Flying mechanical arm system for high-altitude long-span fixed steel cable detection

Abstract

The invention relates to the technical field of passenger ropeway detection, in particular to a flying mechanical arm system for high-altitude long-span fixed steel cable detection. Comprising a rotor unmanned aerial vehicle, mechanical arms, clamping mechanisms, a steel cable detection sensor, a recognition module and a positioning module, the rotor unmanned aerial vehicle is of a multi-rotor structure, the two mechanical arms are symmetrically arranged on the two sides of a fuselage of the rotor unmanned aerial vehicle, the clamping mechanisms are arranged at the tail ends of the mechanical arms, and the clamping mechanisms are used for clamping steel cables; the steel cable detection sensor, the recognition module and the positioning module are all arranged above a fuselage of the unmanned rotorcraft, and the recognition module is used for recognizing a steel cable in a large range; the positioning module is used for identifying the steel cable in a small range; the steel cable detection sensor is used for detecting the steel cable. Under the condition that the unmanned aerial vehicle identifies in a large range through the identification module and accurately positions in a small range through the positioning module, the flying mechanical arm system automatically clamps a steel cable and has the function of detecting surface abrasion, internal wire breakage and the like of a high-altitude long-span cableway.

Description

Technical Field

[0001] The invention relates to the technical field of passenger ropeway detection, and in particular to a flying mechanical arm system for high-altitude long-span fixed steel cable detection. Background Art

[0002] At present, the inspection of high-altitude long-span fixed steel cables mainly relies on inspectors carrying inspection equipment and sliding down from the steel cables for on-site inspection. The inspection workload is large, the labor intensity is high, and the inspection level is easily affected by the level and mentality of the inspectors. At the same time, the inspection points at higher positions are difficult to reach by manpower, resulting in the inability to achieve comprehensive inspection of high-altitude long-span steel cables, incomplete inspection data, and inability to conduct systematic data analysis, which also leads to incomplete and incomplete risk analysis of high-altitude long-span steel cables. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a flying robot arm system for high-altitude long-span fixed steel cable detection, which can realize the comprehensive and continuous detection function of drones in high-altitude inaccessible areas of various types of high-altitude long-span steel cables.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention provides a flying mechanical arm system for high-altitude long-span fixed steel cable detection, comprising a rotary-wing unmanned aerial vehicle, a mechanical arm, a clamping mechanism, a steel cable detection sensor, an identification module and a positioning module, wherein the rotary-wing unmanned aerial vehicle adopts a multi-rotor configuration, two mechanical arms are symmetrically arranged on both sides of a fuselage of the rotary-wing unmanned aerial vehicle, and a clamping mechanism is arranged at the end of each mechanical arm, and the clamping mechanism is used to clamp the steel cable; the steel cable detection sensor, the identification module and the positioning module are all arranged above the fuselage of the rotary-wing unmanned aerial vehicle, the identification module is used to identify the steel cable in a large range; the positioning module is used to identify the steel cable in a small range; the steel cable detection sensor is used to detect the steel cable.

[0006] The rotor UAV comprises a left fuselage, a right fuselage, a rear connecting shaft and a front connecting shaft, wherein the left fuselage and the right fuselage are connected as a whole through a rear connecting shaft and a front connecting shaft arranged in parallel, and the two mechanical arms are respectively mounted on the rear connecting shaft and the front connecting shaft.

[0007] The wire rope detection sensor is arranged between the left fuselage and the right fuselage, and the identification module and the positioning module are arranged above the left fuselage and the right fuselage respectively.

[0008] The robotic arm is a multi-degree-of-freedom robotic arm. The two robotic arms can rotate around the rear connecting axis and the front connecting axis respectively, and have a working angle of not less than 180 degrees.

[0009] The steel cable detection sensor includes a sensor bracket, a driving electric push cylinder, a steel cable surface wear visual detection module and a steel cable internal broken wire detection module, wherein the sensor bracket is connected to the rotor UAV, the steel cable internal broken wire detection module is an opening and closing structure, and the bottom of the steel cable internal broken wire detection module is installed on the sensor bracket through a rotating shaft; the two ends of the driving electric push cylinder are respectively hinged to the bottom of the opening and closing structures on both sides of the steel cable internal broken wire detection module, and the opening and closing and angle control of the steel cable internal broken wire detection module are realized by driving the electric push cylinder; the internal broken wire detection module is used for steel cable internal broken wire detection; the steel cable surface wear visual detection module is arranged on the end face of the steel cable internal broken wire detection module, and is used for steel cable surface wear detection.

[0010] The steel cable surface wear visual detection module includes multiple sensors symmetrically arranged on the end face of the steel cable internal broken wire detection module to achieve 360-degree all-round and two-time redundant detection and calibration, and can transmit the steel cable macro surface detection video to the ground end in real time.

[0011] The wire breakage detection module inside the steel cable realizes wire breakage detection inside the steel cable through the principle of magnetic leakage or residual magnetism, and can transmit the macroscopic surface detection video of the steel cable to the ground end in real time.

[0012] The clamping mechanism includes a driving servo, a clamping bracket, a driving gear, a clamp and a rotating connecting rod, wherein the clamping bracket is connected to the end of the mechanical arm, the driving servo is fixed on one side of the clamping bracket, and two mutually meshing driving gears are rotatably installed on the other side of the clamping bracket, and one driving gear is connected to the output end of the driving servo; the two driving gears are respectively hinged to the roots of the two clamps, and the two clamps are respectively hinged to the clamping bracket through two rotating connecting rods, and the driving servo provides power for the opening and closing actions of the two clamps.

[0013] An arc-shaped tooth structure is arranged on one side of the driving gear, and a crank parallel to the rotating connecting rod is arranged on the other side, and the crank is hinged to the clamper.

[0014] The recognition module is a visual sensor; the positioning module is a laser radar or a linear structured light sensor.

[0015] The advantages and beneficial effects of the present invention are:

[0016] 1. The present invention uses a drone to drive the entire detection system to drive and pull the detection sensor, thereby realizing automatic cable movement and full-line detection along the high-altitude long-span steel cable. The mechanical arm is used to realize automatic clamping of the steel cable and precise control of the relative position of the detection sensor to the steel cable, thereby improving the ability of the detection sensor to automatically move up and down the cable, and facilitating the fully autonomous and full-process operation of the drone.

[0017] 2. The present invention realizes automatic cable clamping by adopting a servo drive connecting rod mechanism, which is convenient for fully autonomous and full-process operation of the UAV, and realizes automatic opening and closing function by driving the detection sensor through a linear electric push cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a flying mechanical arm system for high-altitude long-span fixed steel cable detection according to the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the rotary-wing UAV in the present invention;

[0020] Figure 3 It is a structural schematic diagram of the clamping mechanism in the present invention;

[0021] Figure 4 It is a structural schematic diagram of the steel cable detection sensor in the present invention.

[0022] In the figure: 1 is a rotary wing UAV, 101 is a left fuselage, 102 is a right fuselage, 103 is a rear connecting shaft, 104 is a front connecting shaft, 2 is a mechanical arm, 3 is a clamping mechanism, 301 is a driving servo, 302 is a clamping bracket, 303 is a driving gear, 304 is a clamp, 305 is a rotating connecting rod, 4 is a steel cable detection sensor, 401 is a sensor bracket, 402 is a driving electric push cylinder, 403 is a steel cable surface wear visual detection module, 404 is a steel cable internal broken wire detection module, 5 is an identification module, and 6 is a positioning module. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 As shown, the present invention provides a flying mechanical arm system for high-altitude long-span fixed steel cable detection, including a rotor UAV 1, a mechanical arm 2, a clamping mechanism 3, a steel cable detection sensor 4, an identification module 5 and a positioning module 6, wherein the rotor UAV 1 adopts a multi-rotor configuration, and two mechanical arms 2 are symmetrically arranged on both sides of the fuselage of the rotor UAV 1, and a clamping mechanism 3 is provided at the end of each mechanical arm 2, and the clamping mechanism 3 is used to clamp the steel cable; the steel cable detection sensor 4, the identification module 5 and the positioning module 6 are all arranged above the fuselage of the rotor UAV 1, and the identification module 5 is used to identify the steel cable in a large range; the positioning module 6 is used to identify the steel cable in a small range; the steel cable detection sensor 4 is used to detect the steel cable.

[0025] like Figure 1 and Figure 2As shown, in an embodiment of the present invention, the rotary wing drone 1 includes a left fuselage 101, a right fuselage 102, a rear connecting shaft 103 and a front connecting shaft 104, wherein the left fuselage 101 and the right fuselage 102 are connected as a whole through the rear connecting shaft 103 and the front connecting shaft 104 arranged in parallel, so as to improve the strength and stability of the whole machine. Two mechanical arms 2 are respectively mounted on the rear connecting shaft 103 and the front connecting shaft 104, and a space distance is reserved between the left fuselage 101 and the right fuselage 102 so as to realize that the mechanical arms 2 have an operating angle of not less than 180 degrees. The wire rope detection sensor 4 is arranged between the left fuselage 101 and the right fuselage 102, and the identification module 5 and the positioning module 6 are respectively arranged above the left fuselage 101 and the right fuselage 102.

[0026] Furthermore, the robot arm 2 is a multi-degree-of-freedom robot arm, and the two robot arms 2 can rotate around the rear connecting axis 103 and the front connecting axis 104 respectively, and have a working angle of not less than 180 degrees.

[0027] like Figure 3 As shown, in the embodiment of the present invention, the clamping mechanism 3 includes a driving servo 301, a clamping bracket 302, a driving gear 303, a clamp 304 and a rotating connecting rod 305, wherein the clamping bracket 302 is connected to the end of the mechanical arm 2, the driving servo 301 is fixed on one side of the clamping bracket 302, and two mutually meshing driving gears 303 are rotatably installed on the other side of the clamping bracket 302, one driving gear 303 is connected to the output end of the driving servo 301; or two driving gears 303 are respectively connected to two driving servos 301; the two driving gears 303 are respectively hinged to the roots of the two clamps 304, and the two clamps 304 are respectively hinged to the clamping bracket 302 through two rotating connecting rods 305, and the driving servo 301 provides power for the opening and closing actions of the two clamps 304.

[0028] In an embodiment of the present invention, an arc-shaped tooth structure is provided on one side of the driving gear 303, and a crank parallel to the rotating connecting rod 305 is provided on the other side. The crank is hinged to the clamp 304 to form a parallel four-bar structure, so that the two clamps 304 always remain parallel during the opening and closing process.

[0029] like Figure 4As shown, in an embodiment of the present invention, the steel cable detection sensor 4 includes a sensor bracket 401, a driving electric push cylinder 402, a steel cable surface wear visual detection module 403 and a steel cable internal broken wire detection module 404, wherein the sensor bracket 401 is connected to the rotor UAV 1, the steel cable internal broken wire detection module 404 is an opening and closing structure whose top can be opened or closed, and the steel cable internal broken wire detection module 404 can be rotatably mounted on the sensor bracket 401 through a rotating shaft; the two ends of the driving electric push cylinder 402 are respectively hinged to the bottom opening structures on both sides of the steel cable internal broken wire detection module 404, and the top of the steel cable internal broken wire detection module 404 is driven to open or close by driving the electric push cylinder 402, thereby realizing the opening and closing and angle control of the steel cable internal broken wire detection module 404; the internal broken wire detection module 404 is used for steel cable internal broken wire detection; the steel cable surface wear visual detection module 403 is arranged on the end face of the steel cable internal broken wire detection module 404, and is used for steel cable surface wear detection.

[0030] Specifically, the wire rope surface wear visual detection module 403 includes a plurality of sensors symmetrically arranged on the end face of the wire rope internal broken wire detection module 404, so as to realize 360-degree all-round and two-time redundant detection and calibration, and can transmit the wire rope macro surface detection video to the ground end in real time. The wire rope internal broken wire detection module 404 realizes the wire rope internal broken wire detection through the principle of magnetic leakage or residual magnetism, and can transmit the wire rope macro surface detection video to the ground end in real time. In this embodiment, the wire rope internal broken wire detection module 404 is a commercially available product purchased from Luoyang Willup Testing Technology Co., Ltd., and the model is TCK.W-5G wire rope non-destructive flaw detector.

[0031] Specifically, the recognition module 5 is a visual sensor; the recognition module 5 can identify the steel cable in a large range through the visual sensor, providing a large-range rough recognition function for the mechanical arm 2 and the clamping mechanism 3 to automatically clamp the steel cable. The positioning module 6 is a laser radar or a line structured light sensor, and the positioning module 6 can identify the steel cable in a small range through the laser radar or the line structured light sensor, providing a small-range precise positioning function for the mechanical arm 2 and the clamping mechanism 3 to automatically clamp the steel cable.

[0032] The present invention provides a flying mechanical arm system for high-altitude long-span fixed wire rope detection, and its working principle is:

[0033] The present invention uses a rotary wing unmanned aerial vehicle 1 equipped with a mechanical arm 2, a clamping mechanism 3, a steel cable detection sensor 4, an identification module 5 and a positioning module 6 to realize the detection of high-altitude long-span fixed steel cables by the steel cable detection sensor 4. The identification module 5 uses a visual sensor to identify the steel cable in a large range, providing a large-range rough identification function for the mechanical arm 2 and the clamping mechanism 3 to automatically clamp the steel cable; the positioning module 6 can identify the steel cable in a small range through a laser radar or a line structured light sensor, providing a small-range precise positioning function for the mechanical arm 2 and the clamping mechanism 3 to automatically clamp the steel cable; the steel cable detection sensor 4 includes a steel cable surface wear visual detection module 403 and a steel cable internal broken wire detection module 404, which drives the mechanical arm 2 and the clamping mechanism 3 to accurately clamp the steel cable, thereby realizing the automatic cable clamping function; the rotary wing unmanned aerial vehicle 1 realizes the precise control of the position of the mechanical arm 2 relative to the steel cable by controlling the left and right fuselage rotors; the mechanical arm 2 realizes the precise clamping of the steel cable by the end clamping mechanism 3 by controlling multiple joints.

[0034] The present invention can realize the detection functions of the UAV such as automatic clamping of steel cables and surface wear and internal wire breakage of high-altitude long-span cableways by the flying mechanical arm system under the large-scale recognition of the recognition module and the small-scale precise positioning of the positioning module. The UAV can realize comprehensive and continuous detection of high-altitude long-span fixed steel cables in high-altitude inaccessible areas, thereby reducing manpower workload and lowering the risk of high-altitude detection.

[0035] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A flying mechanical arm system for high-altitude long-span fixed wire rope detection, characterized in that: The invention comprises a rotary-wing unmanned aerial vehicle (1), a mechanical arm (2), a clamping mechanism (3), a steel cable detection sensor (4), an identification module (5) and a positioning module (6), wherein the rotary-wing unmanned aerial vehicle (1) adopts a multi-rotor configuration, two mechanical arms (2) are symmetrically arranged on both sides of a fuselage of the rotary-wing unmanned aerial vehicle (1), and a clamping mechanism (3) is arranged at the end of each mechanical arm (2), and the clamping mechanism (3) is used to clamp the steel cable; the steel cable detection sensor (4), the identification module (5) and the positioning module (6) are all arranged above the fuselage of the rotary-wing unmanned aerial vehicle (1), the identification module (5) is used to identify the steel cable in a large range; the positioning module (6) is used to identify the steel cable in a small range; and the steel cable detection sensor (4) is used to detect the steel cable.

2. The flying mechanical arm system for high-altitude long-span fixed wire rope detection according to claim 1 is characterized in that: The rotary wing drone (1) comprises a left fuselage (101), a right fuselage (102), a rear connecting shaft (103) and a front connecting shaft (104), wherein the left fuselage (101) and the right fuselage (102) are connected as a whole via a rear connecting shaft (103) and a front connecting shaft (104) arranged in parallel, and the two mechanical arms (2) are respectively mounted on the rear connecting shaft (103) and the front connecting shaft (104).

3. The flying mechanical arm system for high-altitude long-span fixed wire rope detection according to claim 2 is characterized in that: The wire rope detection sensor (4) is arranged between the left fuselage (101) and the right fuselage (102), and the identification module (5) and the positioning module (6) are arranged above the left fuselage (101) and the right fuselage (102), respectively.

4. The flying mechanical arm system for high-altitude long-span fixed wire rope detection according to claim 2 is characterized in that: The mechanical arm (2) is a multi-degree-of-freedom mechanical arm. The two mechanical arms (2) can rotate around the rear connecting axis (103) and the front connecting axis (104) respectively, and have an operating angle of not less than 180 degrees.

5. The flying mechanical arm system for high-altitude long-span fixed wire rope inspection according to claim 1 is characterized in that: The steel cable detection sensor (4) comprises a sensor bracket (401), a driving electric push cylinder (402), a steel cable surface wear visual detection module (403) and a steel cable internal broken wire detection module (404), wherein the sensor bracket (401) is connected to the rotor UAV (1), the steel cable internal broken wire detection module (404) is a top opening and closing structure, and the bottom two sides of the steel cable internal broken wire detection module (404) are mounted on the sensor bracket (401) through a rotating shaft; the two ends of the driving electric push cylinder (402) are respectively hinged to the bottom two sides of the steel cable internal broken wire detection module (404) opening and closing and angle control of the steel cable internal broken wire detection module (404) are achieved by driving the electric push cylinder (402); the internal broken wire detection module (404) is used for steel cable internal broken wire detection; the steel cable surface wear visual detection module (403) is arranged on the end face of the steel cable internal broken wire detection module (404) and is used for steel cable surface wear detection.

6. The flying mechanical arm system for high-altitude long-span fixed wire rope inspection according to claim 5, characterized in that: The steel cable surface wear visual detection module (403) includes a plurality of sensors symmetrically arranged on the end face of the steel cable internal broken wire detection module (404) in front, back, left and right directions, so as to realize 360-degree all-round and front and back redundant detection and calibration, and can transmit the steel cable macroscopic surface detection video to the ground end in real time.

7. The flying mechanical arm system for high-altitude long-span fixed wire rope inspection according to claim 5, characterized in that: The wire break detection module (404) inside the steel cable realizes wire break detection inside the steel cable through the principle of magnetic leakage or residual magnetism, and can transmit the steel cable macroscopic surface detection video back to the ground end in real time.

8. The flying mechanical arm system for high-altitude long-span fixed wire rope inspection according to claim 1, characterized in that: The clamping mechanism (3) comprises a driving servo (301), a clamping bracket (302), a driving gear (303), a clamp (304) and a rotating connecting rod (305), wherein the clamping bracket (302) is connected to the end of the mechanical arm (2), the driving servo (301) is fixed to one side of the clamping bracket (302), and two mutually meshing driving gears (303) are rotatably mounted on the other side of the clamping bracket (302), and one driving gear (303) is connected to the output end of the driving servo (301); the two driving gears (303) are respectively hinged to the roots of the two clamps (304), and the two clamps (304) are respectively hinged to the clamping bracket (302) through two rotating connecting rods (305), and the driving servo (301) provides power for the opening and closing actions of the two clamps (304).

9. The flying mechanical arm system for high-altitude long-span fixed wire rope inspection according to claim 8, characterized in that: An arc-shaped tooth structure is provided on one side of the driving gear (303), and a crank parallel to the rotating connecting rod (305) is provided on the other side, and the crank is hinged to the clamp (304).

10. The flying mechanical arm system for high-altitude long-span fixed wire rope inspection according to claim 1, characterized in that: The recognition module (5) is a visual sensor; the positioning module (6) is a laser radar or a linear structured light sensor.

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