Bridge steel cable detection crawling robot and detection method thereof

Abstract

The invention relates to the field of bridge steel cable detection, in particular to a bridge steel cable detection crawling robot and a detection method thereof.The bridge steel cable detection crawling robot comprises two connecting bridges, the two connecting bridges are fixedly connected with two combined frames, the front ends and the rear ends of the combined frames are rotationally connected with walking wheels, and the combined frames are fixedly connected with first springs; the lower ends of the first springs are fixedly connected with pushing pieces, the combined frames are sleeved with elastic belts, the lower ends of the elastic belts are fixedly connected with magnet plates, the magnet plates are attached to the lower ends of the pushing pieces, the combined frames are provided with trigger mechanisms, each combined frame is provided with an installation lug, and each installation lug is provided with two installation holes. And the maintenance efficiency is further improved.

Description

Technical Field

[0001] The invention relates to the field of bridge steel cable detection, and in particular to a bridge steel cable detection crawling robot and a detection method thereof. Background Art

[0002] The bridge cable inspection robot is an intelligent device that integrates advanced drive, video, radar, speed gyro anti-flip and other systems. It can quickly crawl on the bridge cable, collect high-definition images and identify defects of the cable, including research and analysis of surface damage and internal broken wires. The inspector only needs to remotely control it on the ground to receive the inspection data in real time through the terminal; however, the existing inspection robot cannot mark the damaged part of the cable after inspection, which makes it inconvenient for the staff to find the damaged part later. Summary of the invention

[0003] In view of this, the technical problem to be solved by the present invention is to provide a bridge cable inspection crawling robot and a detection method thereof. The present invention can mark the damaged parts of the cable to further improve the maintenance efficiency.

[0004] A bridge cable inspection crawling robot comprises two connecting bridges, two combination frames are fixedly connected to the two connecting bridges, the front and rear ends of the combination frames are rotatably connected with walking wheels, the combination frames are fixedly connected with a first spring, the lower end of the first spring is fixedly connected with a push piece, an elastic belt is sleeved on the combination frame, the lower end of the elastic belt is fixedly connected with a magnet plate, the magnet plate is attached to the lower end of the push piece, the combination frame is provided with a trigger mechanism, each combination frame is provided with a mounting ear, and the mounting ear is provided with two mounting holes.

[0005] The trigger mechanism comprises a slide bar which is slidably connected to the assembly frame, a rotating frame is fixedly connected to the lower end of the slide bar, a contact roller is rotatably connected inside the rotating frame, a second spring is sleeved on the slide bar, and the second spring is located between the rotating frame and the assembly frame.

[0006] The upper end of the slide rod is fixedly connected with a fixing frame, the fixing frame is provided with a sliding groove, a chopping knife is slidably connected in the sliding groove, a plurality of positioning holes are provided on the fixing frame, a positioning hole is provided on the chopping knife, and the chopping knife is located above the elastic band.

[0007] A camera is fixedly connected to the combined frame.

[0008] A pressure tank is fixedly connected to the combined frame, and a spray head is fixedly connected to the lower end of the pressure tank.

[0009] A baffle is fixedly connected to the combined frame, and the spray head is located inside the baffle.

[0010] The elastic band is made of a rubber band.

[0011] The contact surface between the magnet plate and the push piece is provided with a reflective layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0013] Figure 1 and Figure 2 This is a schematic diagram of the overall structure of a bridge cable inspection crawling robot;

[0014] Figure 3 It is a structural schematic diagram of the combined frame;

[0015] Figure 4 It is a structural schematic diagram of the travel wheel;

[0016] Figure 5 It is a structural schematic diagram of a pressure tank;

[0017] Figure 6 is a schematic diagram of the structure of the contact roller;

[0018] Figure 7 It is a structural schematic diagram of the sliding bar;

[0019] Figure 8 Schematic diagram of the structure of the magnet plate. DETAILED DESCRIPTION

[0020] The present invention is described in detail with reference to the accompanying drawings in the embodiments of the present invention.

[0021] See also Figure 1-5 and Figure 8 ,

[0022] A bridge cable inspection crawling robot comprises two connecting bridges, both connecting bridges are fixedly connected to two combined frames 101, front and rear ends of the combined frames 101 are rotatably connected to walking wheels 103 through bearings, the combined frames 101 are fixedly connected to a first spring 401, a push piece 402 is fixedly connected to the lower end of the first spring 401, an elastic band 404 is sleeved on the combined frames 101, a magnet plate 403 is fixedly connected to the lower end of the elastic band 404, the magnet plate 403 is attached to the lower end of the push piece 402, the combined frames 101 are provided with a trigger mechanism, each combined frame 101 is provided with a mounting ear 102, and the mounting ear 102 has two mounting holes.

[0023] The connecting bridge is a right-angle frame connecting the two combined frames 101. When using the crawling robot, the staff first buckles the two connecting bridges together on the steel cable to be tested so that the mounting ears 102 on each combined frame 101 are aligned, and then fixes the mounting ears 102 with bolts and nuts. At this time, multiple walking wheels 103 are in contact with the outer wall of the steel cable.

[0024] Each walking wheel 103 is driven by a separate motor, so that the walking wheel 103 rotates, realizing the function of the robot crawling on the steel cable. During the crawling process of the robot, the surface of the steel cable is inspected and processed. When the surface of the steel cable is damaged, the elastic band 404 is cut by the trigger mechanism. At this time, the push piece 402 can push the magnet plate 403 out under the elastic action of the first spring 401, so that the magnet plate 403 uses its own magnetism to adsorb on the damaged surface of the steel cable, thereby marking the damaged part of the steel cable, making it easier for subsequent staff to find the location, thereby facilitating subsequent maintenance and processing, and during the maintenance, it is easy to remove the magnet plate 403 for recycling.

[0025] See also Figure 5-6 ,

[0026] The trigger mechanism includes a slide bar 201, which is slidably connected to the assembly frame 101. The lower end of the slide bar 201 is fixedly connected to a rotating frame 301 by bolts. A contact roller 302 is rotatably connected to the rotating frame 301 through a bearing. A second spring 303 is sleeved on the slide bar 201 and is located between the rotating frame 301 and the assembly frame 101.

[0027] When the robot is crawling, multiple contact rollers 302 contact multiple surfaces of the steel cable respectively, and the rotating frame 301 drives the slide bar 201 to slide upward, so that the second spring 303 is compressed by force. Then, when the contact roller 302 contacts the damaged part of the surface of the steel cable, the slide bar 201 moves, thereby facilitating subsequent marking processing.

[0028] See also Figure 7 ,

[0029] The upper end of the slide rod 201 is fixedly connected to a fixing frame 202 by bolts. The fixing frame 202 is provided with a slide groove 203. A chopping knife 204 is slidably connected in the slide groove 203. The fixing frame 202 is provided with a plurality of positioning holes 205. The chopping knife 204 is provided with a positioning hole 205. The chopping knife 204 is located above the elastic band 404.

[0030] When installing the robot, multiple contact rollers 302 contact the surface of the steel cable, causing the slide bar 201 to slide, thereby facilitating detection and processing on steel cables of different diameters. After the robot is fixed, the chopping knife 204 is adjusted to slide in the slide groove 203 according to the length of the slide bar 201 extending upward, so that the chopping knife 204 is located just above the elastic band 404, and then the positioning pin is inserted into the corresponding positioning holes 205 of the fixing frame 202 and the chopping knife 204, so that the chopping knife 204 is fixed in the slide groove 203.

[0031] When the contact roller 302 contacts the damaged part of the steel cable surface, the depression will cause the slide bar 201 to slide toward the steel cable, thereby driving the cutting knife 204 to move downward. The cutting knife 204 cuts the elastic band 404, thereby releasing the magnet plate 403 to mark the damaged surface of the steel cable, thereby realizing the function of detecting the surface of the steel cable.

[0032] See also Figure 6 ,

[0033] A camera 104 is fixedly connected to the assembly frame 101 by bolts. The camera 104 is used to shoot images of the surface of the steel cable. By connecting the camera 104 to a host computer, the captured images are transmitted to the host computer, thereby realizing a real-time detection function, making it convenient for staff to take maintenance measures on site.

[0034] See also Figure 5 ,

[0035] The assembly frame 101 is fixedly connected with a pressure tank 106 by bolts, and the lower end of the pressure tank 106 is fixedly connected with a nozzle (105).

[0036] When the camera 104 at the corresponding position captures that the paint surface of the steel cable is missing, the anti-corrosion paint inside the pressure tank 106 is sprayed out through the nozzle (105), so that the anti-corrosion paint can be replenished on the surface of the steel cable. In this way, maintenance measures can be taken in time after detection, thereby saving maintenance time and improving maintenance efficiency.

[0037] See also Figure 4-6 ,

[0038] A shield 104 is welded and fixedly connected to the assembly frame 101, and the nozzle 105 is located in the shield 104.

[0039] The shield 104 is used to shield the anti-corrosion paint, thereby preventing the anti-corrosion paint from being scattered around due to wind factors when it is sprayed, thereby avoiding affecting the surrounding environment.

[0040] See also Figure 8 ,

[0041] The elastic band 404 is made of a rubber band, which has good elasticity and corrosion resistance and is easy to cut, thus meeting the use requirements of the elastic band 404 .

[0042] See also Figure 8 ,

[0043] The contact surface between the magnet plate 403 and the push piece 402 is provided with a reflective layer, which makes it easier for the staff to find the position to be repaired at night.

[0044] See also Figure 8 ,

[0045] The magnet plate 403 is arc-shaped, and the arc-shaped magnet plate 403 can better fit on the surface of the steel cable.

[0046] A bridge cable detection method, the method comprising the following steps:

[0047] Step 1: buckle the two connecting bridges onto the steel cable to be tested, so that the mounting ears 102 on each assembly frame 101 are aligned, and then fix the mounting ears 102 with bolts and nuts;

[0048] Step 2: After the robot is fixed, the chopping knife 204 is adjusted to slide in the slide groove 203 according to the length of the slide bar 201 extending upward, so that the chopping knife 204 is located just above the elastic band 404;

[0049] Step 3: Insert the positioning pin into the corresponding positioning holes 205 of the fixing frame 202 and the chopping knife 204, so that the chopping knife 204 is fixed in the slide groove 203;

[0050] Step 4: driving each walking wheel 103 by a separate motor to realize the function of the robot crawling on the steel cable, and detecting and processing the surface of the steel cable during the crawling process of the robot;

[0051] Step 5: Use the trigger mechanism to cut the elastic band 404, so that the magnet plate 403 uses its own magnetism to adsorb on the damaged surface of the steel cable, and mark the damaged part of the steel cable.

Claims

1. A bridge cable inspection crawling robot, characterized by: The invention comprises two connecting bridges, and two assembly frames (101) are fixedly connected to the two connecting bridges. Both front and rear ends of the assembly frames (101) are rotatably connected with walking wheels (103). The assembly frames (101) are fixedly connected with a first spring (401). The lower end of the first spring (401) is fixedly connected with a push piece (402). An elastic band (404) is sleeved on the assembly frame (101). The lower end of the elastic band (404) is fixedly connected with a magnet plate (403). The magnet plate (403) is attached to the lower end of the push piece (402). The assembly frame (101) is provided with a trigger mechanism. Each assembly frame (101) is provided with a mounting ear (102). Two mounting holes are provided on the mounting ear (102).

2. A bridge cable inspection crawling robot according to claim 1, characterized in that: The trigger mechanism comprises a slide bar (201), the slide bar (201) is slidably connected to the assembly frame (101), the lower end of the slide bar (201) is fixedly connected to a rotating frame (301), a contact roller (302) is rotatably connected inside the rotating frame (301), a second spring (303) is sleeved on the slide bar (201), and the second spring (303) is located between the rotating frame (301) and the assembly frame (101).

3. A bridge cable inspection crawling robot according to claim 2, characterized in that: The upper end of the slide bar (201) is fixedly connected to a fixing frame (202), a sliding groove (203) is provided on the fixing frame (202), a chopping knife (204) is slidably connected in the sliding groove (203), a plurality of positioning holes (205) are provided on the fixing frame (202), a positioning hole (205) is provided on the chopping knife (204), and the chopping knife (204) is located above the elastic band (404).

4. A bridge cable inspection crawling robot according to claim 3, characterized in that: A camera (104) is fixedly connected to the assembly frame (101).

5. The bridge cable inspection crawling robot according to claim 4, characterized in that: A pressure tank (106) is fixedly connected to the assembly frame (101), and a spray head (105) is fixedly connected to the lower end of the pressure tank (106).

6. The bridge cable inspection crawling robot according to claim 5, characterized in that: The assembly frame (101) is fixedly connected with a shield (104), and the spray head (105) is located inside the shield (104).

7. The bridge cable inspection crawling robot according to claim 1, characterized in that: The elastic band (404) is made of a rubber band.

8. The bridge cable inspection crawling robot according to claim 1, characterized in that: The contact surface between the magnet plate (403) and the push piece (402) is provided with a reflective layer.

9. The bridge cable inspection crawling robot according to claim 1, characterized in that: The magnet plate (403) is arc-shaped.

10. A method for inspecting steel cables using a bridge steel cable inspection crawling robot, characterized in that: The method comprises the following steps: Step 1: buckle the two connecting bridges onto the steel cable to be tested so that the mounting ears (102) on each assembly frame (101) are aligned, and then fix the mounting ears (102) with bolts and nuts; Step 2: After the robot is fixed, the chopping knife (204) is adjusted to slide in the slide groove (203) according to the length of the slide bar (201) extending upward, so that the chopping knife (204) is located just above the elastic band (404); Step 3: insert the positioning pin into the corresponding positioning holes (205) of the fixing frame (202) and the chopping knife (204), so that the chopping knife (204) is fixed in the slide groove (203); Step 4: driving each walking wheel (103) by a separate motor to realize the function of the robot crawling on the steel cable, and detecting and processing the surface of the steel cable during the crawling process of the robot; Step 5: Using the trigger mechanism to cut the elastic band (404), so that the magnet plate (403) can be adsorbed on the damaged surface of the steel cable by its own magnetism, and the damaged part of the steel cable is marked.

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