Bridge boom climbing inspection robot

Abstract

The utility model relates to cable detection technical field, concretely to a kind of bridge boom cable climbing detection robot, including first connecting frame and adjusting mechanism;First connecting frame is equipped with second connecting frame, and first connecting frame and second connecting frame are provided with three annular array distribution and have the fixed frame of long hole, two guide rods with multiple linear array distribution through hole are slidably connected on the fixed frame, and mounting bracket is provided on the guide rod;Adjusting mechanism includes the thread barrel being set on the fixed frame, the threaded rod being threadedly connected on the thread barrel, the rotary connecting piece being set on the mounting bracket, the hand wheel being set on the threaded rod, two limit insertion rods passing through long hole and through hole, the stop ring and screw rod respectively being set on the both ends of limit insertion rod, and the nut being threadedly connected on screw rod.The utility model improves the distribution mode of guide wheel to improve the stability when cable climbing, simultaneously optimizes the mounting mode of guide wheel, can adapt to different size cable, expand the scope of application.

Description

Technical Field

[0001] This utility model relates to the field of cable inspection technology, and in particular to a bridge suspender cable climbing inspection robot. Background Technology

[0002] Cable-stayed bridges, as a new form of modern bridge, have been widely used worldwide. However, as one of the three load-bearing components of a cable-stayed bridge, the stay cables are exposed to the air for a long time. Due to wind, rain and sunlight, the surface of the stay cables will develop varying degrees of corrosion, aging and cracking. These will pose serious safety hazards to the bridge. Therefore, it is necessary to regularly inspect the stay cables and take repair measures.

[0003] Chinese Patent CN218614091U discloses a walking cable-stayed bridge monitoring robot, comprising a cable-stayed bridge body, two monitoring robot bodies, and two batteries. The two monitoring robot bodies are respectively positioned on the left and right sides of the cable-stayed bridge body, and the two batteries are respectively fixed to opposite sides of the two monitoring robot bodies. Each of the two monitoring robot bodies has a pressing mechanism on its upper and lower sides, and a connecting mechanism for connecting the two monitoring robot bodies is provided on its front and rear sides. This walking cable-stayed bridge monitoring robot connects the two monitoring robots by engaging a positioning rod inside a clamping plate and rotating a nut to make the nut tightly abut against the clamping plate. During the connection process, the torsion springs on the left and right sides of the cable-stayed bridge body twist, and the guide wheels abut against the cable-stayed bridge body, effectively increasing the friction between the guide wheels and the cable-stayed bridge body, further increasing the stability of the two monitoring robots during climbing and monitoring.

[0004] However, the above technical solution has the following shortcomings: the symmetrical distribution of the two sets of guide wheels on the robot can easily lead to slippage of one side wheel when climbing the cable, and the torsion spring requires precise adjustment of the preload. If it is not installed properly, it can easily lead to uneven pressure, which will reduce stability and increase the risk of failure. Utility Model Content

[0005] The purpose of this invention is to address the problems existing in the background technology by proposing a bridge cable climbing inspection robot. The robot improves the distribution of guide wheels to enhance stability during cable climbing and optimizes the installation method of guide wheels to adapt to cables of different sizes, thus expanding its application range.

[0006] The technical solution of this utility model is a bridge suspension cable climbing inspection robot, including a first connecting frame and an adjustment mechanism; the first connecting frame is equipped with a second connecting frame, and the first and second connecting frames are provided with three fixed frames arranged in a ring array and having elongated holes. Two guide rods with multiple linearly arranged through holes are slidably connected to the fixed frames, and mounting frames are provided on the guide rods; the adjustment mechanism includes a threaded cylinder on the fixed frame, a threaded rod threadedly connected to the threaded cylinder, a rotating connector on the mounting frame, a handwheel on the threaded rod, two limiting rods penetrating the elongated holes and through holes, retaining rings and screws respectively provided at both ends of the limiting rods, and a nut threadedly connected to the screw; the end of the threaded rod away from the handwheel is inserted into the interior of the rotating connector and rotatably connected.

[0007] Preferably, the second connecting frame is provided with two connecting blocks, and the connecting blocks are fixedly connected to the first connecting frame.

[0008] Preferably, the mounting bracket is provided with two fixing blocks, the fixing blocks are rotatably connected to guide wheels, and a motor is provided on the fixing blocks, with the motor and guide wheels being drivenly connected.

[0009] Preferably, the retaining ring and the fixing bracket abut against each other, and the nut and the fixing bracket abut against each other.

[0010] Preferably, two fixed rings are coaxially arranged on the threaded rod, and a telescopic soft sleeve is provided on the fixed ring. A connecting drum is provided at the end of the telescopic soft sleeve away from the fixed ring, and the connecting drum is rotatably connected to the fixed frame.

[0011] Preferably, the telescopic sleeve is located on the outside of the threaded rod.

[0012] Preferably, the first connecting frame and the second connecting frame are provided with three support frames arranged in a circular array, and the support frames are provided with detectors.

[0013] Preferably, a storage battery is installed on the mounting bracket.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects:

[0015] 1. This utility model uses a distribution of three guide wheels in a 120° ring support to ensure that the overall structure is evenly stressed, avoiding the problem of slippage on one side of the wheel due to uneven pressure caused by the two sets of guide wheels in the structural design, and greatly improving the stability when climbing the cable.

[0016] 2. This utility model, through its adjustable mechanism, can adjust the position of the guide wheels on the mounting frame according to the size of the climbing cable, so as to adapt to climbing cables of different sizes, thus expanding the robot's applicability and ensuring the stability of the guide wheels, making it highly practical. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is an isometric schematic diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0020] Figure 4 This is a schematic diagram showing the disassembled adjustment mechanism and fixing frame of this utility model.

[0021] Reference numerals in the attached drawings: 1. First connecting frame; 2. Second connecting frame; 3. Connecting block; 4. Fixing frame; 5. Guide rod; 6. Mounting frame; 7. Fixing block; 8. Motor; 9. Guide wheel; 10. Threaded cylinder; 11. Threaded rod; 12. Rotary connector; 13. Handwheel; 14. Through hole; 15. Elongated hole; 16. Limiting rod; 17. Retaining ring; 18. Screw; 19. Nut; 20. Fixing ring; 21. Telescopic soft sleeve; 22. Connecting drum; 23. Support frame; 24. Detector; 25. Battery. Detailed Implementation

[0022] Example 1

[0023] like Figure 1 - Figure 4 As shown in the figure, the bridge gantry climbing cable inspection robot proposed in this embodiment includes a first connecting frame 1 and an adjustment mechanism; the first connecting frame 1 is equipped with a second connecting frame 2, and the second connecting frame 2 is provided with two connecting blocks 3, which are fixedly connected to the first connecting frame 1; the first connecting frame 1 and the second connecting frame 2 are provided with three fixed frames 4 arranged in a ring array and having elongated holes 15; the fixed frames 4 are slidably connected with two guide rods 5 having multiple linearly arranged through holes 14; the guide rods 5 are provided with a mounting frame 6; the mounting frame 6 is provided with two fixed blocks 7; the fixed blocks 7 are rotatably connected to guide wheels 9; the fixed blocks 7 are provided with a motor 8, which is drivenly connected to the guide wheels 9.

[0024] When the robot needs to be installed on the cable, the connecting block 3 on one side of the first connecting frame 1 and the second connecting frame 2 is unlocked by tightening the threads. Then, the first connecting frame 1 and the second connecting frame 2 surround the cable, and the six guide wheels 9 are arranged in a circular array and pressed against the surface of the cable. Then, the unlocked connecting block 3 is reconnected to the first connecting frame 1, thus completing the installation of the robot. When climbing the cable, the start motor 8 drives the guide wheels 9 to rotate. The static friction between the guide wheels 9 and the cable propels the entire robot to move along the cable for subsequent testing. The 120° circular support distribution of the guide wheels 9 ensures that the overall structure is evenly stressed, avoiding slippage on one side of the two sets of guide wheels 9 due to uneven pressure, and greatly improving the stability when climbing the cable.

[0025] The adjustment mechanism includes a threaded cylinder 10 mounted on a fixed frame 4, a threaded rod 11 threadedly connected to the threaded cylinder 10, a rotary connector 12 mounted on a mounting frame 6, a handwheel 13 mounted on the threaded rod 11, two limiting inserts 16 penetrating through a long slot 15 and a through hole 14, retaining rings 17 and a screw 18 respectively mounted at both ends of the limiting inserts 16, and a nut 19 threadedly connected to the screw 18; one end of the threaded rod 11 away from the handwheel 13 is inserted into the interior of the rotary connector 12 and rotatedly connected, the retaining ring 17 and the fixed frame 4 abut against each other, and the nut 19 and the fixed frame 4 abut against each other.

[0026] The position of the guide wheel 9 on the mounting frame 6 can be adjusted by the set adjustment mechanism to adapt to the crawling of cables of different sizes, thus expanding the robot's applicable range. When adjusting, the threaded rod 11 can be rotated by the handwheel 13, so that the threaded rod 11 and the threaded cylinder 10 are screwed together. Under the guidance of the guide rod 5 and the rotating connector 12, the threaded rod 11 drives the mounting frame 6 to move along the axis of the guide rod 5. With the help of the ranging tool, the threaded rod 11 is moved to the selected position. Then, the two limit plugs 16 pass through the elongated hole 15 and through the two through holes 14 and out of the fixed frame 4 until the retaining ring 17 abuts against the fixed frame 4. Finally, the two nuts 19 are tightened on the screw 18. Through the locking effect of the guide rod 5 and the threaded rod 11 with small lead and large tooth profile half angle, the mounting frame 6 is guaranteed not to shift, ensuring the stability of the equipment during use. It is also simple to operate and has good practicality.

[0027] It should be noted that the spacing of the through hole 14 needs to be designed to ensure that the two limiting rods 1 can always be inserted into the elongated hole 15 and pass through the through hole 14 to ensure the locking effect.

[0028] Example 2

[0029] like Figure 3 and Figure 4As shown in the figure, the bridge gantry climbing cable inspection robot proposed in this embodiment has two fixed rings 20 coaxially arranged on the threaded rod 11 compared with the first embodiment. The fixed rings 20 are provided with telescopic soft sleeves 21. The end of the telescopic soft sleeve 21 away from the fixed rings 20 is provided with a connecting rotating cylinder 22. The connecting rotating cylinder 22 is rotatably connected to the fixed frame 4. The telescopic soft sleeve 21 is located on the outside of the threaded rod 11.

[0030] In this embodiment, the telescopic sleeve 21 provides good protection for the threaded portion of the threaded rod 11, reducing maintenance costs. Furthermore, in conjunction with the fixed ring 20 and the connecting drum 22, the telescopic sleeve 21 can rotate with the threaded rod 11, avoiding the problem of rotation jamming.

[0031] Example 3

[0032] like Figure 1 and Figure 2 As shown in the figure, the bridge gantry climbing cable inspection robot proposed in this embodiment has three support frames 23 arranged in a circular array on the first connecting frame 1 and the second connecting frame 2, the support frame 23 is equipped with a detector 24, and the fixed frame 4 is equipped with a battery 25.

[0033] In this embodiment, the detector 24 is equipped with an image recognition system, which automatically identifies the degree of damage to the boom during use, assesses its health status, and proposes a damage assessment and grading standard and a repair and acceptance standard for the boom sheath. The battery 25 is used to supply power to the motor 8 and the detector 24 and other electrical equipment.

[0034] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A bridge gantry climbing inspection robot, characterized in that, include: The first connecting frame (1) is equipped with a second connecting frame (2). The first connecting frame (1) and the second connecting frame (2) are provided with three fixed frames (4) with long holes (15) arranged in a ring array. The fixed frames (4) are slidably connected with two guide rods (5) with multiple linear arrays of through holes (14). The guide rods (5) are provided with mounting brackets (6). The adjustment mechanism includes a threaded cylinder (10) mounted on a fixed frame (4), a threaded rod (11) threadedly connected to the threaded cylinder (10), a rotating connector (12) mounted on a mounting frame (6), a handwheel (13) mounted on the threaded rod (11), two limiting rods (16) passing through a long slot (15) and a through hole (14), retaining rings (17) and a screw (18) respectively mounted at both ends of the limiting rod (16), and a nut (19) threadedly connected to the screw (18); one end of the threaded rod (11) away from the handwheel (13) is inserted into the interior of the rotating connector (12) and rotated.

2. The bridge gantry climbing inspection robot according to claim 1, characterized in that, The second connecting frame (2) is provided with two connecting blocks (3), which are fixedly connected to the first connecting frame (1).

3. The bridge gantry climbing inspection robot according to claim 1, characterized in that, The mounting bracket (6) is provided with two fixing blocks (7), which are rotatably connected to guide wheels (9). The fixing blocks (7) are provided with motors (8), which are driven by the guide wheels (9).

4. The bridge gantry climbing inspection robot according to claim 1, characterized in that, The retaining ring (17) and the fixing bracket (4) abut against each other, and the nut (19) and the fixing bracket (4) abut against each other.

5. The bridge gantry climbing inspection robot according to claim 1, characterized in that, Two fixed rings (20) are coaxially arranged on the threaded rod (11). A telescopic soft sleeve (21) is provided on the fixed ring (20). A connecting drum (22) is provided at the end of the telescopic soft sleeve (21) away from the fixed ring (20). The connecting drum (22) is rotatably connected to the fixed frame (4).

6. The bridge gantry climbing inspection robot according to claim 5, characterized in that, The telescopic sleeve (21) is located on the outside of the threaded rod (11).

7. The bridge gantry climbing inspection robot according to claim 1, characterized in that, Three ring array support frames (23) are provided on the first connecting frame (1) and the second connecting frame (2), and a detector (24) is provided on the support frame (23).

8. The bridge gantry climbing inspection robot according to claim 1, characterized in that, A storage battery (25) is installed on the mounting bracket (4).

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