CN118029261B - Bridge cable automated inspection maintenance integration equipment - Google Patents
Bridge cable automated inspection maintenance integration equipment Download PDFInfo
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- CN118029261B CN118029261B CN202410441687.6A CN202410441687A CN118029261B CN 118029261 B CN118029261 B CN 118029261B CN 202410441687 A CN202410441687 A CN 202410441687A CN 118029261 B CN118029261 B CN 118029261B
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- 238000001514 detection method Methods 0.000 claims abstract description 27
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Abstract
The invention relates to the technical field of robots, in particular to automatic detection and maintenance integrated equipment for bridge cables, which comprises a climbing rope part, a lifting rope part and a lifting rope part, wherein the climbing rope part can climb along the bridge cables, and the distance between the climbing rope parts is adjustable; the direction adjusting part is rotatably arranged outside the climbing rope part; the comprehensive maintenance part is arranged on the direction adjusting part, and can weld and repair bridge cables along with the direction adjusting part in a circumferential manner.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to automatic detection and maintenance integrated equipment for bridge cables.
Background
The cable is a main bearing and force transmission component of a bridge or other space building structures, is generally manufactured by adopting a high-strength steel wire through a special process, has the rust condition along with the long use time, needs to be detected and maintained, early warning and discovery are carried out on broken wires of the cable, and a basis is provided for safe use and later maintenance of the bridge.
The hydraulic drive bridge cable detection and maintenance robot with the prior publication number of CN201520127321.8 comprises a traveling mechanism traveling on a bridge cable and a detection mechanism positioned on the traveling mechanism and used for detecting the damage condition of the bridge cable, wherein the traveling mechanism is also provided with a clamping mechanism used for holding the bridge cable tightly, the clamping mechanism comprises at least two clamping cylinders arranged along the circumferential direction of the bridge cable and a brake shoe arranged at the output end of the clamping cylinders, and the brake shoe can clamp the bridge cable under the driving of the clamping cylinders. The clamping mechanism can clamp the cable to prevent the travelling mechanism from slipping on the cable.
In addition, this robot still is equipped with cable maintenance mechanism, can carry out online maintenance to the bridge cable, and this patent has following problem: (1) When the cable is partially broken, the structure of the patent cannot be overhauled on the outer wall of the cable in a circumferential manner, so that the defect of an overhauling angle is easy to occur; (2) When the cable is partially broken, auxiliary materials for welding work cannot be supplemented in real time by the structure disclosed by the patent, so that the quality and timeliness of the welding work cannot be guaranteed.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides automatic detection and maintenance integrated equipment for the bridge cable, which realizes the climbing operation of the main body of the device and flexibly realizes hovering through the climbing rope part, and can ensure that the comprehensive maintenance part is circumferential to detect and maintain the bridge cable through the direction-adjusting operation of the direction-adjusting part, and the maintenance surface of the bridge cable is covered on the whole surface by matching with the lifting position adjusting operation of the climbing rope part, so that the omission of maintenance angles is avoided, and the quality of maintenance operation is maintained.
In order to achieve the above object, the present invention provides an integrated device for automatic inspection and maintenance of bridge cables, comprising:
the climbing rope part can climb along the bridge cable, and the interval between the climbing rope parts is adjustable;
The direction adjusting part is rotatably arranged outside the climbing rope part;
The comprehensive overhaul part is arranged on the direction adjusting part and can circumferentially weld and repair bridge cables along with the direction adjusting part;
And the welding auxiliary part is arranged on the comprehensive maintenance part and can store and supply welding rods of the comprehensive maintenance part.
Further, the climbing rope part comprises a U-shaped frame, two part moving holes arranged on two sides of the U-shaped frame, two support frames arranged on the two part moving holes in a penetrating way, two driving parts arranged on the two support frames, and two hand-screwed bolts spirally connected with the two support frames;
one end of the hand-screwed bolt is rotationally connected with the outer side end of the U-shaped frame, wherein,
And the hand-screwed bolt is rotated, and the support frame can drive the driving part to move radially along the moving hole.
Further, the driving part comprises a supporting shaft rotatably arranged on the supporting frame, two gyro wheels arranged on the supporting shaft, and a first motor arranged on the supporting frame;
an output shaft of the first motor is connected with the supporting shaft;
the outer part of the gyro wheel is embedded with rubber sleeves with the same shape, wherein,
The support frame can drive two gyro wheel inclined planes laminating bridge cable, so that when the first motor drive the back shaft rotates, two gyro wheels roll along the bridge cable.
Further, two arc-shaped rods are connected to the outer parts of the two U-shaped frames through two support mirror images, the two arc-shaped rods are concentric, and a gap is arranged between the two arc-shaped rods;
The two arc-shaped rods form a circumferential track;
The direction adjusting part comprises an arc sleeve sleeved outside the arc rod and a side opening arranged inside the arc sleeve and used for the bracket to penetrate out;
the arc sleeve and the arc rod are concentric, the arc length of the arc sleeve is larger than that of the arc rod,
The arc sleeve can rotate along the circumference of the arc rod.
Further, the direction adjusting part further comprises two opening boxes which are arranged at the outer sides of the arc-shaped sleeves in a mirror image communication mode, two second motors which are arranged inside the two opening boxes, two first driving wheels which are arranged on motor shafts of the two second motors, and a vertical plate which is arranged at the outer sides of the arc-shaped sleeves;
the two first driving wheels are capable of abutting the arc-shaped rod, wherein,
The second motor is driven, and the first driving wheel can rub the arc-shaped rod to rotate so that the opening box drives the arc-shaped sleeve to rotate.
Further, the comprehensive maintenance part comprises a welding mechanical arm arranged on the vertical plate, a welding head arranged on the welding mechanical arm, a supporting plate arranged on the welding mechanical arm and an infrared detection head arranged at the front end of the supporting plate;
The infrared detection head center vertical line is collinear with the welding head center vertical line.
Further, the upper section of the supporting plate is strip-shaped, the lower section of the supporting plate is plate-shaped, and the width of the upper section of the supporting plate is larger than that of the lower section of the supporting plate;
the comprehensive overhaul part further comprises a binocular camera arranged at the top end of the supporting plate;
the binocular camera is used for monitoring the work of the welding head.
Further, the welding auxiliary part comprises a welding rod storage box arranged on the welding mechanical arm, an outlet arranged at the front end of the welding rod storage box and close to the lower wall of the welding rod storage box, and an inlet arranged at the rear end of the welding rod storage box and close to the upper wall of the welding rod storage box;
the outlet is offset parallel to the inlet;
the outlet is for electrode output and the inlet is for electrode input.
Further, the welding auxiliary part further comprises two connecting plates arranged at two sides of the welding rod storage box in a mirror image mode, a conveying wheel rotatably arranged between the two connecting plates, and a third motor arranged on one of the connecting plates;
An output shaft of the third motor is connected with the conveying wheel;
The bottom end of the welding rod storage box is provided with a stress hole for the penetration of the conveying wheel, the conveying wheel can be propped against the bottom end of a single welding rod, wherein,
And driving the third motor, wherein the conveying wheel can rub a single welding rod so as to enable the welding rod to be supplied to the welding head for supplementary welding after being output from the outlet.
Further, the outer circumferential surface of the conveying wheel is provided with a plurality of grooves, and the grooves are isosceles trapezoids.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
1. The climbing rope part realizes the climbing rope work of the main body of the device and flexibly hovers, the comprehensive overhaul part can be used for detecting and maintaining the bridge cable circumferentially through the direction-adjusting work of the direction-adjusting part, and the overhaul surface of the bridge cable is covered comprehensively by matching with the lifting position adjusting work of the climbing rope part, so that the omission of overhaul angles is avoided, and the quality of the overhaul work is maintained.
2. The welding auxiliary part synchronously adjusts the angle along with the movement of the comprehensive overhaul part, and can supply welding rods to the comprehensive overhaul part in time when the comprehensive overhaul part overhauls, so that the welding repair position of the bridge cable can not be lost, and the timeliness and the completeness of the overhaul are ensured.
Drawings
FIG. 1 is a perspective view of a first view of a bridge cable automatic inspection and maintenance integrated equipment person according to an embodiment of the present invention;
FIG. 2 is a perspective view of a second view of an automatic inspection and maintenance integrated equipment for bridge cables according to an embodiment of the present invention;
FIG. 3 is a perspective view of a steering gear according to an embodiment of the present invention;
FIG. 4 is a schematic top view of the steering section of the embodiment of the present invention;
FIG. 5 is an enlarged view of the invention at A in FIG. 4;
FIG. 6 is a perspective view of an integrated service unit according to an embodiment of the present invention;
FIG. 7 is a perspective view of a welding aid according to an embodiment of the present invention;
FIG. 8 is a side cross-sectional view of a welding rod storage cassette according to an embodiment of the present invention.
Like reference numerals denote like technical features throughout the drawings, in particular: 1. a climbing rope part; 11. a U-shaped frame; 12. a moving hole; 13. a support frame; 14. a driving section; 141. a support shaft; 142. a tourbillon; 143. a first motor; 15. screwing the bolt by hand; 2. a direction adjusting part; 21. an arc sleeve; 22. a side opening; 23. an open box; 24. a second motor; 25. a first drive wheel; 26. a vertical plate; 3. a comprehensive maintenance part; 31. welding a mechanical arm; 32. a welding head; 33. a supporting plate; 34. an infrared detection head; 35. binocular cameras; 4. a welding auxiliary part; 41. a welding rod storage box; 42. an outlet; 43. an inlet; 44. a connecting plate; 45. a conveying wheel; 46. a third motor; 5. a bracket; 6. an arc-shaped rod; 7. a strip groove; 8. and a stress hole.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Referring to fig. 1-8, the present invention provides an integrated device for automatic detection and maintenance of bridge cables, comprising:
the climbing rope part 1 can climb along a bridge cable, the interval between the climbing rope parts 1 is adjustable, the climbing rope part 1 can lift on the bridge cable, and the hovering work of the lifting position is realized, so that the stable maintenance work is facilitated;
a direction-adjusting part 2, wherein the direction-adjusting part 2 is rotatably arranged outside the climbing rope part 1; the direction-adjusting part 2 can rotate outside the climbing rope part 1, and the movable surface of the direction-adjusting part 2 and the lifting track of the climbing rope part 1 form a ninety-degree right angle;
the comprehensive maintenance part 3 is arranged on the direction adjusting part 2, the comprehensive maintenance part 3 can weld and maintain bridge cables along with the direction adjusting part 2 in a circumferential manner, and the comprehensive maintenance part 3 can detect and maintain the above-described adjusting direction and angle, so that the bridge cables can be effectively maintained;
The welding auxiliary part 4 is arranged on the comprehensive maintenance part 3, the welding auxiliary part 4 can store and supply welding rods of the comprehensive maintenance part 3, specifically, the welding auxiliary part 4 can be synchronously filled along with the adjustment angle of the tail end support arm of the comprehensive maintenance part 3, and feeding work can be realized at the first time of each angle; the climbing rope part realizes the climbing rope work of the main body of the device and flexibly hovers, the comprehensive overhaul part can be used for detecting and maintaining the bridge cable circumferentially through the direction-adjusting work of the direction-adjusting part, and the overhaul surface of the bridge cable is covered comprehensively by matching with the lifting position adjusting work of the climbing rope part, so that the omission of overhaul angles is avoided, and the quality of the overhaul work is maintained.
The device is also provided with a storage battery, a control device, a signal generating device and a signal receiving device, which are the prior art disclosures of inspection robots and remote welding robots, and are not explained here.
According to the climbing rope part 1, the climbing rope of the device main body is operated, the hovering is flexibly realized, when the direction of the direction-adjusting part 2 is adjusted, the comprehensive maintenance part 3 cannot shake during maintenance, the comprehensive maintenance part 3 can detect and maintain the bridge cable in the circumference through the direction-adjusting operation of the direction-adjusting part 2, the maintenance angle is three hundred sixty degrees in one direction, the lifting position of the climbing rope part 1 is matched for adjusting the operation, the maintenance surface of the bridge cable is covered completely, the omission of the maintenance angle is avoided, the maintenance quality of the maintenance operation is maintained, the maintenance operation of the bridge cable is completed in one time period, the operation cost is shortened, and the working efficiency is improved.
According to the invention, the welding auxiliary part 4 synchronously adjusts the angle along with the movement of the comprehensive maintenance part 3, and when the comprehensive maintenance part 3 carries out maintenance work, welding rods can be timely supplied to the comprehensive maintenance part 3, so that the welding repair position of a bridge cable can not be lost, the timeliness and the completeness of the maintenance work are ensured, the welding rods are in a plurality of welding auxiliary parts 4, and the circularity and the persistence of the welding repair work are maintained along with the single output of the welding requirement of the comprehensive maintenance part 3.
Optionally, the cable climbing part 1 includes a U-shaped frame 11, two moving holes 12 disposed at two sides of the U-shaped frame 11, two supporting frames 13 disposed at two moving holes 12 in a penetrating manner, the hole walls of the moving holes 12 contact with the outer walls of the supporting frames 13, so that the moving process of the supporting frames 13 is limited and can not swing in all directions, two driving parts 14 disposed on the two supporting frames 13 can radially balance and move, and two hand-screwed bolts 15 screwed on the two supporting frames 13;
One end of the hand-screwed bolt 15 is rotatably connected with the outer side end of the U-shaped frame 11, wherein,
The hand-screwed bolt 15 is rotated, the support frame 13 can drive the driving part 14 to move radially along the moving hole 12, specifically, the hand-screwed bolt 15 acts on the driving part 14 through the support frame 13 to form a position adjusting structure with the driving part 14, so that the driving part 14 is close to the inner side of the U-shaped frame 11 or far away from the inner side of the U-shaped frame 11, the two driving parts 14 are close to or far away from each other in opposite directions, the distance between the two driving parts 14 is adjusted, the contact requirement of the driving part 14 and bridge cables with different diameters is met, the operation is flexible and convenient, and the working efficiency is ensured to a certain extent. The welding auxiliary part synchronously adjusts the angle along with the movement of the comprehensive overhaul part, and can supply welding rods to the comprehensive overhaul part in time when the comprehensive overhaul part overhauls, so that the welding repair position of the bridge cable can not be lost, and the timeliness and the completeness of the overhaul are ensured.
Alternatively, the driving part 14 includes a support shaft 141 rotatably provided on the support frame 13, two gyro wheels 142 provided on the support shaft 141, and a first motor 143 provided on the support frame 13;
an output shaft of the first motor 143 is connected with the supporting shaft 141;
The gyro wheel 142 is externally embedded with a rubber sleeve with the same shape, wherein,
The support frame 13 can drive two gyro wheel 142 inclined planes laminating bridge cable, so that when first motor 143 drives the back shaft 141 rotates, two gyro wheels 142 roll along the bridge cable, specifically, the shape between two gyro wheel 142 inclined planes that is located on each back shaft 141 constitutes isosceles trapezoid, the bigger one end of isosceles trapezoid opening is towards the bridge cable, the smaller one end of isosceles trapezoid opening keeps away from the bridge cable, two gyro wheel 142 inclined planes are along with the back shaft 141 by the roll adjustment process of support frame 13 and closely contact bridge cable, until hand screw 15 is not being able to rotate, the bridge cable can receive the balanced conflict effect of four direction gyro wheel 142 inclined planes, this kind of conflict mode makes the bridge cable can not clockwise or anticlockwise swing for gyro wheel 142 inclined planes because of the atress is uneven, its conflict state can benign maintain, the gum cover has elasticity and flexible interval between gyro wheel 142 and bridge cable, let the bridge cable keep suitable atress effect, let gyro wheel 142 stop the requirement of U-shaped frame 11 when driving, first motor that the gyro wheel 142 is being able to be driven forward and backward can realize the forward and backward driving of bridge cable.
Optionally, two arc-shaped rods 6 are connected outside the two U-shaped frames 11 in a mirror image mode through two brackets 5, the two arc-shaped rods 6 are concentric, and a gap is arranged between the two arc-shaped rods 6;
The two arc-shaped rods 6 form a circumferential track;
The direction adjusting part 2 comprises an arc sleeve 21 sleeved outside the arc rod 6 and a side opening 22 arranged inside the arc sleeve 21 and used for the bracket 5 to penetrate out;
The arc sleeve 21 and the arc rod 6 are concentric, the arc length of the arc sleeve 21 is larger than that of the arc rod 6,
The arc sleeve 21 can rotate along the circumference of the arc rod 6, and specifically, the two arc rods 6 can be loaded through the connection of the two brackets 5, the arc sleeve 21 can cross the gap between the two arc rods 6 to realize circular motion, the arc length of the arc sleeve 21 is set to prevent the arc sleeve 21 from falling off through the gap between the two arc rods 6, the side opening 22 rotates synchronously along with the rotation of the arc sleeve 21, the width of the side opening 22 is larger than the thickness of the arc rod 6, the side opening 22 directly passes through the brackets 5 when rotating along with the arc sleeve 21, and the bracket 5 is prevented from obstructing the movement of the arc sleeve 21 to influence the normal angle adjustment work of the arc sleeve 21.
Optionally, the direction-adjusting part 2 further includes two open boxes 23 disposed on the outer sides of the arc-shaped sleeves 21 in a mirror image communication manner, two second motors 24 disposed inside the two open boxes 23, two first driving wheels 25 disposed on motor shafts of the two second motors 24, and a vertical plate 26 disposed on the outer sides of the arc-shaped sleeves 21;
the two first driving wheels 25 are able to abut against the curved bars 6, wherein,
The second motor 24 is driven, and the first driving wheel 25 can rub the arc rod 6 to rotate, so that the open box 23 drives the arc sleeve 21 to rotate, specifically,
The open box 23 provides accommodation space for the second motor 24 and the first driving wheel 25, avoids the normal operation of the second motor 24 to be influenced by external environment, and the second motor 24 provides driving action for the first driving wheel 25, so that the reaction force of the first driving wheel 25 friction bridge cable is transmitted to the arc sleeve 21 through the open box 23, normal driving operation of the arc sleeve 21 is facilitated, two groups of driving structures formed by the second motor 24, the first driving wheel 25 and the open box 23 are arranged, and when one driving mechanism is positioned in a gap between two arc rods 6, the other driving mechanism can continue driving operation, thereby ensuring the smoothness of angle adjustment operation of the arc sleeve 21 and increasing the fault tolerance rate of the operation of the arc sleeve 21.
Optionally, the comprehensive maintenance part 3 includes a welding mechanical arm 31 disposed on the vertical plate 26, a welding head 32 disposed on the welding mechanical arm 31, a supporting plate 33 disposed on the welding mechanical arm 31, and an infrared detection head 34 disposed at the front end of the supporting plate 33;
The center vertical line of the infrared detection head 34 is collinear with the center vertical line of the welding head 32, specifically, the welding mechanical arm 31 can drive the welding head 32 to perform multi-angle adjustment work, the repair requirement when the bridge cable is damaged at various angles is met, the supporting plate 33 can isolate the heat conduction of the infrared detection head 34 to a certain extent when the welding head 32 works, the infrared detection head 34 is prevented from being too greatly disturbed by heat to cause faults, the infrared detection head 34 can directly detect the missing part of the bridge cable, and the transition time between the detection work of the infrared detection head 34 and the welding work of the welding head 32 is too long.
Optionally, the upper section of the supporting plate 33 is strip-shaped, the lower section is plate-shaped, and the width of the upper section is larger than that of the lower section;
the comprehensive maintenance part 3 further comprises a binocular camera 35 arranged at the top end of the supporting plate 33;
The binocular camera 35 is used for monitoring the work of the welding head 32, specifically, the binocular camera 35 is matched with the detection work of the infrared detection head 34 to realize the comparison work of two detection modes, so that the occurrence of the conditions of detection faults and inaccurate detection data is avoided, and the real-time visual control of the welding work of the welding head 32 can be realized.
Alternatively, the welding auxiliary portion 4 includes a welding rod storage case 41 provided on the welding robot arm 31, an outlet 42 provided at a front end of the welding rod storage case 41 and adjacent to a lower wall thereof, and an inlet 43 provided at a rear end of the welding rod storage case 41 and adjacent to an upper wall thereof;
the outlet 42 is offset parallel to the inlet 43;
The outlet 42 is used for outputting welding rods, the inlet 43 is used for inputting welding rods, specifically, the welding rods are in a strip shape or a column shape, and the width or the outer diameter of each welding rod is equal to the inner width of the welding rod storage box 41, so that a plurality of welding rods enter the welding rod storage box 41 through the inlet 43 and are in a flat stacking state, after being output from the outlet 42, a single welding rod is facilitated, and after being output from the outlet 42, the other welding rod is timely supplemented to the position of the previous welding rod, and smooth operation of welding rod output is facilitated.
Optionally, the welding auxiliary part 4 further includes two connection plates 44 mirror-image-disposed at both sides of the welding rod storage case 41, a transfer wheel 45 rotatably disposed between the two connection plates 44, and a third motor 46 disposed on one of the connection plates 44; the third motor 46 is a stepper motor;
An output shaft of the third motor 46 is connected with the conveying wheel 45;
The bottom end of the welding rod storage box 41 is provided with a stress hole 8 for the penetration of the conveying wheel 45, and the conveying wheel 45 can be propped against the bottom end of a single welding rod, wherein,
The third motor 46 is driven, the conveying wheel 45 can rub a single welding rod, so that the welding rod is supplied to the welding head 32 for supplementary welding after being output from the outlet 42, specifically, the two connecting plates 44 provide a front mounting condition for the third motor 46 and the conveying wheel 45, the space between the two connecting plates 44 allows the rotating track of the conveying wheel 45 not to be blocked, the third motor 46 can drive the conveying wheel 45 to effectively rotate, the rotating direction of the conveying wheel 45 and the output direction of the welding rod are in the same direction, the perfect output work of the welding rod is ensured, the single welding rod can be output in full or partial along with the auxiliary work of welding, the controllability is increased, the waste of resources is reduced, and the repairing effect on the bridge cable missing part after the welding rod is used is better.
Optionally, the outer circumference of the conveying wheel 45 is provided with a plurality of grooves 7, and the grooves 7 are isosceles trapezoids, specifically, the contact angle between the grooves 7 and the welding rod can be increased, so that the friction force between the conveying wheel 45 and the welding rod is stronger, and the conveying wheel 45 is prevented from slipping when the welding rod is output by friction.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. Automatic bridge cable detection and maintenance integrated equipment is characterized in that: comprising the following steps:
the climbing rope part (1), wherein the climbing rope part (1) can climb along a bridge cable, and the interval of the climbing rope part (1) is adjustable;
The direction adjusting part (2), the direction adjusting part (2) is rotatably arranged outside the climbing rope part (1);
The comprehensive maintenance part (3), the comprehensive maintenance part (3) is arranged on the direction-adjusting part (2), and the comprehensive maintenance part (3) can weld and maintain bridge cables along with the direction-adjusting part (2) in a circumference manner;
And a welding auxiliary portion (4), wherein the welding auxiliary portion (4) is arranged on the comprehensive maintenance portion (3), and the welding auxiliary portion (4) can store and supply welding rods of the comprehensive maintenance portion (3);
The climbing rope part (1) comprises a block U-shaped frame (11), two part moving holes (12) arranged on two sides of the U-shaped frame (11), two supporting frames (13) arranged on the two part moving holes (12) in a penetrating way, two driving parts (14) arranged on the two supporting frames (13), and two hand-screwed bolts (15) spirally connected with the two supporting frames (13);
One end of the hand-screwed bolt (15) is rotationally connected with the outer side end of the U-shaped frame (11), wherein,
The hand-screwed bolt (15) is rotated, and the supporting frame (13) can drive the driving part (14) to move radially along the moving hole (12);
The driving part (14) comprises a supporting shaft (141) rotatably arranged on the supporting frame (13), two gyro wheels (142) arranged on the supporting shaft (141), and a first motor (143) arranged on the supporting frame (13);
An output shaft of the first motor (143) is connected with the supporting shaft (141);
The outer part of the gyro wheel (142) is embedded with rubber sleeves with the same shape, wherein,
The support frame (13) can drive the two gyro wheels (142) to be attached to the bridge cable on the inclined plane, so that when the first motor (143) drives the support shaft (141) to rotate, the two gyro wheels (142) roll along the bridge cable;
The comprehensive maintenance part (3) comprises a welding mechanical arm (31) arranged on a vertical plate (26), a welding head (32) arranged on the welding mechanical arm (31), a supporting plate (33) arranged on the welding mechanical arm (31) and an infrared detection head (34) arranged at the front end of the supporting plate (33);
The central vertical line of the infrared detection head (34) is collinear with the central vertical line of the welding head (32);
The welding auxiliary part (4) comprises a welding rod storage box (41) arranged on the welding mechanical arm (31), an outlet (42) arranged at the front end of the welding rod storage box (41) and close to the lower wall of the welding rod storage box, and an inlet (43) arranged at the rear end of the welding rod storage box (41) and close to the upper wall of the welding rod storage box;
-said outlet (42) is offset parallel to said inlet (43);
the outlet (42) is for electrode output and the inlet (43) is for electrode input;
The welding auxiliary part (4) further comprises two connecting plates (44) which are arranged at two sides of the welding rod storage box (41) in a mirror image mode, a conveying wheel (45) which is rotatably arranged between the two connecting plates (44), and a third motor (46) which is arranged on one connecting plate (44);
An output shaft of the third motor (46) is connected with the conveying wheel (45);
The bottom end of the welding rod storage box (41) is provided with a stress hole (8) for the penetration of the conveying wheel (45), the conveying wheel (45) can be propped against the bottom end of a single welding rod, wherein,
The third motor (46) is driven, and the conveying wheel (45) can rub a single welding rod so that the welding rod is supplied to the welding head (32) for welding after being output from the outlet (42).
2. The bridge cable automatic detection and maintenance integrated device as claimed in claim 1, wherein:
two arc rods (6) are connected to the outer parts of the two U-shaped frames (11) in a mirror image mode through two supports (5), the two arc rods (6) are concentric, and a gap is formed between the two arc rods (6);
the two arc-shaped rods (6) form a circumferential track;
The direction adjusting part (2) comprises an arc sleeve (21) sleeved outside the arc rod (6), and a side opening (22) arranged inside the arc sleeve (21) and used for allowing the bracket (5) to penetrate out;
The arc sleeve (21) and the arc rod (6) are concentric, the arc length of the arc sleeve (21) is larger than that of the arc rod (6),
The arc-shaped sleeve (21) can rotate along the circumference of the arc-shaped rod (6).
3. The bridge cable automatic detection and maintenance integrated device as claimed in claim 2, wherein:
The direction adjusting part (2) further comprises two opening boxes (23) which are arranged outside the arc-shaped sleeve (21) in a mirror image communication mode, two second motors (24) which are arranged inside the two opening boxes (23), two first driving wheels (25) which are arranged on motor shafts of the two second motors (24), and a vertical plate (26) which is arranged outside the arc-shaped sleeve (21);
two first driving wheels (25) are capable of abutting against the curved bar (6), wherein,
The second motor (24) is driven, and the first driving wheel (25) can rub the arc-shaped rod (6) to rotate so that the opening box (23) drives the arc-shaped sleeve (21) to rotate.
4. A bridge cable automatic inspection and repair integrated apparatus as claimed in claim 3 wherein:
The upper section of the supporting plate (33) is strip-shaped, the lower section of the supporting plate is plate-shaped, and the width of the upper section of the supporting plate is larger than that of the lower section of the supporting plate;
the comprehensive overhaul part (3) further comprises a binocular camera (35) arranged at the top end of the supporting plate (33);
the binocular camera (35) is used for monitoring the work of the welding head (32).
5. The bridge cable automatic detection and maintenance integrated device according to claim 4, wherein:
The outer circumferential surface of the conveying wheel (45) is provided with a plurality of grooves (7), and the grooves (7) are isosceles trapezoids.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410441687.6A CN118029261B (en) | 2024-04-12 | 2024-04-12 | Bridge cable automated inspection maintenance integration equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN216780801U (en) * | 2022-01-13 | 2022-06-21 | 王宗跃 | Welding robot capable of automatically feeding welding rods |
| CN117773971A (en) * | 2024-01-30 | 2024-03-29 | 深圳市人工智能与机器人研究院 | Cable protection layer overhauls robot |
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| DE20311395U1 (en) * | 2003-07-24 | 2003-10-30 | Boué, Andreas, Dr.-Ing., 52152 Simmerath | Remotely-controlled cable inspection platform rotates through roll plane for all-round cable inspection |
| CN108854089A (en) * | 2018-07-12 | 2018-11-23 | 苏州昭轩数字科技有限公司 | A kind of intelligent checking system for roller-coaster safety |
| CN215599025U (en) * | 2021-06-18 | 2022-01-21 | 广州市开博桥梁工程有限公司 | Bridge cable fire prevention system construction equipment |
| CN117697796B (en) * | 2024-02-06 | 2024-05-03 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
| CN117822435B (en) * | 2024-03-06 | 2024-07-02 | 四川蜀工公路工程试验检测有限公司 | Bridge gap detection system and safety evaluation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN216780801U (en) * | 2022-01-13 | 2022-06-21 | 王宗跃 | Welding robot capable of automatically feeding welding rods |
| CN117773971A (en) * | 2024-01-30 | 2024-03-29 | 深圳市人工智能与机器人研究院 | Cable protection layer overhauls robot |
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