CN112458895A - Stay cable detection robot based on electromagnetism and Mecanum wheel - Google Patents
Stay cable detection robot based on electromagnetism and Mecanum wheel Download PDFInfo
- Publication number
- CN112458895A CN112458895A CN202011284235.XA CN202011284235A CN112458895A CN 112458895 A CN112458895 A CN 112458895A CN 202011284235 A CN202011284235 A CN 202011284235A CN 112458895 A CN112458895 A CN 112458895A
- Authority
- CN
- China
- Prior art keywords
- stay cable
- mecanum wheel
- robot
- electromagnetism
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 25
- 238000007689 inspection Methods 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 239000004575 stone Substances 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 abstract description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- WTFXARWRTYJXII-UHFFFAOYSA-N iron(2+);iron(3+);oxygen(2-) Chemical compound [O-2].[O-2].[O-2].[O-2].[Fe+2].[Fe+3].[Fe+3] WTFXARWRTYJXII-UHFFFAOYSA-N 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Images
Classifications
-
- 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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- 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
- E01D19/16—Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Bridges Or Land Bridges (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a stay cable detection robot based on electromagnetism and Mecanum wheels. The invention can avoid the bulge or damaged surface which is difficult to pass through on the stay cable, can move left and right and lift to avoid abnormal conditions, can be better adsorbed on the surface of the stay cable on the electromagnetic and Mecanum wheels, is provided with the solar panel to increase the endurance, and can meet the requirement that the electromagnet and the robot need more electric energy for moving.
Description
Technical Field
The invention relates to the field of detection robots, in particular to a stay cable detection robot based on electromagnetism and Mecanum wheels.
Background
At present, more and more bridge construction projects are provided, and the bridge on the great river mainly takes a stay cable bridge as a main part. Some cross-sea and cross-river bridges are located at special geographic positions, the stay cables are exposed to extreme environments such as strong wind, salt and moisture all the year round, the outer layers of the stay cables are damaged more easily, the inner steel cables are corroded and rusted, then the wires inside the steel cables are broken under the combined action of swinging of the steel cables caused by the strong wind, the safety of the whole bridge is affected, and even the bridge body collapses and the like. Therefore, the design, installation and later maintenance of the stay cable are especially important.
The later maintenance of the stay cable is a long-term work, and the safety of the bridge needs to regularly and completely examine the stay cable of the whole bridge body. At present, the main detection methods at home and abroad comprise a sampling detection method, a manual detection method of an elevating platform or a winch and a robot detection method. Sampling test and manual site detection have limitations, time and labor are wasted, and the robot detection method is relatively more convenient and faster. Ordinary suspension cable inspection robot designs into hollow cylinder, adsorbs on the suspension cable through frictional force then uses the gyro wheel drive to reciprocate, and this kind of design moves when having higher surface bulge or great surface damage on meetting the suspension cable and will be influenced or can block even, and only the manual work is restoreed and just can continue to detect, has just so caused secondary work. Originally, the time and the manpower are doubled for the time-saving and labor-saving design, and the problem is solved.
Disclosure of Invention
The invention aims to provide a stay cable detection robot which can move left and right and lift to avoid abnormal conditions by avoiding a bulge or a damaged surface on a stay cable, which is not easy to pass through, and can better adsorb on the surface of the stay cable on an electromagnetic wheel and a Mecanum wheel, so as to overcome the defects of the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a suspension cable inspection robot based on electromagnetism and mecanum wheel inspection robot is including detecting the fixed plate, mecanum wheel and electromagnetism stone, mecanum wheel is fixed detect the fixed plate below, the electromagnetism stone is fixed detect the fixed plate lower part.
And a spring shock absorber is also arranged between the detection fixing plate and the Mecanum wheel.
The detection fixing plate is provided with a solar panel.
The invention can avoid the bulge or damaged surface which is difficult to pass through on the stay cable, can move left and right and lift to avoid abnormal conditions, can be better adsorbed on the surface of the stay cable on the electromagnetic and Mecanum wheels, is provided with the solar panel to increase the endurance, and can meet the requirement of more electric energy for the movement of the electromagnet and the robot.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
FIG. 2 is a comparison of the present invention with the prior art.
FIG. 3 shows a partial driving direction diagram of the present invention when each driving wheel is driven separately.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
The invention relates to a stay cable detection robot based on electromagnetism and Mecanum wheels, which is a stay cable robot that adsorbs the electromagnetism on the surface of a stay cable and then moves in four directions, namely front, back, left and right, on the surface of the stay cable by using the Mecanum wheels, and can more quickly and efficiently achieve the detection purpose on the basis of the detection of the existing robot; the electromagnet is arranged at the bottom of the robot, so that the electromagnet can be adsorbed on the surface of the stay cable, the contact surface of the robot and the stay cable is small, and the electromagnet can adjust the adsorption height of the robot by adjusting the power output, so that a bulge or a damaged surface which is difficult to pass through on the stay cable can be avoided, and the detection is continued. The robot is provided with 4 Mecanum wheels at the bottom, each Mecanum wheel is independently driven by a motor and moves back and forth and left and back on the surface of the stay cable, so that the abnormal condition of the surface of the stay cable can be effectively avoided, and the detection is continued. According to the invention, the electromagnet is arranged at the bottom of the robot, the Mecanum wheels at the bottom of the robot are adsorbed on the surface of the stay cable when the robot is electrified, and the friction force of the Mecanum wheels in contact with the surface of the stay cable is larger than that of a common wheel set due to the rough surface of the Mecanum wheels, so that the Mecanum wheels can be better adsorbed on the surface of the stay cable. The Mecanum wheel at the bottom of the robot is connected with the robot through the spring shock absorber, and when the magnetic force of the magnetic stone is adjusted, the bottom of the robot can be lifted to avoid the surface abnormal condition of the stay cable, so that the detection is continued. The power needed by the robot power system for up-and-down detection is provided by the lithium battery, and the robot power system can be charged through photovoltaic and kinetic energy recovery when working outdoors.
Those not described in detail in this specification are within the knowledge of those skilled in the art.
Claims (3)
1. The utility model provides a suspension cable inspection robot based on electromagnetism and mecanum wheel which characterized in that, inspection robot is including detecting the fixed plate, mecanum wheel and electromagnetism stone, mecanum wheel is fixed detect the fixed plate below, the electromagnetism stone is decided detect the fixed plate lower part.
2. The electromagnetic and mecanum wheel based stay cable detection robot of claim 1 wherein a spring damper is further disposed between the detection fixing plate and the mecanum wheel.
3. The electromagnetic and mecanum wheel based stay cable detection robot of claim 1 wherein the detection fixing plate is provided with a solar panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011284235.XA CN112458895A (en) | 2020-11-17 | 2020-11-17 | Stay cable detection robot based on electromagnetism and Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011284235.XA CN112458895A (en) | 2020-11-17 | 2020-11-17 | Stay cable detection robot based on electromagnetism and Mecanum wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112458895A true CN112458895A (en) | 2021-03-09 |
Family
ID=74837638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011284235.XA Pending CN112458895A (en) | 2020-11-17 | 2020-11-17 | Stay cable detection robot based on electromagnetism and Mecanum wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112458895A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105301020A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Digital flat panel ray detection ray source end robot based on Mecanum wheels |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
-
2020
- 2020-11-17 CN CN202011284235.XA patent/CN112458895A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105301020A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Digital flat panel ray detection ray source end robot based on Mecanum wheels |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210309 |
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| RJ01 | Rejection of invention patent application after publication |