Suspender disease detection device and detection method

Abstract

The invention discloses a suspender disease detection device and a detection method. The device comprises a robot skeleton which is provided with a main controller, an image collection mechanism for carrying out the image collection of the surface of a suspender, a magnetic detection mechanism for detecting a magnetic field in the suspender, and a climbing mechanism. The climbing mechanism comprises a climbing assembly and a positioning rolling assembly, the climbing assembly comprises a plurality of rotor wings installed on the outer side of the robot skeleton, and the main controller can drive the robot skeleton to climb upwards along the suspender or hover on the suspender by controlling the output power of the rotor wings; the positioning rolling assemblies are installed on the inner side of the robot skeleton and abut against the suspenders at the corresponding positions so that the positioning rolling assemblies can roll and ascend along the suspenders according to a set route along with the robot skeleton. The detection device can run according to a set route all the time, so that the disease position can be accurately positioned, and meanwhile, secondary damage to the disease position of the suspender can be avoided.

Description

technical field [0001] The invention relates to the technical field of civil engineering structure detection, in particular to a detection device and a detection method for suspender damage. Background technique [0002] The suspender is the link between the main girder and the main force-bearing components in suspension bridges and mid-down arch bridges, and is also a key force-transmitting component. Because the boom is exposed to the external environment for a long time, it is inevitable that the internal steel wire will be corroded and broken, and there will be serious fatigue problems due to the continuous tension and compression alternating stress caused by the vehicle load or wind load, which will affect the transmission of the boom. force capacity and durability, which in turn affects the safety of the entire suspension bridge structure. [0003] At present, the most effective detection methods for the damage of booms are the UAV detection method and the detection r...

AI Technical Summary

Problems solved by technology

In order to enable the detection robot to crawl upwards along the boom, rollers are provided on the detection robot, and the friction between the rollers and the boom is used to realize the effect that the rollers drive the entire detection robot to crawl along the boom. This climbing structure using rollers is used There will be the following problems: 1. The suspender is a cylinder with a curved surface. When the diameter of the suspender changes due to shock absorbing wires, PE sheath bulges, grooves, etc., the rollers will drive the detection robot. When climbing, there will be a phenomenon of deviation, which makes it impossible to climb along the expected route, which will affect the accurate positioning of the location of the disease; 2. The detection robot needs to have a large enough clamping force to detect the damage of the boom. Therefore, the force between the roller and the boom must be large, and the large clamping force itself is a kind of damage to the boom. When the detection robot climbs to the diseased position, it will be damaged. The impact of the clamping force will also cause secondary damage to the diseased part of the suspender

In addition, in the prior art, the magnetic detection equipment carried by the detection robot is mostly fixed on the main structure of the robot and cannot rotate along the circumferential direction of the cable. Therefore, the detection equipment can only detect the damage of the boom along a fixed path, and there are detection blind spots, which affect the detection. precision

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