Bridge steel cable defect detection device based on cable climbing robot

Abstract

The utility model belongs to the technical field of bridge steel cable defect detection, particularly relates to a bridge steel cable defect detection device based on a cable climbing robot, and aims to solve the problems that an existing bridge steel cable defect detection device improves the climbing capacity, increases the positive pressure between a rope grabbing wheel and a cable, is large in mechanism internal force, and is very serious in damage of the rope grabbing wheel in the actual climbing process. In order to solve the problems that in the prior art, rope grabbing wheels are damaged when the rope grabbing wheels climb for a round trip and even climb for a round trip, and meanwhile the rope grabbing wheels are prone to damaging the surface layer of a steel rope in the walking process, the following scheme is provided that the rope climbing robot comprises a rope climbing robot body, a steel rope clamping assembly and a robot moving assembly, and the steel rope clamping assembly and the robot moving assembly are located in the rope climbing robot body. According to the cable climbing robot, the cable climbing robot body can adapt to steel cables with different diameters, meanwhile, it can be ensured that the cable and the robot do not move relatively when the cable climbing robot body stops moving, and the cable climbing robot body is prevented from deviating when a certain position of the inhaul cable is observed.

Description

Technical Field

[0001] The utility model relates to a bridge cable defect detection device, in particular to a bridge cable defect detection device based on a cable-climbing robot, belonging to the technical field of bridge cable defect detection. Background Technique

[0002] Cables are one of the core components of cable-stayed bridges such as arch bridges, cable-stayed bridges, and suspension bridges. As a load-bearing member, its stress state plays an extremely important role in the safety of the overall structure of the bridge; the working state of the cable is one of the important indicators of whether the bridge is in a safe state. Due to the long-term exposure of the cable to the air, affected by factors such as wind and rain, ultraviolet radiation, and human damage, the surface protective layer will harden and be damaged, which will then cause the internal steel wire bundle or steel strand to be corroded. In severe cases, even wire breakage will occur; on the other hand, due to reasons such as wind vibration and rain vibration, the friction between the steel wire bundles inside the cable causes wire wear, and in severe cases, wire breakage will also occur; therefore, in order to prevent cable breakage events from occurring during the daily use of the cable, it is necessary to regularly detect the stay cables for flaw detection. When detecting the stay cables for flaw detection, a cable-climbing robot needs to be used to carry a detection structure to crawl on the stay cable, so as to comprehensively detect the stay cable during the crawling process.

[0003] In the prior art, such as the bridge cable defect detection device based on a cable-climbing robot disclosed in the patent with the publication number of CN213804878U, which includes a frame, a motor base, a sliding sleeve, a motor, and a threaded rod. The bottom of the frame is bolted with the motor base. The threaded rod passes through the motor base and is connected to the output shaft of the motor installed at the bottom of the motor base. A square-column-shaped sliding column is connected to the threaded rod through a thread. The sliding column is slidably connected inside the sliding sleeve. The sliding sleeve vertically penetrates and is fixed at the bottom of the frame. One end of the sliding column is fixed with a rope-gripping wheel support one. Two rope-gripping wheels are rotatably connected inside the rope-gripping wheel support one. A storage battery and a control unit are respectively arranged at the bottom inside the frame on both sides of the sliding sleeve. The utility model uses a threaded rod to drive the sliding column to lift and lower in the sliding sleeve so that the first rope-gripping wheel and the second rope-gripping wheel clamp the cable for cable climbing, so the operation steps are simple and easy to use.

[0004] The above patent uses a threaded rod to drive the sliding column to lift and lower in the sliding sleeve so that the first rope-gripping wheel and the second rope-gripping wheel clamp the cable for cable climbing. In this way, the operation steps are simple and easy to use. However, in actual use, in order to improve the climbing ability and increase the normal pressure between the rope-gripping wheel and the cable, the internal force of the mechanism is very large. During the actual climbing process, the rope-gripping wheel is damaged very seriously. Even after climbing back and forth once, the rope-gripping wheel is damaged. At the same time, the rope-gripping wheel is also likely to damage the surface layer of the cable during the walking process. Summary of the Utility Model

[0005] The present utility model provides a bridge cable defect detection device based on a cable climbing robot to solve the above problems. In order to improve the climbing ability and increase the normal pressure between the rope gripping wheel and the cable, the internal force of the mechanism is very large. During the actual climbing process, the rope gripping wheel is severely damaged. Even after climbing back and forth once, the rope gripping wheel is damaged. At the same time, the rope gripping wheel is also likely to damage the surface layer of the steel cable during the walking process.

[0006] The present utility model realizes the above object through the following technical solutions: A bridge cable defect detection device based on a cable climbing robot, comprising a cable climbing robot body, and a steel cable clamping assembly and a robot moving assembly located inside the cable climbing robot body;

[0007] The steel cable clamping assembly includes a lead screw motor, the output end of the lead screw motor is fixedly connected with a bidirectional lead screw, the surface of the bidirectional lead screw is threadedly connected with two groups of clamping rings, and an anti-slip pad is adhered inside the clamping rings.

[0008] As a further scheme of the present utility model: The robot moving assembly includes a chute, the chute is located inside the cable climbing robot body, and a fixed block is fixedly installed on one side of the chute.

[0009] As a further scheme of the present utility model: A hydraulic cylinder is fixedly installed on the surface of the fixed block, and a hydraulic cylinder output end is installed on one side of the hydraulic cylinder.

[0010] As a further scheme of the present utility model: The other side of the hydraulic cylinder output end is fixedly connected with a slider, and the internal structure of the slider and the fixed block fits.

[0011] As a further scheme of the present utility model: The lead screw motor is fixedly installed inside the slider.

[0012] As a further scheme of the present utility model: An electromagnetic non-destructive testing unit and a CCD camera are fixedly installed on the top of the cable climbing robot body.

[0013] As a further scheme of the present utility model: A steel cable body is clamped inside the two groups of clamping rings.

[0014] The beneficial effects of the present utility model are:

[0015] 1. By setting the steel cable clamping assembly, the cable climbing robot body can adapt to steel cables of different diameters, increasing the applicable range of the device. At the same time, this setting can ensure that there is no relative movement between the rope and the robot when the cable climbing robot body stops moving, avoiding the deviation of the cable climbing robot body when observing a certain position of the stay cable;

[0016] 2. The robot moving component is provided to facilitate the approach or separation of the two clamping components, thereby enabling the cable climbing robot body to walk on the steel cable. This setting not only has a simple structure and reduces the overall weight, but also can avoid damaging the steel cable during walking, ensuring the quality of the steel cable.

[0017] 3. The electromagnetic non-destructive testing unit is provided to perform electromagnetic testing on the steel cable to identify defects or damages inside the steel cable. At the same time, the CCD camera performs visual inspection on the surface of the steel cable to record the appearance of the steel cable. This setting can accurately record the test results of the steel cable and provide reliable data support for subsequent maintenance. The combination of the two realizes the comprehensive inspection of the steel cable. During the inspection process, the robot can replace manual work for high-altitude operations, reducing the safety risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present utility model;

[0019] Figure 2 It is a schematic diagram of the structure of the cable climbing robot body of the present utility model viewed from below;

[0020] Figure 3 It is a schematic diagram of the structure of the robot moving component of the present utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the steel cable clamping component of the present utility model.

[0022] In the figure: 1. Cable climbing robot body; 2. Steel cable body; 3. Electromagnetic non-destructive testing unit; 4. Steel cable clamping component; 401. Clamping ring; 402. Anti-slip pad; 403. Lead screw motor; 404. Bidirectional lead screw; 5. Robot moving component; 501. Slide block; 502. Hydraulic cylinder output end; 503. Chute; 504. Hydraulic cylinder; 505. Fixed block; 6. CCD camera. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] Embodiment 1

[0025] As Figures 1 to 4 shown, a bridge steel cable defect detection device based on a cable climbing robot includes a cable climbing robot body 1, as well as a steel cable clamping component 4 and a robot moving component 5 located inside the cable climbing robot body 1;

[0026] The cable clamping assembly 4 includes a lead screw motor 403. The output end of the lead screw motor 403 is fixedly connected to a bidirectional lead screw 404. Two sets of clamping rings 401 are threadedly connected to the surface of the bidirectional lead screw 404. An anti-slip pad 402 is adhesively bonded inside the clamping ring 401. Starting the lead screw motor 403 drives the bidirectional lead screw 404 to rotate, thereby causing the two sets of clamping rings 401 to move towards or away from each other, thus clamping or releasing the cable body 2. The anti-slip pad 402 inside the clamping ring 401 can ensure that the cable is firmly clamped. Through the design of the cable clamping assembly 4, the robot can adapt to cables of different diameters, increasing the applicable range of the device. At the same time, this setting can ensure that there is no relative movement between the rope and the robot when the cable climbing robot body 1 stops moving, avoiding the cable climbing robot body 1 from shifting when observing a certain position of the stay cable.

[0027] Embodiment 2

[0028] In addition to including all the technical features in Embodiment 1, this embodiment further includes:

[0029] The robot moving assembly 5 includes a chute 503. The chute 503 is located inside the cable climbing robot body 1. A fixed block 505 is fixedly installed on one side of the chute 503. The chute 503 facilitates the movement of the slider 501 inside it. This setting not only has a simple structure, reduces the overall weight, but also can avoid damaging the cable during walking, ensuring the quality of the cable.

[0030] A hydraulic cylinder 504 is fixedly installed on the surface of the fixed block 505. A hydraulic cylinder output end 502 is installed on one side of the hydraulic cylinder 504. Starting the hydraulic cylinder 504 can push the hydraulic cylinder output end 502.

[0031] The other side of the hydraulic cylinder output end 502 is fixedly connected to a slider 501. The internal structure of the slider 501 matches that of the fixed block 505. When the hydraulic cylinder output end 502 moves, it can drive the connected slider 501 to move inside the chute 503, realizing the approach or separation of the two clamping assemblies.

[0032] Embodiment 3

[0033] In addition to including all the technical features in Embodiment 1, this embodiment further includes:

[0034] The lead screw motor 403 is fixedly installed inside the slider 501. The lead screw motor 403 is used to rotate the bidirectional lead screw 404.

[0035] At the top of the cable climbing robot body 1, an electromagnetic non-destructive testing unit 3 and a CCD camera 6 are fixedly installed; the electromagnetic non-destructive testing unit 3 performs electromagnetic detection on the steel cable to identify defects or damages inside the steel cable. At the same time, the CCD camera 6 performs visual detection on the surface of the steel cable to record the appearance of the steel cable. This setting can accurately record the detection results of the steel cable and provide reliable data support for subsequent maintenance. The combination of the two realizes the comprehensive detection of the steel cable.

[0036] The steel cable body 2 is clamped inside two groups of clamping rings 401. As a load-bearing member, the stress condition of the steel cable body 2 plays an extremely important role in the safety of the overall structure of the bridge.

[0037] Working principle: When using the bridge steel cable defect detection device based on the cable climbing robot, the cable climbing robot body 1 can be placed on the steel cable. Through the set steel cable clamping assembly 4, start the lead screw motor 403 to drive the bidirectional lead screw 404 to rotate, and then make the two groups of clamping rings 401 move towards or away from each other, so as to clamp or release the steel cable body 2. The anti-slip pad 402 inside the clamping ring 401 can ensure that the steel cable is firmly clamped. Through the design of the steel cable clamping assembly 4, the robot can adapt to steel cables of different diameters, increasing the applicable range of the device. At the same time, this setting can ensure that there is no relative movement between the rope and the robot when the cable climbing robot body 1 stops moving, avoiding the deviation of the cable climbing robot body 1 when observing a certain position of the stay cable; when walking, one clamping assembly remains clamped and the other clamping assembly releases the clamping. Through the set robot moving assembly 5, start the hydraulic cylinder 504 to push the output end 502 of the hydraulic cylinder and the connected slider 501 to move in the chute 503, realizing the approach or separation of the two clamping assemblies, so as to realize the walking of the cable climbing robot body 1 on the steel cable. This setting not only has a simple structure and reduces the overall weight, but also can avoid damaging the steel cable during walking, ensuring the quality of the steel cable; when the cable climbing robot body 1 moves along the steel cable, the electromagnetic non-destructive testing unit 3 at the top performs electromagnetic detection on the steel cable to identify defects or damages inside the steel cable. At the same time, the CCD camera 6 performs visual detection on the surface of the steel cable to record the appearance of the steel cable. This setting can accurately record the detection results of the steel cable and provide reliable data support for subsequent maintenance. The combination of the two realizes the comprehensive detection of the steel cable. During the detection process, the robot can replace manual labor for high-altitude operations, reducing the safety risk.

[0038] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and the present utility model can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model. Any reference signs in the claims should not be construed as limiting the claims involved.

[0039] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A bridge steel cable defect detection device based on a cable-climbing robot, characterized in that: It includes a cable climbing robot body (1), as well as a steel cable clamping assembly (4) and a robot moving assembly (5) located inside the cable climbing robot body (1); The steel cable clamping assembly (4) includes a lead screw motor (403), the output end of the lead screw motor (403) is fixedly connected with a bidirectional lead screw (404), two groups of clamping rings (401) are threadedly connected to the surface of the bidirectional lead screw (404), and an anti-slip pad (402) is adhered inside the clamping ring (401).

2. The bridge steel cable defect detection device based on a cable climbing robot according to claim 1, wherein: The robot moving assembly (5) includes a chute (503), the chute (503) is located inside the cable climbing robot body (1), and a fixed block (505) is fixedly installed on one side of the chute (503).

3. The bridge cable defect detection device based on a cable climbing robot according to claim 2, wherein: A hydraulic cylinder (504) is fixedly installed on the surface of the fixed block (505), and a hydraulic cylinder output end (502) is installed on one side of the hydraulic cylinder (504).

4. The bridge steel cable defect detection device based on a cable climbing robot according to claim 3, characterized in that: The other side of the hydraulic cylinder output end (502) is fixedly connected with a slider (501), and the internal structures of the slider (501) and the fixed block (505) match each other.

5. The bridge steel cable defect detection device based on a cable climbing robot according to claim 4, characterized in that: The lead screw motor (403) is fixedly installed inside the slider (501).

6. The bridge steel cable defect detection device based on a cable climbing robot according to claim 1, characterized in that: An electromagnetic non-destructive testing unit (3) and a CCD camera (6) are fixedly installed on the top of the cable climbing robot body (1).

7. The bridge cable defect detection device based on a cable climbing robot according to claim 1, characterized in that: A steel cable body (2) is clamped inside the two groups of clamping rings (401).

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