Lightweight carbon fiber cable climbing robot with detection system and its method for cable detection

Abstract

A light carbon fiber climbing robot with a detection system comprises a climbing mechanism, a control unit, a power system, a video capture unit, a wireless data transmission unit and a detection mechanism, wherein the climbing mechanism comprises a two-piece light carbon fiber frame, a pair of driving wheels and a pair of driven wheels. The two-piece light carbon fiber frame comprises four pairs of connecting arms and two carbon fiber mounting plates, the driving wheels and the driven wheels are in a bilateral clamping four-wheel double-motor drive mode and connected by the four pairs of connecting arms, the control unit comprises an upper computer, the detection mechanism comprises a wireless acceleration sensor and a distance measurement unit, the wireless acceleration sensor is mounted on the light carbon fiber frame and can stop at an optional position of an inhaul cable to measure the cable stress of the inhaul cable in the climbing process of the climbing robot, and the cable stress is transmitted to the upper computer by the wireless data transmission unit. The climbing robot is made of light carbon fibers, light in weight, good in cruising power and convenient to mount and detach on the inhaul cable, and conveniently climb on the inhaul cable. A method for detecting the inhaul cable is simple and convenient.

Description

technical field [0001] The invention relates to a cable detection device and a detection method, in particular to a light carbon fiber cable climbing robot with a detection system and a method for detecting the cable. Background technique [0002] The cable is one of the core components of cable bridges such as arch bridges, cable-stayed bridges, and suspension bridges. As a stressed component, its stress status plays an extremely important role in the safety of the overall structure of the bridge; One of the important signs of being in a safe state. Because the cable is exposed to the air for a long time, the PE protective layer on the surface will be hardened and damaged by factors such as wind and rain, ultraviolet radiation, and human damage, which will cause corrosion of the internal steel wire bundles or steel strands. In severe cases There may even be broken wires; on the other hand, due to wind vibration, rain vibration and other reasons, the steel wire bundles insi...

AI Technical Summary

Problems solved by technology

Because the cable is exposed to the air for a long time, the PE protective layer on the surface will be hardened and damaged by factors such as wind and rain, ultraviolet radiation, and human damage, which will cause corrosion of the internal steel wire bundles or steel strands. In severe cases There may even be broken wires; on the other hand, due to wind vibration, rain vibration and other reasons, the steel wire bundles inside the cable will be rubbed, causing the steel wires to wear out, and in severe cases, broken wires will also occur; regularly check the inside and outside of the cable system is very necessary

[0003] At present, the general detection method of the cable is a manual detection method; that is, the cable is manually detected by using the hoist to drag the maintenance vehicle or the climbing vehicle. The disadvantage of this method is that it will cause damage to the protective layer of the cable Personnel are working at high altitudes, which is likely to cause safety accidents; with the advancement of robot technology, it is inevitable to develop robots for bridge cable detection; The applicant of the present invention has also proposed 3 patents on climbing rope robots (CN200910302899.1, CN200920302141.3, CN200920302128.8), but they are all designed with metal materials. , very heavy, poor battery life

[0004] In terms of cable force measurement, due to limited conditions, the usual method in the past is to fix the vibration pickup at the end of the cable, but the high-frequency components at the end of the cable are dominant, and the low-order frequencies of the test signal are not prominent. The high-order resonance peak is very large, which is not conducive to the identification of low-order frequencies; the most ideal installation position of the vibration pickup should be at the L / 4 of the cable, because this is where the vibration pickup avoids the support point and the low-order mode shape The amplitude corresponding to each order frequency is more obvious; therefore, the accuracy of the existing method of fixing the vibration pickup at the end of the cable to detect the cable force is poor.

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