CN106284069A - Wireless remote control stayed-cable bridge cable wire automatic detection device - Google Patents
Wireless remote control stayed-cable bridge cable wire automatic detection device Download PDFInfo
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- CN106284069A CN106284069A CN201610903188.XA CN201610903188A CN106284069A CN 106284069 A CN106284069 A CN 106284069A CN 201610903188 A CN201610903188 A CN 201610903188A CN 106284069 A CN106284069 A CN 106284069A
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- cable wire
- drive sprocket
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- driving shaft
- detection device
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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Abstract
The present invention provides a kind of wireless remote control stayed-cable bridge cable wire automatic detection device, including frame, image pick-up detection mechanism, driving mechanism, follower, centrifugal braking mechanism and automatically controlled and transmission system；Form a cable wire clamping zone between described driving mechanism and follower, and drive whole automatic detection device upwards to climb or glide downwards along the cable wire of stayed-cable bridge by described driving mechanism；By described image pick-up detection mechanism, the cable wire of stayed-cable bridge is shot；Described centrifugal braking mechanism is connected with described driving mechanism, and is controlled the speed of whole automatic detection device glide downwards by this centrifugal braking mechanism；Described image pick-up detection mechanism and driving mechanism are all automatically controlled with described and transmission system electrically connects.The invention have the advantages that the Aulomatizeted Detect being capable of stayed-cable bridge cable wire by this device, the detection efficiency to cable wire and accuracy can be improved, and reduce detection cycle, cost and danger.
Description
Technical field
The present invention relates to a kind of stayed-cable bridge cable wire detection device, particularly to a kind of wireless remote control stayed-cable bridge cable wire certainly
Motion detection device.
Background technology
Cable-stayed bridge is as a kind of novel bridge type, and because it is handsome in appearance, cost compares relatively low, and shock resistance is good, just gets over
To occur on great rivers manyly.The main bearing member drag-line of cable-stayed bridge, owing to being chronically exposed among air, is subject to
Wind, Exposure to Sunlight, drenching with rain and the erosion of environmental pollution, its surface there will be burn into cracking in various degree and inner wire occurs
Phenomenon of rupture.The corrosion on drag-line surface and the phenomenon of rupture serious threat of inner wire, to the quality safety of cable-stayed bridge, even can
Cause great vehicle accident.Therefore, drag-line is regularly detected and maintenance is very important.
For the detection of drag-line quality, manual detection, this detection method is the most mostly used to use hoisting trolley
Carry and manually to drag-line top, drag-line is detected bottom drag-line, and this hoisting trolley weight reaches up to a hundred kilograms, right
Drag-line inherently a kind of infringement, the detection efficiency of the most this artificial naked eyes detection method and accuracy, detection cycle length, becomes
This height, danger greatly and affect traffic.
Lot of domestic and international R&D institution had all carried out technology and the theoretical research work of cable robot in recent years, and took
Obtained some practical achievements.Make a general survey of the walking operation principle of the outer robot of these domestic and international pipelines, nothing more than following several: based on
The pneumatic worming mechanism of self-locking or static friction principle；Spiral climbing mechanism based on rolling friction principle；Based on overcoming dynamic rubbing
Wipe the mechanism of straight line moving；Articulated type climbing mechanism based on moving sets and revolute pair；Based on parallel institution parallel creep
Mechanism.The most wheeled most commonly seen with pneumatic worming.The robot of both forms is respectively arranged with advantage and disadvantage, and wheeled robot is transported
Dynamic continuous, it is easier to control, but obstacle climbing ability is restricted.Pneumatic worming motion is discontinuous, is not easy to ensure motion
Stationarity, and need air compressor, it is the most convenient to use.
Such as, Shen Qing Publication day is: 2015.05.13, application publication number is that the Chinese invention patent of CN104612045A is public
Open a kind of cable detection robot for cable-stayed bridge system, including frame, frame has been provided with multiple power climbing device, the plurality of
Power climbing device is circumferentially distributed, and power climbing device includes actuating unit and two climbing devices, on these two climbing devices
Lower setting and being connected by synchronous drive mechanism, each climbing device all includes the roller that can be attached on cable roll, Qi Zhongyi
The roller of individual climbing device drives it to rotate by actuating unit, and synchronous drive mechanism can drive setting up and down two to climb machine
All roller synchronous rotaries of structure.There is following defect in the program: uses three power climbing devices, complicated structure；Adopt
By electromagnetic braking motor, when the unexpected power-off of cable robot, electromagnetic braking motor is just no longer able to turn after quitting work, and is somebody's turn to do
Robot system does not design relevant descending mechanism, reclaims extremely dangerous under powering-off state.
As Shen Qing Publication day is: 2011.11.02, Authorization Notice No. is the Chinese utility model patent of CN202023146U
Disclosing a kind of cable detection robot for cable-stayed bridge, described robot is made up of upper body and lower body two parts, and described upper body includes
Upper body plate, through upper body plate and before and after symmetrical a pair upper body screw rod, be respectively fixed on the spring of screw rod bottom, each upper body and each
Being fixed on about a pair parallel upper body rubber wheel of every lower spring end, described lower body includes lower body plate, is fixed on lower body plate
Threephase asynchronous, motor gear box case and interlock mutually with motor gear box case and with upper body rubber wheel the most corresponding two
Lower body rubber wheel, described upper body plate and lower body plate are fixed by lower body screw rod.The defect of the program is: use upper and lower body
It is respectively provided with four rubber wheels, under the effect of hold down gag one spring, makes robot and cable keep suitable pressure, this
Unreasonable structure, because the frictional force on rubber wheel and drag-line surface is not easily controlled, it is easy to spin around drag-line or rock back and forth
Shake；And the program uses wired power supply, the length of cable have to be larger than the height of the bridge cable that robot is climbed, and high-altitude is made
During industry inconvenient.
Such as Shen Qing Publication day: 2014.04.02, application publication number is that the Chinese invention patent of CN103696365A discloses
A kind of Character of Cable Force of Cable stayed Bridge robot, including: actively module, slave module, detection module, power failure protection module, described active mould
Block is with active vehicle frame as mounting platform, and described slave module is with driven carriage as mounting platform, and described detection module props up with camera
Support is mounting platform, and described power failure protection module is with installing rack for installing carrier；Described active vehicle frame and driven carriage pass through
Connect crotch, connection strap connects；Described detection module by camera tripod respectively with described active vehicle frame and described driven
Vehicle frame connects；Described power failure protection module is connected with described active vehicle frame by installing rack.The program has following defects that employing
Wireless remote control controls, and is not provided with top protection device, and robot is easy on top that the excess of stroke is stuck due to the delayed of remote control；
And there is no the descending mechanism that design is relevant, accept extremely dangerous next time at powering-off state.
Due to existing cable robot there are climb inefficient, overall mass is big, structure is complicated, mounting and adjusting not
Conveniently, adapt to ability, employing has line traffic control, does not has automatic descending mechanism, top to be not provided with the shortcomings such as protection device.Therefore,
It is necessary for developing a kind of automation equipment that automatically can climb along bridge cable and can accurately detect drag-line.
Summary of the invention
The technical problem to be solved in the present invention, is to provide a kind of wireless remote control stayed-cable bridge cable wire automatic detection device,
Realized the Aulomatizeted Detect of stayed-cable bridge cable wire by this device, improve the detection efficiency to cable wire and accuracy, and reduce
Detection cycle, cost and danger.
The present invention is achieved in that wireless remote control stayed-cable bridge cable wire automatic detection device, including a frame, a shooting
Testing agency, a driving mechanism, a follower, a centrifugal braking mechanism and one automatically controlled and transmission system；
Described driving mechanism is arranged on the middle and lower part of described frame；Described follower is set in the top of described frame,
And make between described driving mechanism and follower, to form a cable wire clamping zone, and whole certainly by the drive of described driving mechanism
Motion detection device upwards climbs or glide downwards along the cable wire of stayed-cable bridge；
Described image pick-up detection mechanism is arranged on middle part and the bottom of described frame, and by this image pick-up detection mechanism to oblique pull
The cable wire of cable bridge shoots；Described centrifugal braking mechanism is connected with described driving mechanism, and by this centrifugal braking mechanism
Control the speed of whole automatic detection device glide downwards；Described image pick-up detection mechanism and driving mechanism are all automatically controlled with described
And transmission system electrical connection.
Further, also including a touching return switch, described touching return switch is arranged on the front end of described frame, should
Touching return switch is automatically controlled with described and transmission system electrically connects.
Further, described frame includes a underframe, a middle frame and four guide upright posts；Four described guiding are stood
The bottom of post is fixing with four angles of described underframe respectively to be connected, and described middle frame is fixedly installed on and is positioned at cable wire clamping zone
The middle part of the described guide upright post of both sides.
Further, described driving mechanism include a driving motor, a drive sprocket, drive sprocket before, after one actively
Sprocket wheel, actively chain, a driven chain, driving shaft before, driving shaft and four tapering actively rubber tires after one, described before main
Two sprocket pieces it are provided with on movable sprocket；Described driving motor and drive sprocket are arranged at the lower section of described underframe, and logical
Cross drive sprocket described in described driving driven by motor to rotate；Described front driving shaft and rear driving shaft all rotate and are arranged on described lower frame
The top of frame, the middle part of described front driving shaft and rear driving shaft is all symmetrically arranged with the actively rubber tire of tapering described in two, and described in two
It is arranged with one first axle sleeve between tapering actively rubber tire；Described front drive sprocket and rear drive sprocket are arranged at described driving chain
The top of wheel, and the one end of described front driving shaft and described front drive sprocket fix and be connected, the other end of this front driving shaft
It is connected with described centrifugal braking mechanism；The one end of described rear driving shaft is fixing with described rear drive sprocket to be connected, this rear master
The other end of moving axis is connected with described centrifugal braking mechanism；
Described drive sprocket is meshed with described active chain, arbitrary with described front drive sprocket of described active chain
Sprocket piece is meshed, and drives described front drive sprocket to rotate by described drive sprocket, and and then drives on front driving shaft
Tapering actively rubber tire rotates；Another sprocket piece of described front drive sprocket is meshed with described driven chain, described rear drive chain
Wheel is meshed with described driven chain, and by the described front drive sprocket described rear drive sprocket synchronous rotary of drive, and and then
After drive, the actively rubber tire of the tapering on driving shaft rotates.
Further, the front and back ends of described underframe is each provided with the bearing block of two band clutch shaft bearings, described front active
Bearing block described in the two of axle and front end is rotationally connected, and bearing block described in the two of described rear driving shaft and rear end is rotationally connected.
Further, described follower includes a upper frame, a locking member, two driven shafts and four band the second axles
The driven rubber tire of tapering held；Four angles of described upper frame are respectively provided with one first installing hole；Described follower is by described the
One installing hole is sheathed on the top of described guide upright post, and is connected with described middle frame by described locking member；Described in two driven
Axle is all fixedly installed on the lower section of described upper frame, and the middle part of every described driven shaft is all symmetrically arranged with the driven glue of tapering described in two
Wheel, and between the driven rubber tire of tapering described in two, it is arranged with one second axle sleeve；Described tapering actively rubber tire and the driven rubber tire of tapering it
Between region be described cable wire clamping zone.
Further, described locking member includes that two adjust screw rod, two compression springs and some locking nuts and pad
Sheet；The both sides of described upper frame are respectively provided with one second installing hole；The bottom of every described adjustment screw rod is all by described locking nut
Paying on described middle frame with pad lock, top all sequentially passes through described second installing hole and compression spring, and by described lock
Jack panel and pad locking.
Further, described centrifugal braking mechanism includes that two centrifugal brakes, every described centrifugal brake all include that one is single
To bearing, a brake hub, a brake mandrel, two springs and two fan-shaped brake blocks；
The other end of described front driving shaft and rear driving shaft is respectively by described unilateral bearing and described brake core
Axle is connected；The upper and lower surface of described brake mandrel is respectively provided with a brake block placing trough, and every described fan-shaped brake block is placed in
In brake block placing trough described in, described in two, between fan-shaped brake block, connect tension by described spring；
Described brake hub is set in the outside of described fan-shaped brake block, and make the end of described brake hub with described under
Bearing block on framework is fixing to be connected；The process of described brake mandrel rotation is driven at described front driving shaft and rear driving shaft
In, the inwall with described brake hub is produced frictional damping under the effect of eccentricity by described fan-shaped brake block.
Further, described image pick-up detection mechanism includes a left camera assembly, right camera assembly and a shooting group once
Part；Described left camera assembly and right camera assembly are separately positioned on the left and right sides of described frame rear end, and described lower camera assembly sets
Put the photographic head in the bottom at described frame rear end, and described left camera assembly, right camera assembly and lower camera assembly equal
Arrange towards described cable wire clamping zone.
Further, described automatically controlled and transmission system includes that a model-following control device, a remote controller and a monitoring receive
Device；Described remote controller with monitoring receive device all with described model-following control device wireless connections；
Described monitoring receives device and includes one first set of cells, a video reception module and a monitoring record module；Institute
State video reception module to be connected with monitoring record module, and be powered by described first set of cells；
Described model-following control device includes that one second set of cells, a speed adjusting module, a rotating forward control unit, a reversion control
Unit, a voltage transformation module, a video acquisition module, a video transmission module, walking control module and a remote control control
Molding block；Described second set of cells is connected with described voltage transformation module；Described video acquisition module, video transmission module,
Travelling control module and remote pilot module are all connected in parallel, and are connected with described voltage transformation module；Described speed governing
Module is connected with described voltage transformation module；Described rotating forward control unit and reversion control unit all with described speed adjusting module
It is connected；Described driving motor connects described rotating forward control unit and reversion control unit respectively.
There is advantages that
1, the Aulomatizeted Detect to stayed-cable bridge cable wire can be realized by this automatic detection device, can improve cable wire
Detection efficiency and accuracy, and reduce detection cycle, cost and danger, and complete machine be lightweight, dismounting is got up the most square
Just；
2, on automatic detection device, be provided with centrifugal braking mechanism, when occur fault cannot normally travel or to
Under slide excessive velocities time, Braking mode can be realized by this centrifugal braking mechanism, and by under automatic detection device
Sliding speed controlling is within the scope of reasonably, it can be ensured that whole automatic detection device can safety, grease it in, and reduce right
Automatic detection device and field personnel damage；
3, the front end in frame is provided with touching return switch, can effectively prevent automatic detection device from sending out with cable wire top
Raw collision, this can reduce and damages automatic detection device；
4, on the circumferencial direction of cable wire clamping zone, it is evenly equipped with three camera assemblies, the outward appearance of cable wire can be carried out entirely
The video recording in face, and pass back monitoring receive device record and show, to facilitate technical staff to carry out real time inspection confirmation；
5, in use, can by remote controller carry out controlled in wireless (include controlling advancing, retreat, stop, governing speed
Deng), use very flexible, convenient, and can save because disposing the high cost problem that cable brings, and when reducing walking
Because of the troublesome problem brought on cable winds to cable wire；
6, using tapering actively rubber tire and the driven rubber tire of tapering to clamp cable wire in cable wire clamping zone, this cable wire clamps
Region can also automatically adjust according to the size of cable wire, and can make the upper and lower surface of cable wire and tapering actively rubber tire and
The driven rubber tire of tapering well fits together, and is possible not only to reduce damaging cable wire outer surface, and can improve clamping
Effect.
Accompanying drawing explanation
The present invention is further illustrated the most in conjunction with the embodiments.
Fig. 1 is the rearview of wireless remote control stayed-cable bridge cable wire automatic detection device of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the top view of wireless remote control stayed-cable bridge cable wire automatic detection device of the present invention.
Fig. 4 is the rearview of driving mechanism in the present invention.
Fig. 5 is the top view of driving mechanism in the present invention.
Fig. 6 is the right view of Fig. 4.
Fig. 7 is the front view of image pick-up detection mechanism in the present invention.
Fig. 8 is the front view of follower in the present invention.
Fig. 9 is the side view of follower in the present invention.
Figure 10 is the top view of follower in the present invention.
Figure 11 is the structural representation of centrifugal brake in the present invention.
Figure 12 is automatically controlled in the present invention and the theory diagram of transmission system.
Figure 13 is the theory diagram of model-following control device in the present invention.
Figure 14 is the theory diagram that in the present invention, monitoring receives device.
Description of reference numerals:
100-automatic detection device, 1-frame, 11-underframe, 111-bearing block, 12-middle frame, 13-guide upright post, 2-
Image pick-up detection mechanism, the left camera assembly of 21-, the right camera assembly of 22-, camera assembly under 23-, 2a-photographic head, 2b-images support,
3-driving mechanism, 31-drives motor, 32-drive sprocket, drive sprocket before 33-, 331-sprocket piece, drive sprocket after 34-, 35-
Actively chain, the driven chain of 36-, driving shaft before 37-, driving shaft after 38-, 39-tapering actively rubber tire, 391-the first axle sleeve, 4-
Follower, 41-upper frame, 411-the first installing hole, 412-the second installing hole, 42-locking member, 421-adjusts screw rod, 422-
Compression spring, 423-locking nut, 424-pad, 43-driven shaft, the driven rubber tire of 44-tapering, 441-the second axle sleeve, 5-is centrifuged
Arrestment mechanism, 51-centrifugal brake, 511-unilateral bearing, 512-brake hub, 513-brake mandrel, 5131-brake block is put
Put groove, 514-spring, 515-fan-shaped brake block, 6-touching return switch, 7-is automatically controlled and transmission system, 71-model-following control device,
711-the second set of cells, 712-speed adjusting module, 713-rotates forward control unit, and 714-inverts control unit, 715-voltage transformation mould
Block, 716-video acquisition module, 717-video transmission module, 718-travelling control module, 719-remote pilot module, 72-is distant
Control device, 73-monitoring receives device, 731-the first set of cells, 732-video reception module, 733-monitoring record module, 8-cable wire
Clamping zone, 9-cable wire.
Detailed description of the invention
Refer to shown in Fig. 1 to Figure 14, the wireless remote control stayed-cable bridge cable wire automatic detection device 100 of the present invention, including
One frame 1, image pick-up detection mechanism 2, driving mechanism 3, follower 4, centrifugal braking mechanism 5, touching return is opened
Pass 6 and one is automatically controlled and transmits system 7；
Described driving mechanism 3 is arranged on the middle and lower part of described frame 1；Described follower 4 is set in the upper of described frame 1
Portion, and make to be formed between described driving mechanism 3 and follower 4 a cable wire clamping zone 8, operationally, cable wire 9 is held in
In this cable wire clamping zone 8, and drive whole automatic detection device 100 along the cable wire 9 of stayed-cable bridge by described driving mechanism 3
Upwards climb or glide downwards；
Described image pick-up detection mechanism 2 is arranged on middle part and the bottom of described frame 1, and right by this image pick-up detection mechanism 2
The cable wire 9 of stayed-cable bridge shoots；Described centrifugal braking mechanism 5 is connected with described driving mechanism 3, and by this centrifugal system
Motivation structure 5 controls the speed of whole automatic detection device 100 glide downwards；Described image pick-up detection mechanism 2 and driving mechanism 3
All automatically controlled with described and transmission system 7 electrically connects.
Described touching return switch 6 is arranged on the front end of described frame 1, this touching return switch 6 and described automatically controlled and biography
Communication system 7 electrically connects.During automatic detection device 100 upwards climbs, when touching return switch 6 touches cable wire 9
During top, will send touching signal to automatically controlled and transmission system 7, automatically controlled and transmission system 7 receives just control after touching signal
Automatic detection device 100 processed stops upwards climbing or glide downwards, to prevent automatic detection device 100 from sending out with cable wire 9 top
Raw collision.
Please emphasis with reference to shown in Fig. 7, described frame 1 includes underframe 11, middle frame 12 and four guide upright posts
13；The bottom of four described guide upright posts 13 is fixing with four angles of described underframe 11 respectively to be connected, and described middle frame 12 is solid
Surely the middle part of the described guide upright post 13 of cable wire clamping zone 8 both sides it is arranged in.In the specific implementation, this frame 1 uses
Bar section of stainless steel is formed by welding, and complete machine is lightweight；The tail end of four guide upright posts 13 all can use tapering to reduce structure,
To facilitate the cooperation of driving mechanism 3 and follower 4 to install.
Please emphasis with reference to shown in Fig. 4 to Fig. 6, described driving mechanism 3 includes driving motor 31, drive sprocket 32,
Driving shaft after driving shaft 37, before drive sprocket 34, the actively driven chain 36, of chain 35, after front drive sprocket 33,
38 and four taperings actively rubber tires 39, described front drive sprocket 33 is provided with two sprocket pieces 331；Described driving motor 31
With the lower section that drive sprocket 32 is arranged at described underframe 11, and drive described drive sprocket 32 by described driving motor 31
Rotate；Described front driving shaft 37 and rear driving shaft 38 all rotate the top being arranged on described underframe 11, described front driving shaft 37
All it is symmetrically arranged with between the actively rubber tire 39 of tapering described in two, and the actively rubber tire 39 of tapering described in two with the middle part of rear driving shaft 38
Being arranged with one first axle sleeve 391, in the specific implementation, the small end face of two taperings actively rubber tire 39 is oppositely arranged, and so can make
The surface of cable wire 9 is well fitted between two taperings actively rubber tire 39, and the purpose arranging the first axle sleeve 391 is: on the one hand can
To prevent the axial float of two taperings actively rubber tire 39, the installation and removal of tapering actively rubber tire 39 on the other hand can be facilitated,
I.e. when installation and removal, it is only necessary to wherein one end of front driving shaft 37 or rear driving shaft 38 is unclamped can realize installing and
Dismounting.Described front drive sprocket 33 and rear drive sprocket 34 are arranged at the top of described drive sprocket 32, and described front active
The one end of axle 37 is fixing with described front drive sprocket 33 to be connected, the other end of this front driving shaft 37 and described centrifugal brake machine
Structure 5 is connected；The one end of described rear driving shaft 38 is fixing with described rear drive sprocket 34 to be connected, another of this rear driving shaft 38
End is connected with described centrifugal braking mechanism 5；Described drive sprocket 32 is meshed with described active chain 35, described drive chain
Bar 35 is meshed with the arbitrary sprocket piece 331 in described front drive sprocket 33, and by described drive sprocket 32 drive described before
Drive sprocket 33 rotates, and and then drives the actively rubber tire 39 of the tapering on front driving shaft 37 to rotate；Described front drive sprocket 33
Another sprocket piece 331 is meshed with described driven chain 36, and described rear drive sprocket 34 is meshed with described driven chain 36, and
Described rear drive sprocket 34 synchronous rotary is driven by described front drive sprocket 33, and and then the tapering on driving shaft 38 after driving
Actively rubber tire 39 rotates.
The front and back ends of described underframe 11 is each provided with the bearing block 111 of two band clutch shaft bearings (not shown), described before
Bearing block 111 described in the two of driving shaft 37 and front end is rotationally connected, bearing block 111 described in the two of described rear driving shaft 38 and rear end
It is rotationally connected.
Please emphasis with reference to shown in Fig. 8 to Figure 10, described follower 4 include upper frame 41, locking member 42, two from
Moving axis 43 and four driven rubber tires of tapering 44 with the second bearing (not shown)；Four angles of described upper frame 41 are respectively provided with one
First installing hole 411；Described follower 4 is sheathed on the top of described guide upright post 13 by described first installing hole 411, and
It is connected with described middle frame 12 by described locking member 42；Driven shaft 43 described in two is all fixedly installed on described upper frame 41 times
Side, the middle part of every described driven shaft 43 is all symmetrically arranged with the driven rubber tire of tapering described in two 44, and the driven rubber tire of tapering described in two
Being arranged with one second axle sleeve 441 between 44, in the specific implementation, the small end face of the two driven rubber tires of tapering 44 is oppositely arranged, so
The surface that can make cable wire 9 is well fitted between the two driven rubber tires of tapering 44, and the purpose arranging the second axle sleeve 441 is: one
Aspect is possible to prevent the axial float of the two driven rubber tires of tapering 44, on the other hand can facilitate the driven rubber tire of tapering 44 installation and
Dismounting, i.e. when installation and removal, it is only necessary to unclamped wherein one end of driven shaft 43 and can realize installation and removal；Described cone
Region between degree active rubber tire 39 and the driven rubber tire of tapering 44 is described cable wire clamping zone 8.
Described locking member 42 includes that two adjust 421, two compression springs 422 of screw rod and some locking nuts 423 and
Pad 424；The both sides of described upper frame 41 are respectively provided with one second installing hole 412；The bottom of every described adjustment screw rod 421 is all passed through
Described locking nut 423 and pad 424 lock are paid on described middle frame 12, and top all sequentially passes through described second installing hole 412
With compression spring 422, and locked by described locking nut 423 and pad 424.Wherein, compression spring 422 may be used for cable wire
The regulation of clamping zone 8, during automatic detection device 100 is walked along cable wire 9, if cable wire 9 diameter becomes big, so that it may
Compression spring 422 up to be pushed up, cable wire clamping zone 8 is made to become big；If cable wire 9 diameter diminishes, compression spring 422 is at bullet
Will recover under the effect of power, make cable wire clamping zone 8 diminish.
Please emphasis with reference to shown in Figure 11, described centrifugal braking mechanism 5 includes two centrifugal brakes 51, every described centrifugal brake
Device 51 all includes unilateral bearing 511, one 513, two springs 514 of brake hub 512, brake mandrel and two sectors
Brake block 515；Described unilateral bearing 511 is passed through respectively with described in the other end of described front driving shaft 37 and rear driving shaft 38
Brake mandrel 513 is connected；The upper and lower surface of described brake mandrel 513 is respectively provided with a brake block placing trough 5131, every institute
State fan-shaped brake block 515 to be placed in brake block placing trough 5131 described in, by described between fan-shaped brake block 515 described in two
Spring 514 connects tension；Described brake hub 512 is set in the outside of described fan-shaped brake block 515, and makes described brake hub
The end of 512 is fixing with the bearing block 111 on described underframe 11 to be connected；Drive at described front driving shaft 37 and rear driving shaft 38
During described brake mandrel 513 rotates, described fan-shaped brake block 515 will be with described braked wheel under the effect of eccentricity
The inwall of hub 512 produces frictional damping, when implementing, can arrange friction plate and (not scheme in the cambered surface of fan-shaped brake block 515
Show), to reach preferable braking effect.Operationally, if this automatic detection device 100 the most upwards climbs, then front active
Axle 37 and rear driving shaft 38 all can rotate along the rotation direction of unilateral bearing 511, and centrifugal brake 51 does not works；As
Really this automatic detection device 100 is just when glide downwards, and the most front driving shaft 37 and rear driving shaft 38 all can drive centrifugal brake
The brake mandrel 513 of 51 rotates together, and brake mandrel 513 can drive again two fan-shaped brake blocks 515 to rotate, and works as speed
When degree reaches certain numerical value, two fan-shaped brake blocks 515 will expand outwardly under the influence of centrifugal force, and and brake hub
The inwall of 512 produces frictional damping, makes sliding speed decline；Meanwhile, when sliding speed drops to certain value, two fan-shaped brakings
Block 515 to inside contracting receipts and can return to original state again under the effect of spring 514 elastic force, and therefore can realize will be to downslide
The speed controlling of row is within the scope of preferably.
Please emphasis with reference to shown in Fig. 7, described image pick-up detection mechanism 2 includes a right camera assembly 22 of left camera assembly 21,
And once camera assembly 23；Described left camera assembly 21 and right camera assembly 22 are separately positioned on a left side for described frame 1 rear end
Right side, described lower camera assembly 23 is arranged on the bottom of described frame 1 rear end, and described left camera assembly 21, right camera assembly
22 and lower camera assembly 23 in photographic head 2a all arrange towards described cable wire clamping zone 8.In the specific implementation, left shooting
Assembly 21, right camera assembly 22 and lower camera assembly 23 are all fixed in frame 1, in order to make shooting by a shooting support 2b
Effect more preferable, it is also possible to arrange by photographic head 2a shooting assist illuminator (not shown), carry out light filling during to facilitate shooting.
Please emphasis with reference to shown in Figure 12 to Figure 14, described automatically controlled and transmission system 7 includes that a model-following control device 71, is distant
Control device 72 and a monitoring receive device 73；Described remote controller 72 and monitoring receive device 73 all with described model-following control device 71
Wireless connections, wherein, remote controller 72 is for sending remote signal to model-following control device 71, and monitoring receives device 73 and is used for receiving
The video recording transmitted from model-following control device 71 with record；Described monitoring receives device 73 and includes one first set of cells 731,
Video reception module 732 and a monitoring record module 733；Described video reception module 732 is connected with monitoring record module 733
Connecing, video reception module 732 transmits video recording for receiving from model-following control device 71, and monitoring record module 733 is used for remembering
Record and display video recording, and be powered by described first set of cells 731；
Described model-following control device 71 includes that one second set of cells 711, speed adjusting module 712, rotates forward control unit
713, one reversion control unit 714, voltage transformation module 715, video acquisition module 716, video transmission module 717,
One walking control module 718 and a remote pilot module 719；Described second set of cells 711 and described voltage transformation module 715
Being connected, this voltage transformation module 715 is for the conversion of voltage；Described video acquisition module 716, video transmission module 717, OK
Walk control module 718 and remote pilot module 719 is all connected in parallel, and be connected with described voltage transformation module 715, its
In, video acquisition module 716 gathers the video recording on cable wire 9 surface for coordinating image pick-up detection mechanism 2；Video transmission module 717 is used
In the video recording being collected is carried out synchronous transfer；Travelling control module 718 is for driving motor 31 to carry out travelling control, with reality
The advance of existing automatic detection device 100, retreat or the action such as stopping；Remote pilot module 719 is used for receiving remote controller 72
The control signal gone out, and perform corresponding control action according to control signal；Described speed adjusting module 712 and described voltage transformation mould
Block 715 is connected, and speed adjusting module 712 is for controlling the different gait of march of automatic detection device 100；Described rotating forward control unit
713 and reversion control unit 714 be all connected with described speed adjusting module 712；Described driving motor 31 connect respectively described just
Turn control unit 713 and reversion control unit 714, rotate forward control unit 713 for controlling rotating forward, instead of driving motor 31
Turn control unit 714 for controlling rotating backward of driving motor 31.
The operation principle of the present invention is as follows:
Firstly, it is necessary to first removed from automatic detection device 100 by follower 4, and the oblique pull detected will be carried out
The cable wire 9 of cable bridge is placed in cable wire clamping zone 8；Then the first installing hole 411 on follower 4 is inserted in guide upright post 13
Top, the second installing hole 412 on follower 4 is inserted in adjust screw rod 421 top；Then, screw rod 421 is being adjusted
Upper end puts compression spring 422 and pad 424, and locks with locking nut 423, makes tapering actively rubber tire 39 and the driven glue of tapering
Cable wire 9 is tightly clamped by wheel 44；
After being clamped by cable wire 9, just send progress signal to remote pilot module 719, remote pilot by remote controller 72
Module 719 drives motor 31 to rotate forward with regard to controlling travelling control module 718, i.e. drives rotating forward control unit 713 to work, to push away
Dynamic automatic detection device 100 upwards climbs, and now, front driving shaft 37 and rear driving shaft 38 all can turning along unilateral bearing 511
Dynamic direction rotates, and centrifugal brake 51 does not works；Control video acquisition module 716 coordinates photographic head 2a to come in real time simultaneously
Gather the video recording on cable wire 9 surface；The video recording being collected then is transferred to monitoring by video transmission module 717 and receives device 73, prison
Video recording, after receiving video recording, is just sent to monitoring record module 733 and carries out by the video reception module 732 of control reception device 73
Record and display, to facilitate technical staff to check the surface of cable wire 9；
Automatic detection device 100, during upwards climbing, pushes up when the touching return switch 6 that climbs touches cable wire 9
During portion, just transmission touching signal is to travelling control module 718, and travelling control module 718 will control to drive motor 31 to stop work
Make, make automatic detection device 100 stop walking；Backing signal is sent to remote pilot module 719 afterwards by remote controller 72, distant
Control control module 719 just controls travelling control module 718 and drives motor 31 to invert, i.e. driver inversion control unit 714 work
Making, to drive automatic detection device 100 glide downwards, now, front driving shaft 37 and rear driving shaft 38 all can drive centrifugal brake
The brake mandrel 513 of device 51 rotates together, and brake mandrel 513 can drive again two fan-shaped brake blocks 515 to rotate；When
When the speed glided reaches certain numerical value, two fan-shaped brake blocks 515 will expand outwardly under the influence of centrifugal force, and with
The inwall of brake hub 512 produces frictional damping, so that sliding speed declines；Meanwhile, certain value is dropped to when sliding speed
Time, two fan-shaped brake blocks 515 to inside contracting receipts and can return to original state again under the effect of spring 514 elastic force.Certainly, exist
During automatic detection device 100 walking, when excessive velocities (the slowest), it is also possible to send reduce-speed sign by remote controller 72
(signal for faster) just controls speed adjusting module 712 to remote pilot module 719, remote pilot module 719 and adjusts 31 turns of motor of driving
Dynamic speed, thus realize acceleration or deceleration function.
In sum, there is advantages that
1, the Aulomatizeted Detect to stayed-cable bridge cable wire can be realized by this automatic detection device, can improve cable wire
Detection efficiency and accuracy, and reduce detection cycle, cost and danger, and complete machine be lightweight, dismounting is got up the most square
Just；
2, on automatic detection device, be provided with centrifugal braking mechanism, when occur fault cannot normally travel or to
Under slide excessive velocities time, Braking mode can be realized by this centrifugal braking mechanism, and by under automatic detection device
Sliding speed controlling is within the scope of reasonably, it can be ensured that whole automatic detection device can safety, grease it in, and reduce right
Automatic detection device and field personnel damage；
3, the front end in frame is provided with touching return switch, can effectively prevent automatic detection device from sending out with cable wire top
Raw collision, this can reduce and damages automatic detection device；
4, on the circumferencial direction of cable wire clamping zone, it is evenly equipped with three camera assemblies, the outward appearance of cable wire can be carried out entirely
The video recording in face, and pass back monitoring receive device record and show, to facilitate technical staff to carry out real time inspection confirmation；
5, in use, can by remote controller carry out controlled in wireless (include controlling advancing, retreat, stop, governing speed
Deng), use very flexible, convenient, and can save because disposing the high cost problem that cable brings, and when reducing walking
Because of the troublesome problem brought on cable winds to cable wire；
6, using tapering actively rubber tire and the driven rubber tire of tapering to clamp cable wire in cable wire clamping zone, this cable wire clamps
Region can also automatically adjust according to the size of cable wire, and can make the upper and lower surface of cable wire and tapering actively rubber tire and
The driven rubber tire of tapering well fits together, and is possible not only to reduce damaging cable wire outer surface, and can improve clamping
Effect.
Although the foregoing describing the detailed description of the invention of the present invention, but those familiar with the art should managing
Solving, our described specific embodiment is merely exemplary rather than for the restriction to the scope of the present invention, is familiar with this
The technical staff in field, in the equivalent modification made according to the spirit of the present invention and change, should be contained the present invention's
In scope of the claimed protection.
Claims (10)
1. a wireless remote control stayed-cable bridge cable wire automatic detection device, it is characterised in that: include a frame, a camera detection machine
Structure, a driving mechanism, a follower, a centrifugal braking mechanism and one automatically controlled and transmission system；
Described driving mechanism is arranged on the middle and lower part of described frame；Described follower is set in the top of described frame, and makes
Form a cable wire clamping zone between described driving mechanism and follower, and drive whole automatic inspection by described driving mechanism
Survey device upwards climbs or glide downwards along the cable wire of stayed-cable bridge；
Described image pick-up detection mechanism is arranged on middle part and the bottom of described frame, and by this image pick-up detection mechanism to stayed-cable bridge
Cable wire shoot；Described centrifugal braking mechanism is connected with described driving mechanism, and is controlled by this centrifugal braking mechanism
Make the speed of whole automatic detection device glide downwards；Described image pick-up detection mechanism and driving mechanism all with described automatically controlled and pass
Communication system electrically connects.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 1, it is characterised in that: also include one
Touching return switch, described touching return switch is arranged on the front end of described frame, this touching return switch with described automatically controlled and
Transmission system electrically connects.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 1, it is characterised in that: described frame
Including a underframe, a middle frame and four guide upright posts；The bottom of four described guide upright posts respectively with described underframe
Four angles fixing connect, described middle frame is fixedly installed in the described guide upright post being positioned at cable wire clamping zone both sides
Portion.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 3, it is characterised in that: described active
Mechanism includes a driving motor, a drive sprocket, drive sprocket before, drive sprocket after, actively chain, a driven chain
Bar, driving shaft before, driving shaft and four tapering actively rubber tires after one, described front drive sprocket is provided with two sprocket wheels
Sheet；Described driving motor and drive sprocket are arranged at the lower section of described underframe, and by described in described driving driven by motor
Drive sprocket rotates；Described front driving shaft and rear driving shaft all rotate the top being arranged on described underframe, described front driving shaft
All it is symmetrically arranged with between the actively rubber tire of tapering described in two, and the actively rubber tire of tapering described in two with the middle part of rear driving shaft and is arranged with
One first axle sleeve；Described front drive sprocket and rear drive sprocket are arranged at the top of described drive sprocket, and described front active
The one end of axle is fixing with described front drive sprocket to be connected, and the other end of this front driving shaft is connected with described centrifugal braking mechanism
Connect；The one end of described rear driving shaft and described rear drive sprocket are fixing to be connected, the other end of this rear driving shaft and described from
Heart arrestment mechanism is connected；
Described drive sprocket is meshed with described active chain, described active chain and the arbitrary sprocket wheel in described front drive sprocket
Sheet is meshed, and drives described front drive sprocket to rotate by described drive sprocket, and and then drives the tapering on front driving shaft
Actively rubber tire rotates；Another sprocket piece of described front drive sprocket is meshed with described driven chain, described rear drive sprocket with
Described driven chain is meshed, and drives described rear drive sprocket synchronous rotary by described front drive sprocket, and and then drives
Tapering on rear driving shaft actively rubber tire rotates.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 4, it is characterised in that: described lower frame
The front and back ends of frame is each provided with the bearing block of two band clutch shaft bearings, and bearing block described in the two of described front driving shaft and front end turns
Being dynamically connected, bearing block described in the two of described rear driving shaft and rear end is rotationally connected.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 4, it is characterised in that: described driven
Mechanism includes a upper frame, a locking member, two driven shafts and four driven rubber tires of the tapering with the second bearing；Described upper ledge
Four angles of frame are respectively provided with one first installing hole；Described follower is sheathed on described guide upright post by described first installing hole
Top, and be connected with described middle frame by described locking member；Driven shaft described in two is all fixedly installed on described upper frame
Lower section, the middle part of every described driven shaft is all symmetrically arranged with the driven rubber tire of tapering described in two, and the driven rubber tire of tapering described in two it
Between be arranged with one second axle sleeve；Region between described tapering active rubber tire and the driven rubber tire of tapering is described cable wire clamp area
Territory.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 6, it is characterised in that: described locking
Part includes that two adjust screw rod, two compression springs and some locking nuts and pad；The both sides of described upper frame are respectively provided with
One second installing hole；The bottom of every described adjustment screw rod is all locked by described locking nut and pad and is paid on described middle frame,
Top all sequentially passes through described second installing hole and compression spring, and is locked by described locking nut and pad.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 5, it is characterised in that: described centrifugal
Arrestment mechanism includes that two centrifugal brakes, every described centrifugal brake all include a unilateral bearing, a brake hub, a brake
Mandrel, two springs and two fan-shaped brake blocks；
The other end of described front driving shaft and rear driving shaft is respectively by described unilateral bearing and described brake mandrel phase
Connect；The upper and lower surface of described brake mandrel is respectively provided with a brake block placing trough, and every described fan-shaped brake block is placed in an institute
State in brake block placing trough, described in two, between fan-shaped brake block, connect tension by described spring；
Described brake hub is set in the outside of described fan-shaped brake block, and makes the end of described brake hub and described underframe
On bearing block fixing connect；During described front driving shaft and rear driving shaft drive described brake mandrel to rotate, institute
State fan-shaped brake block, under the effect of eccentricity, the inwall with described brake hub is produced frictional damping.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 1, it is characterised in that: described shooting
Testing agency includes a left camera assembly, a right camera assembly and once camera assembly；Described left camera assembly and right shooting
Assembly is separately positioned on the left and right sides of described frame rear end, and described lower camera assembly is arranged on the bottom of described frame rear end, and
Photographic head in described left camera assembly, right camera assembly and lower camera assembly is all arranged towards described cable wire clamping zone.
Wireless remote control stayed-cable bridge cable wire automatic detection device the most according to claim 4, it is characterised in that: described electricity
Control and transmission system include that a model-following control device, a remote controller and a monitoring receive device；Described remote controller connects with monitoring
Receiving apparatus all with described model-following control device wireless connections；
Described monitoring receives device and includes one first set of cells, a video reception module and a monitoring record module；Described regard
Frequently receiver module is connected with monitoring record module, and is powered by described first set of cells；
Described model-following control device includes that one second set of cells, a speed adjusting module, a rotating forward control unit, a reversion control single
Unit, a voltage transformation module, a video acquisition module, a video transmission module, walking control module and a remote pilot
Module；Described second set of cells is connected with described voltage transformation module；Described video acquisition module, video transmission module, OK
Walk control module and remote pilot module is all connected in parallel, and be connected with described voltage transformation module；Described speed governing mould
Block is connected with described voltage transformation module；Described rotating forward control unit and reversion control unit all with described speed adjusting module phase
Connect；Described driving motor connects described rotating forward control unit and reversion control unit respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610903188.XA CN106284069A (en) | 2016-10-18 | 2016-10-18 | Wireless remote control stayed-cable bridge cable wire automatic detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610903188.XA CN106284069A (en) | 2016-10-18 | 2016-10-18 | Wireless remote control stayed-cable bridge cable wire automatic detection device |
Publications (1)
| Publication Number | Publication Date |
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| CN106284069A true CN106284069A (en) | 2017-01-04 |
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ID=57718665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610903188.XA Pending CN106284069A (en) | 2016-10-18 | 2016-10-18 | Wireless remote control stayed-cable bridge cable wire automatic detection device |
Country Status (1)
| Country | Link |
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| CN107476188A (en) * | 2017-07-14 | 2017-12-15 | 武汉理工大学 | Wireless control's suspension cable atress detector |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN112813820A (en) * | 2021-01-07 | 2021-05-18 | 刘帅 | Bridge detection device for daily maintenance |
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