame 2, and a driving motor 5 for rotating the driving shaft is fixedly mounted on the outer wall of the bottom of the fixed frame 2;

[0039] The transmission assembly 6 is a transmission gear fixedly sleeved on the driving shaft and the driven shaft respectively. A transmission belt is installed between a pair of transmission gears. Relying on the cooperation between the driving motor 5 and the transmission assembly 6, the detection camera 4 on the rotating frame 3 is driven to flip up and down, thereby expanding the shooting range of the detection camera 4.

[0040] See also Figure 1 , Figure 2 and Figure 5 A pair of connecting frames 7 are fixed on the outer wall of the wire rope climbing robot 1, which are symmetrically distributed about the axis of the wire rope climbing robot 1 and are arranged to avoid the fixed frame 2. An electric slide rail 8 inclined upward is fixedly installed on the pair of connecting frames 7. A cleaning component located above the detection camera 4 is installed on the electric slide rail 8. The pair of cleaning components are connected to each other and movably sleeved on the outside of the wire rope. During the detection process, the cleaning component and the detection camera 4 are synchronously driven upward. The detection camera 4 is used to clean the wire rope after being processed by the cleaning component to prevent stains on the outer surface of the wire rope from affecting the detection results.

[0041] The cleaning components are arranged as a pair of detachable structures, and cooperate with the electric slide rail 8 to facilitate the downward removal of a pair of cleaning components from the steel cable to expose the steel cable, thereby avoiding the fixed installation of the cleaning structure occupying the top detection space and making it impossible to detect the top steel cable.

[0042] Embodiment 2: Based on Embodiment 1, this embodiment improves and optimizes the existing cleaning structure, specifically:

[0043] See also Figure 5-Figure 8 The cleaning assembly includes an upper dust cover 11 and a lower dust cover 9 which are butt-jointed, the lower dust cover 9 is fixed to the electric slide rail 8 through a bracket, a plurality of blowing pipes 10 are distributed in an annular manner on the lower dust cover 9, and a suction pipe 12 is externally connected to the upper dust cover 11;

[0044] After a pair of lower dust covers 9 are butted together, a hollow trumpet-shaped structure with a wide top and a narrow bottom is formed. An annular magnetic strip is also fixed to the bottom of the lower dust cover 9. The addition of the annular magnetic strip is conducive to improving the stability of the pair of cleaning components after they are butted together. A cleaning cotton core 13 wrapped around the outside of the steel cable is fixed to the upper end of the annular magnetic strip. The blowing pipe 10 avoids the cleaning cotton core 13 and obliquely penetrates upward to the inner side of the lower dust cover 9.

[0045] An air pump connected to a plurality of blowing pipes 10 is fixed on the outer end wall of the wire rope climbing robot 1. The upper dust collecting cover 11 is a hollow annular structure connected to the top of the lower dust cover 9. A pair of upper dust collecting covers 11 are connected to each other to form a through hole in the middle for the wire rope to pass through. The suction port of the suction pipe 12 is tilted downward and penetrates into the upper dust collecting cover 11. A pump connected to the suction pipe 12 is installed on the outer end wall of the wire rope climbing robot 1. The other end of the pump is connected to a micro dust removal device also fixed to the wire rope climbing robot 1.

[0046] A pair of lower dust cover 9 and upper dust collecting cover 11 cooperate with each other to be transferred upward and connected to each other, and then sleeved on the outside of the steel cable. At this time, the cleaning cotton core 13 is wrapped on the steel cable to seal the cleaning part of the steel cable to prevent the dirt and dust cleaned from spilling out during the cleaning process and affecting the subsequent detection work;

[0047] A plurality of blowing tubes 10 inclined upward toward the end face of the steel cable are used for high-pressure blowing treatment to remove dust and stains on the surface of the steel cable, and the suction tube 12 arranged above extracts the treated stains together with the gas. A micro dust removal device is added to the steel cable climbing robot 1, which is beneficial for dust removal treatment, and the cleaning cotton core 13 arranged at the bottom of the lower dust cover 9 is used to clean a small amount of dust remaining on the surface of the steel cable. Compared with the traditional cleaning brush friction cleaning, it not only improves the cleaning effect without the need for frequent replacement of the cleaning brush structure, but also avoids the treated dust and dirt from covering the detection camera 4 and re-attaching to the outside of the steel cable, thereby improving the dust removal effect and the detection effect to a certain extent.

[0048] In combination with Example 1 and Example 2, the present invention further provides a method for using a cable-stayed bridge cable detection device, comprising the following steps:

[0049] Step 1: Preparing for installation, first check the equipment to ensure that it can be used normally, then install the device on the cable, start a pair of electric slide rails 8, and transfer a pair of cleaning components upward until they are butted against each other and sleeved outside the cable;

[0050] Step 2: Testing work, starting the wire rope climbing robot 1, the wire rope climbing robot 1 moves upward along the wire rope by means of two sets of upper and lower climbing wheels, and during the climbing process, four sets of detection cameras 4 are used to perform all-round detection on the outer end surface of the wire rope;

[0051] During the inspection, multiple blowing tubes 10 are used to spray high pressure toward the outer end surface of the steel cable to remove stains and dust on the steel cable, clean the outer surface of the steel cable, and then the suction tube 12 is used to extract the stains and gas. By performing a closed cleaning treatment on the steel cable, the stains on the outer surface of the steel cable are prevented from affecting the inspection results.

[0052] When the wire rope climbing robot 1 climbs to the top of the wire rope, a pair of electric slide rails 8 are used to tilt the cleaning components downward to expose the top of the wire rope. In this process, the detection camera 4 is driven by the drive motor 5 to flip upward as needed to expand the detection surface of the detection camera 4 on the top of the wire rope.

[0053] In summary: a pair of cleaning components are added to the wire rope climbing robot 1, which can move up and down along the inclined surfaces of a pair of electric slide rails 8. During the detection process, please refer to Figure 1A pair of cleaning components are conveyed to the top of the detection camera 4 and are connected to each other and sleeved on the outside of the steel cable, so as to realize high-pressure spraying on the outer surface of the steel cable before detection, and the dirt and dust blown out are continuously extracted outwards to ensure effective cleaning and avoid stains on the outer surface of the steel cable affecting the detection results;

[0054] See also Fig. 9 , Fig.10 When the wire rope climbing robot 1 climbs to the top of the wire rope, a pair of electric slide rails 8 are used to tilt the cleaning assembly downward, and the cleaning assembly retreats to the outer circumferential position of the detection camera 4, exposing the top of the wire rope without affecting the detection of the top of the wire rope. In this process, as needed, the detection camera 4 is driven by the driving motor 5 to gradually flip upward to expand the detection surface of the detection camera 4 on the top of the wire rope, which is beneficial to the comprehensive detection of the top of the wire rope and the connection of the wire rope by the detection camera 4, and effectively improves the detection effect.

[0055] The above are only preferred specific implementation modes of the present invention; however, the protection scope of the present invention is not limited thereto; any technician familiar with the technical field within the technical scope disclosed by the present invention; any equivalent replacement or change based on the technical solution and improved concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A cable-stayed bridge cable detection device, comprising a cable climbing robot (1) acting on the cable, the cable climbing robot (1) being provided with a plurality of evenly distributed climbing wheels in both upper and lower directions, characterized in that: A plurality of evenly distributed fixed frames (2) are annularly mounted on the outer end wall of the wire rope climbing robot (1); a rotating frame (3) is rotatably mounted on the top of the fixed frame (2); an inwardly arranged detection camera (4) is embedded and mounted on the rotating frame (3); and a driving structure for turning the rotating frame (3) inside out is arranged on the fixed frame (2); A pair of connecting frames (7) symmetrically distributed along the axis of the steel cable climbing robot (1) and arranged away from the fixing frame (2) are also fixed on the outer peripheral wall of the steel cable climbing robot (1); an electric slide rail (8) inclined upward is fixedly mounted on the pair of connecting frames (7); a cleaning component located above the detection camera (4) is mounted on the electric slide rail (8); the pair of cleaning components are connected to each other and movably sleeved on the outside of the steel cable; the cleaning component comprises an upper dust collecting cover (11) and a lower dust cover (9) connected to each other; the lower dust cover (9) is fixed to the electric slide rail (8) by a bracket; a plurality of blowing pipes (10) are distributed in an annular manner on the lower dust cover (9); and a suction pipe (12) is externally connected to the upper dust collecting cover (11).

2. A cable-stayed bridge cable detection device according to claim 1, characterized in that: The driving structure comprises a driven shaft fixed on a rotating frame (3) and rotatably mounted inside the top end of a fixed frame (2); a driving shaft matching the driven shaft is rotatably mounted inside the bottom end of the fixed frame (2); the driving shaft and the driven shaft are connected in transmission via a transmission assembly (6) embedded in the fixed frame (2); and a driving motor (5) for rotationally driving the driving shaft is fixed to the outer wall of the bottom end of the fixed frame (2).

3. A cable-stayed bridge cable detection device according to claim 2, characterized in that: The transmission assembly (6) is a transmission gear which is fixedly sleeved on the driving shaft and the driven shaft respectively, and a transmission belt is installed between the pair of transmission gears.

4. A cable-stayed bridge cable detection device according to claim 1, characterized in that: A pair of lower dust covers (9) are butt-jointed to form a hollow trumpet-shaped structure that is wide at the top and narrow at the bottom. An annular magnetic strip is fixed to the bottom end of the lower dust cover (9), and a cleaning cotton core (13) wrapped around the outside of the steel cable is fixed to the top end of the annular magnetic strip.

5. The cable-stayed bridge cable detection device according to claim 1, characterized in that: The blowing pipe (10) avoids the cleaning cotton core (13) and penetrates obliquely upward to the inner side of the lower dust cover (9); an air pump connected to the plurality of blowing pipes (10) is fixed on the outer end wall of the wire rope climbing robot (1).

6. A cable-stayed bridge cable detection device according to claim 5, characterized in that: The upper dust collecting cover (11) is a hollow annular structure connected to the top end of the lower dust cover (9). When a pair of upper dust collecting covers (11) are connected to each other, a through hole is formed in the middle thereof for the steel cable to pass through.

7. A cable-stayed bridge cable detection device according to claim 6, characterized in that: The suction pipe (12) is tilted downward and penetrates into the upper dust collecting cover (11); a pump connected to the suction pipe (12) is installed on the outer end wall of the wire rope climbing robot (1); the other end of the pump is connected to a micro dust removal device also fixed on the wire rope climbing robot (1).

8. A method for using a cable-stayed bridge steel cable detection device, using the cable-stayed bridge steel cable detection device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: Preparing for installation, first inspecting and installing, starting a pair of electric slide rails (8), and moving a pair of cleaning components upward until they are butted against each other and sleeved outside the steel cable; Step 2: Inspection work, starting the wire rope climbing robot (1), moving upward along the wire rope by means of two sets of upper and lower climbing wheels, and inspecting the outer end surface of the wire rope by means of four sets of inspection cameras (4); During the inspection, a plurality of blowing tubes (10) are used to spray high-pressure air toward the outer end surface of the steel cable to clean the outer surface of the steel cable, and then the dirt and gas are extracted using a suction tube (12). When the steel cable climbing robot (1) climbs to the top of the steel cable, a pair of electric slide rails (8) are used to tilt the cleaning components downward to expose the top of the steel cable. In this process, the detection camera (4) is driven by the driving motor (5) to flip upward as needed, thereby expanding the detection surface of the detection camera (4) on the top of the steel cable.

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