CN104153291A - Rope inspection robot - Google Patents
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- CN104153291A CN104153291A CN201410150772.3A CN201410150772A CN104153291A CN 104153291 A CN104153291 A CN 104153291A CN 201410150772 A CN201410150772 A CN 201410150772A CN 104153291 A CN104153291 A CN 104153291A
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Abstract
The invention discloses a rope inspection robot. The rope inspection robot comprises a driving frame and a cable holding frame. The two sides of the driving frame are respectively provided with a pair of cylindrical driving rollers which are arranged in the vertical direction. The two pairs of driving rollers are synchronously driven by a drive motor. A cable holding motor is arranged on the cable holding frame and connected with a pressing plate in the cable holding frame through a cable holding transmission mechanism. The two sides of the face, close to the driving frame, of the pressing plate are respectively provided with a pair of cylindrical pressing wheels which are arranged in the vertical direction. When a rope is held in a surrounding mode by closing the driving frame and the cable holding frame, the shadows, on the horizontal plane, of the inner sides of the roller faces of the driving rollers and the shadows, on the horizontal plane, of the inner sides of the roller faces of the pressing rollers are of a cable surrounding and holding rhombus structure. The rope inspection robot further comprises a ground remote control device. A camera is arranged on the rope inspection robot. The rope inspection robot effectively solves the problems that in the prior art, an existing rope inspection robot is poor in climbing and obstacle crossing capacity and not capable of climbing ropes with small diameters, and has quite high practical value.
Description
Technical field
The present invention relates to a kind of Industrial Robot Technology field, be specifically related to a kind of cable inspecting robot for cable Inspection and maintenance.
Background technology
Cable stayed bridge has the plurality of advantages such as span is large, handsome in appearance, construction is convenient, as the new model of modern bridge, is worldwide widely used.One of main bearing member of cable stayed bridge is cable, and its manufacture and installation cost account for 25% left and right of bridge investment.Due to cable for a long time in wind shake, rain shakes, in the environment of varying load and pollution, inevitably there will be wire rope corrosion, the disconnected stock market-circumstance condition of strain relaxation.For improving the application life of wire rope, drag-line manufacturer has increased corrosion protection system on wirerope.What adopt at present extensively is that first every little steel wire adopts zinc-plated and be coated with oil guard, and then many little steel wires are made and are wound around outside high-strength polyester band after wire rope and protect, and finally form sheath at the coated two-layer PE layer of outside pyrocondensation, with air insulated.But As time goes on, PE sheath will be aging, bulge, cracking.Once inner wire rope exposes to the open air and touches air, cable will very fast corrosion fracture.A lot of because cable corrosion causes the example of bridge damage.Famous Venezuela Maracaibo bridge adopts the cable of concrete parcel corrosion protection system, and after 16 years, find the serious corrosion of anchored end and change cable building up, 2 years consuming time at that time, 50,000,000 dollars of costs.Cole's Blanc moral cable stayed bridge of Hamburg, Germany, due to seriously corroded, builds up the 3rd year, has just changed all cables, and 6,000 ten thousand dollars of costs, are 4 times of former cost.U.S. Pascokenewick cable stayed bridge adopts wire rope is placed in to injected water mud in polyethylene pipe past pipe, then be wound with again the corrosion protection system of polyvinyl chloride band outward at polyethylene pipe, be 25 years former endurance expectation, and due to uviolize, only 3-5 had just all lost efficacy.Sea, China Guangzhou prints bridge and only uses 6 years half, and Jinan Yellow River highway bridge uses 13 years to be waited just because of cable corrosion, the rope of having to all change.Once there is disconnected rope in bridge, will cause not predictable serious consequence.But the fixed cycle is blindly changed rope, certainly will can bring again great social resources waste, be that bridge construction is installed several times of cables period because change the cost of a cables.Therefore be necessary to study a kind ofly can carry out accurately in-service cable, the ways and means of efficient detection.By to the making regular check on of cable, obtain more real in-service cable working condition, and then instruct the maintenance work of cable, formulate the cable replacement cycle of science, improve the safety in utilization of cable stayed bridge.This work certainly will bring significant social benefit and huge economic benefit.Although there is no at present simple, quick, reliable suspension cable detection method, the inspection that bridge owner unit still will take certain methods to be correlated with to the working condition of in-service suspension cable.The existing method that suspension cable is carried out routine examination mainly includes: the hoist engine of artificial telescope ocular estimate, the scaffold inspection technique of small-sized cable stayed bridge, large-scale cable stayed bridge pulls the manned detection method of hanging basket of Equipment Inspection method, large-scale cable stayed bridge, the physics and chemistry detection method that regularly replaces a small amount of cable, suspension cable detection special purpose robot method etc.Along with the development of Robotics, adopting small, dedicated robot to detect suspension cable be best selection, and domestic many scientific research institutions are studied this.Suspension cable detection robot mainly comprises climbs cable basic machine system, kinetic control system, detection transmission of video and receiving system, and wherein basic machine system is the core and key of technology.
Be not a lot of for the special detection robot research report of suspension cable both at home and abroad, though there is research, real practical technology does not also have, generally speaking in initial stage.The raw professor leader's of the Lv Tian of Shanghai Communications University seminar has taken the lead in carrying out the research work of this respect at home, employing driven type, two kinds of cable robot model machines of pneumatic worming are successfully developed, and carry out correlation test at Shanghai Xu Pu bridge and Nanpu Bridge, and obtained certain success of the test.Major defect is for deadweight is too heavy and need to drag cable, signal cable and gas source pipe road, and deadweight is all 200 kilograms of left and right, and Installation and Debugging inconvenience, does not have follow-up further investigation report.Cable robot prototype is climbed in two of University Of Chongqing's proposition, all adopts two to embrace cable cross sections, is provided with three rollers and carries out clamping embracing on each cross section.Difference is slightly different in frame construction and enclasping force bringing device, and each drive motors only drives a roller, can increase as required drive motors quantity.The suspension cable that Southeast China University and Shenzhen Si Weier detect company's cooperative research and development detects robot, and maximum feature is the mode that lightweight structure and bilateral arc roller are embraced cable, has realized self-powered function of climbing cable.Main shortcoming is that the circular arc of roller can not adapt to the cable of different-diameter preferably.Climb armful cable power in cable process and can not regulate control, easily occur embracing the stuck safe condition of cable.Domestic Jiamusi University in addition and Wuhan University of Technology adopt crank-link mechanism and cam mechanism to cooperatively interact and have designed the pole-climbing cable climbing mechanism of creeping motion type, the creeping motion type pole-climbing cable climbing device that utilizes conical surface locking alternately to embrace cable has been studied by Shandong University Building and Anhui University of Technology, the pipeline mobile robot of double card pawl has also studied in Shaanxi Tech Univ, its topmost feature is the claw obstacle detouring that can overturn, and Zhejiang Industry Trade Vocation and Technical College has also carried out crawler type climbs the research of cable robot.Abroad aspect relevant metal tubing climbing robot, research is slightly more.Within 2002, Teheran university has developed street lamp post cleaning robot UT-PCR, and its feature is for relying on three pairs of circumference uniform distribution roller clips to hug bar, and every pair roller is provided with a drive motors, and structure is light and handy, operate steadily, and adopts cable power supply.But the collaborative work of three drive motors is more difficult, be not suitable for working under high-altitude and high wind environment.2008, Ahmadabadi.M.N etc. proposed again a kind of three-wheel pole-climbing mechanism, adopted similar source for street light maintenance workman's climbing principle, formed by a driving wheel and two driven pulleys, driving wheel is arranged on cage plate arm, but has only proposed conceptual design, has no follow-up report.Madrid Polytechnics in 2003 develops can be along being bent into the CPR climbing robot in parallel that cylinder, square pole are creeped at any angle.Its design feature is that robot is provided with upper and lower two annulus for alternately clamping the body of rod, between two annulus, connects by many linear actuator, realizes flexible wriggling.This structure is crossed the very capable of bending obstacle, but the control of robot pose is very complicated.
The research that the research of electric power inspection robot detects robot to suspension cable also has certain reference, but there is a lot of difference in the application scenario of Liang Zhong robot, as acquiring way of the kind of cable diameter, obstacle and form, the angle of climbing, driving power etc., wherein there is a lot of technical problems.
Although practical robot capable of crawling cable is little, in published patent, the climbing robot of various structures has open, but patent is still in prototype and theoretical research stage mostly, and the model machine really with commercial value is little.Open day is on August 17th, 2011, publication number is that the patent document of CN201933407U discloses a kind of cable detecting robot, comprise active dolly and a driven dolly, initiatively between dolly and driven dolly, interconnect by bindiny mechanism, on driven dolly, be provided with four strainers, this strainer includes an adjusting screw(rod), is provided with adjusting nut and regulating spring at this adjusting screw(rod); On active dolly, be provided with a climbing device, this climbing device comprises a pair of helical gear, dc motor and the driving chain that meets at right angles and coordinate, the helical gear that direct current generator coordinates by described a pair of right angle is connected with a wherein wheel of active dolly, between this wheel and another wheel of active dolly, is connected by driving chain; Initiatively on the wheel of dolly and driven dolly, be provided with " V " font groove, the external surface of " V " font groove is processed into rough continuous camber line.Its symmetrical configuration design, adopts two rubber wheels to be combined into a dumbbell shaped roller, and four dumbbell shaped roller formation are between two to embracing a structure, and a drive motors, by driving centre wheel, is realized the active drive of two dumbbell shaped rollers and rolled.Many type of drive of this similar offroad vehicle can obtain the larger cable frictional force of climbing, but deadweight or excessive.Open day is on September 20th, 2000, publication number is that the patent document of CN2396936 discloses a kind of electrical cable-maintaining robot climbing device, this scheme in framework along uniform three travelling cars of cable circumferencial direction, be pressed on cable by clamp mechanism, variable-frequency motor drives dolly by reducer, can be for maintenance works such as the application of large-scale Character of Cable Force of Cable stayed Bridge, cleaning and detections.But, such scheme robot architecture heaviness, profile is larger, and complete machine adopts wired power supply, and the length of cable must be greater than the height of the bridge cable that robot climbs, and when work high above the ground, robot burden is very heavy, is subject to wind effect large; This robot does not design relevant lowering means in addition, but is to adopt the wire rope being connected in robot while there is fortuitous event in operation process, pulls recycling machine people from the high-altitudes of up to a hundred meters with manpower, very dangerous.Open day is on February 4th, 2009, publication number is that the patent document of CN101357637 discloses a kind of cable detecting robot, by connecting to form by connector along two uniform dollies of cable circumferencial direction, initiatively on dolly, be provided with climbing device therein, on another driven dolly, be provided with clamping device, on connector, be provided with anti-deflection device, this scheme adopts spring clamp suspension cable, need to adopt spring supporting bar to carry out mounting robot, operation inconvenience, the frictional force on driving wheel and drag-line surface is not easy to control well, be used as the mechanism work inadequate science for the treatment of method after out of control with magnetic docking facilities, and cost is high.Open day is on November 2nd, 2011, publication number is that CN201933407U discloses a kind of cable detection robot for cable-stayed bridge and is made up of upper body and lower body two parts, described upper body comprises upper body plate, through the symmetrical a pair of upper body screw rod of upper body plate front and back, respectively be fixed on the spring upper body rubber wheel parallel with a pair of left and right of being respectively fixed on every spring lower end of screw rod bottom, each upper body, described lower body comprises lower body plate, be fixed on the threephase asynchronous of lower body plate, motor gear box case and with motor gear box case phase interlock and with the upper and lower two pairs of corresponding lower body rubber wheels of upper body rubber wheel, described upper body plate and lower body plate fix by lower body screw rod.This cable detecting robot novelty simple in structure, easy for installation, is suitable for stable operation on various cables, is suitable for detection and the flaw detection of Character of Cable Force of Cable stayed Bridge.In this scheme, weight concentrates on the vertical direction of drag-line, and therefore structure is reasonable not, and the moment of flexure that is easy to produce front and back is stuck on suspension cable, and is easy to spin and rock back and forth around drag-line.Open day is on May 11st, 2011, publication number is that the patent document of CN201826256U discloses a kind of adjustable detector for cables, detecting template by least three forms, the central authorities of each detection template are provided with detection probe installing plate, the left and right sides of detection probe installing plate inspection is respectively equipped with slide plate, the upper/lower terminal of a probing installing plate is fixed with respectively chute, the upper and lower end of described slide plate embeds respectively chute and is slidably connected with chute, described at least three left and right sides that detect template interconnect successively, surround the inner space of placing cable.This robot is only suitable for the cable inspection of single diameter, and its obstacle climbing ability is very poor, easily occurs the situation of locking or landing.
Open day is on November 28th, 2012, publication number is that the patent document of CN102795273 A discloses one and climbs cable robot, comprise along symmetrically arranged two dollies of cable circumferencial direction and be arranged on two dollies for holding the enclasp device of cable tightly, described enclasp device comprises the guide rail being parallel to each other being separately positioned on two dolly front and rears, and guide rail and cable axis are perpendicular; On described each guide rail, be slidably provided with two rolling wheel supports, between each rolling wheel support and the car body of dolly, be provided with spring along guide rail direction; Described each rolling wheel support is provided with the roller rotating around the axis, and described axes of rotation skew setting is also perpendicular with cable axis; Described roller forms four-point supporting clamping on cable; In described roller, have at least a roller to be provided with drive unit.This robot is that the one of being researched and developed on the basis of climbing cable robot of having specialized in domestic and international prior art by the present inventor is climbed cable robot, although this structure has solved to a certain extent embracing of cable detecting robot in prior art again and has pulled poor effect, easily produce spiral and climb cable, poor stability, and climb the problem of the obstacle detouring poor effect to local disturbance in cable process, but the variable elastic power that this robot relies on spring pair roller to apply solves obstacle detouring problem, in the time encountering the suspension cable that is tied with spiral wire, due to spiral wire, to exceed cable surface more, therefore easily there is the situation of locking or damage cable clad.In addition, this robot adopts the form of structure of a roller of a driven by motor, while adopting single motor to drive, because its power transmission is subject to the restriction of spring force, spring tension affects obstacle climbing ability, spring is crossed pine can not provide the enough cable power of climbing, and cannot climb the cable that angle is larger; And while adopting multiple motors to drive, the asynchronous of driving wheel is easy to cause robot to tremble in the appearance of climbing in cable process, cause skidding and the cable clad that weares and teares, simultaneously also impact climbing performance.In addition,, because roller forms four-point supporting clamping on the same cross section of cable, not only affected the raising of robot obstacle climbing ability, and cannot climb the cable that diameter is less.
Summary of the invention
The object of the invention is for solve prior art climb cable robot climbing, obstacle climbing ability is poor, and cannot climb diameter and provides a kind of climbing, obstacle climbing ability good compared with the problem of little cable, cable diameters adapts to wide cable inspecting robot.
The present invention for the concrete technical scheme that reaches above-mentioned technical purpose and adopt is: a kind of cable inspecting robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving frame and embraces a cable frame, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive frame both sides to be respectively provided with a pair of cylindrical drive roller of arranging up and down, two pairs of driving rollss are synchronously driven by same drive motors, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped, the cross section of described armful of cable frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board dual-side, embrace be provided with in cable frame can with the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with a pair of cylindrical pinch rollers of arranging up and down near the one side both sides that drive frame, described pinch rollers shift to install in pressure strip both sides and the projection of its axis on horizontal plane V-shaped, while driving frame and an armful cable frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, the inscribed circle diameter excursion of described rhombus is 65-170 millimeter, cable inspecting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system, on cable inspecting robot, be also provided with camera, camera is arranged on housing, and camera connection layout is as emitter.The present invention arranges respectively driving rolls and pinch rollers in driving frame and armful cable frame, and driving rolls is substantially fixing with respect to driving frame, is convenient to power transmission; And pinch rollers is removable with respect to embracing cable frame, make cable inspecting robot adapt to the cable of sizes; On the other hand, because driving rolls is driving frame both sides to shift to install, therefore the present invention only has a pair roller on the same cross section of cable, in the time that pressure strip moves to cable, on the moving direction of pinch rollers, there is not driving rolls, pinch rollers on pressure strip can not interfered mutually with driving the driving rolls on frame, and compared with the structure with the four rolling of prior art on the same cross section of cable, the present invention can use on the less cable of diameter.In addition, the present invention cable longitudinally on four bites are set, on each bite, distribute two rollers, this with documents cable longitudinally on arrange compared with the roller of arranging four structures that assume diamond in shape on 2 bites, the same cross section of cable, can, more effectively to utilizing the flexibility of cable itself, be conducive to improve obstacle climbing ability.The wheel face formation of driving rolls of the present invention and pinch rollers misplaces up and down and holds around the diamond structure of cable, from the varying cross-section of cable, butt compresses cable surface, angle of friction between roller and cable does not change with cable diameters, therefore it is climbed cable ability and does not change with cable diameters, this structure and bilateral, it is more reliable that three limit rollers are embraced cable, aerial statue is more stable, have than the better cable diameters compliance of arc wheel simultaneously, in addition, adopt four limit rollers to hold tightly, prevent that robot from climbing the anti-deflection ability of rotating around cable in cable process stronger, groove face tribology principle has proved that the equlvalent coefficient of friction of arc wheel folder cable mode can change with cable diameters, the equlvalent coefficient of friction of multiple cylinder roller clip cable modes does not change and keeps constant with cable diameters, therefore multiple cylinder rollers are embraced cable and are had the larger cable friction, capability of climbing.The present invention two is synchronously driven by same drive motors driving rolls, drive each roller of frame one side all to there is power, form and drive structure more, greatly improve the cable ability of climbing of robot, therefore robot of the present invention not only has the enough cable power of climbing, can be for the climbing of vertical cables, and because synchronous driving avoided driving wheel asynchronous robot causing in the time working of prior art to tremble, cause skidding between roller and cable and the problem of the cable clad that weares and teares, simultaneously the also problem of impact climbing performance.In addition, between driving rolls of the present invention and pinch rollers and housing, there is not elastic construction, its armful of cable thrust regulates setting by ground control unit by embracing cable motor, only need armful cable motor one point control just can complete the cable of different-diameter is applied to the different cable power of embracing, and can adjust at any time according to the practical operation situation of robot, avoid that enclasping force is excessive to be affected obstacle climbing ability or occur locking, damage the situation of cable or the too small problem of skidding of occurring of enclasping force.Driving frame of the present invention and embrace cable frame be oppositely arranged can opening and closing structure, on-the-spot installation or removal are very simple, convenient and swift.The present invention is by remote control drive motors and the rotation of embracing cable motor, can in far distance, control the activity of cable inspecting robot, and climb cable speed more than 5 ms/min, can make people just know on the ground the concrete degree of impairment of learning cable and be arranged on camera on cable inspecting robot, and can adopt corresponding counter-measure according to actual conditions, thereby guarantee cable safety.
As preferably, drive motors is arranged on the centre position that drives upper lateral part after frame, the power supply of drive motors is arranged on the below of drive motors, the output shaft of drive motors is connected with driven wheel, driven wheel engages with the master gear that is arranged symmetrically in its both sides, the downside of master gear and master gear are coaxially provided with driving wheel, drive the driving wheel in frame left side to be connected with the driving rolls rotating shaft transmission of below, driving frame left side by driving-belt, bevel gear set; Drive the driving wheel on frame right side to be connected with the driving rolls rotating shaft transmission of top, driving frame right side by driving-belt, bevel gear set, being in transmission connection by linkage between two driving rolls rotating shafts up and down of homonymy, described driving-belt and linkage are Timing Belt or chain.The present invention adopts single motor to drive, and in order to ensure power, selecting jumbo iron lithium phosphate battery is motor power supply, adopts the form of four driving wheels simultaneously, guarantees the climbing ability of robot.The driven wheel of motor is by the master gear of both sides and the driving wheel coaxial with master gear, driving-belt, bevel gear set is in transmission connection with rotating shaft one end of down either side driving rolls respectively, and the other end of this driving rolls rotating shaft is in transmission connection by the driving rolls of linkage and homonymy top, thereby realize four driving wheels of a driven by motor, because the gearratio of two-way is in full accord, therefore four driving rolls Complete Synchronizations rotate, the cable inspecting robot that has solved prior art trembles climbing easily occurring in cable process, cause skidding and wear and tear cable clad, also affect the problem of climbing performance simultaneously.
As preferably, embrace the setting of cable motor and embrace cable frame outside, the described cable transmission mechanism of embracing comprises that two are set in parallel in the horizontal lead screw of embracing in cable frame, one end of two rhizoid bars is spirally connected with the feed screw nut who is arranged on pressure strip, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable frame, screw axis is provided with linkage gear, between two rhizoid bars, be connected by Timing Belt, wherein the screw axis end of a rhizoid bar is connected with an armful cable motor-driven, the end of another rhizoid bar is provided with handwheel, embraces cable frame middle part and is provided with Timing Belt regulating wheel.The present invention rotates to move pressure strip by embracing cable driven by motor two rhizoid bars, embrace the rotation of cable motor by ground control unit control, can control the enclasping force of cable inspecting robot to cable, climbing in cable process, in the time encountering obstruction, can embrace cable motor by rotation and reduce the dynamics of holding tightly and make the smooth obstacle detouring of cable inspecting robot, avoid locking; Otherwise if to climb in cable process cable angle larger, when the dynamics of holding tightly makes cable inspecting robot skid not, can embrace cable motor by rotation increases enclasping force, prevents the landing of cable inspecting robot.And rotation handwheel can conveniently arrange the initial position of pressure strip.
As preferably, be positioned at the screw axis end of embracing cable frame right side screw mandrel by bevel gear set with embrace a cable motor-driven and be connected, handwheel be located on the left of the screw axis end of screw mandrel.
As preferably, feed screw nut is arranged on the middle part of pressure strip both sides, described pressure strip both sides of the edge are provided with some directive wheels of arranging up and down, and the side plate of embracing cable frame is provided with the horizontal elongated slot corresponding with described directive wheel, and directive wheel is embedded in horizontal elongated slot slidably.In pressure strip both sides of the edge, directive wheel is set, directive wheel is embedded in the horizontal elongated slot of side plate slidably, can ensure like this when pressure strip moves parallelly with header board, guarantees the pressure equalizing of pressure strip to its upper and lower pinch rollers.
As preferably, between feed screw nut and pressure strip, be provided with enclasping force sensor, described enclasping force sensor connects ground control unit by wireless launcher, and described ground control unit is provided with pressure display screen.Enclasping force sensor is set between feed screw nut and pressure strip, corresponding pressure display screen is set on ground control unit, like this, ground controller can grasp the enclasping force situation between cable and roller intuitively, can adjust in real time according to the situation of change of enclasping force, without the variation that judges enclasping force by the operating condition of observing cable inspecting robot, control rate and precision can significantly improve, and have also significantly promoted operating efficiency simultaneously.In addition, also can preset corresponding enclasping force scope according to different cable situations, when real work when actual measurement enclasping force is while exceeding the scope of setting, automatically control and embrace cable motor by ground control unit, enclasping force is returned in the scope of setting in time, can greatly reduce like this workload of ground remote control work, increase work efficiency, in addition, also can adopt ground artificial control automatically to control with machine the control model combining, guarantee the normal work of cable inspecting robot under various different operating modes.
As preferably, on the opposite face of driving frame and pressure strip, be equipped with rolling wheel support, the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface driving on frame, pinch rollers is arranged in the rolling wheel support cammed surface on pressure strip, the two ends of described cammed surface are provided with bearing support, and the rotating shaft of driving rolls and pinch rollers is arranged on bearing support by bearing.The present invention adopts the support of right-angled triangle wedge-like that driving rolls and pinch rollers are installed, make the driving rolls and the pinch rollers that drive frame and compress in frame can form the diamond structure that holds around cable, conventionally right-angled triangle adopts isosceles right triangle, and the angle between inclined-plane and the installing plate of installation rolling wheel support is 45 degree.Rhombus of the present invention might not be a complete diamond shape, and hour, the opposite face outline line of driving rolls and pinch rollers can form a complete diamond shape to the area enclosing when driving rolls and pinch rollers; And the area that driving rolls and pinch rollers enclose is when larger, the opposite face outline line of driving rolls and pinch rollers is a part for rhombus.
As preferably, on driving-belt, be connected with regulating wheel, drive the upper and lower two ends of frame to be respectively provided with a regulating block, described regulating block is connected respectively with near the rolling wheel support that drives frame upper and lower side by adjustment screw, and driving the installing hole of the rolling wheel support being connected with regulating block on frame is mounting hole.Regulating wheel is for tensioning driving-belt, and regulating block pulls open the distance of upper and lower rolling wheel support for tensioning linkage by adjustment screw, thereby avoids affecting because driving-belt and linkage are lax synchronizeing of driving wheel.
As preferably, the wheel face of pinch rollers and driving rolls adopts polyurethane material to make, and described housing and pressure strip are the engraved structure that engineering plastics are made.Polyurethane material is made pinch rollers and its wheel face of driving rolls has suitable elasticity, can under the prerequisite of guaranteeing enclasping force, reduce the damage to cable surface that may occur, especially very little to the cable damage of coated PE sheath; Housing and pressure strip adopt the engraved structure of engineering plastics making, can greatly reduce the own wt of cable inspecting robot.
As preferably, drive the cross section of frame to take the shape of the letter U, comprise a rear plate and be arranged on the side plate of rear plate both sides, drive a side board of frame hinged by hinge with the respective side side plate of embracing cable frame, drive between the opposite side side plate of frame and the side plate of armful cable frame respective side and be provided with locking device.Drive frame to adopt similar structure to embracing cable frame, can reduce production costs.
The present invention also can adopt technical scheme below: a kind of cable inspecting robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving frame and embraces a cable frame, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive the both sides of frame to be respectively provided with four cylindrical drive rollers of arranging up and down, eight driving rollss are synchronously driven by same drive motors, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped, the cross section of described armful of cable frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board both sides, embrace that be provided with in cable frame can be with respect to the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with four cylindrical pinch rollers of arranging up and down near the one side both sides that drive frame, described pinch rollers shift to install in pressure strip both sides and the projection of its axis on horizontal plane V-shaped, while driving frame and an armful cable frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, the inscribed circle diameter excursion of described rhombus is 65-170 millimeter, cable inspecting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system, on cable inspecting robot, be also provided with camera, camera is arranged on housing, and camera connection layout is as emitter.This scheme is compared with aforesaid technical scheme, its variation is that the quantity of driving wheel and contact roller is eight, between four driving wheels of driving frame homonymy (left side or right side), connect synchronous rotation by linkage, its operating principle is consistent with aforesaid technical scheme, it is stronger that cable ability is climbed by the robot of this structure, is applicable to need to load the occasion of more detections, tour or service equipment.
Here it should be noted that, the present invention works and carries out position statement according to cable inspecting robot on vertically disposed cable, statement is only used to the convenience in those skilled in the art's understanding like this, and be not the concrete restriction to its positional structure, in fact agent structure of the present invention can be inverted, be that upper-lower position can exchange, position all around also can change because observer's position is different, does not therefore have the absolute qualified relation of position up and down or all around.
The invention has the beneficial effects as follows: it is poor that it has solved the climbing of cable inspecting robot, the obstacle climbing ability of prior art effectively, and cannot climb the problem of the cable that diameter is less, cable inspecting robot of the present invention is climbed, obstacle climbing ability is good, can climb up the wide-angle cable that approaches 90 °, and the adaptation of cable diameters is wide, cable damage to coated PE sheath is little, there will not be high-altitude to embrace the situation that cable is stuck or climbing is skidded.The present invention is by remote control drive motors and the rotation of embracing cable motor, can in far distance, control the activity of cable inspecting robot, can make people just know on the ground the concrete degree of impairment of learning cable and be arranged on camera on cable inspecting robot, and can adopt corresponding counter-measure according to actual conditions, thereby guarantee cable safety, there is very high practical value.
Brief description of the drawings
Fig. 1 is a kind of perspective view of cable inspecting robot of the present invention;
Fig. 2 is the front elevation drawing of cable inspecting robot of the present invention;
Fig. 3 is the right view of cable inspecting robot of the present invention;
Fig. 4 is the top view of cable inspecting robot of the present invention;
Fig. 5 is a kind of structural configuration schematic diagram of cable inspecting robot driving rolls of the present invention;
Fig. 6 is a kind of structural configuration stereogram of cable inspecting robot driving rolls of the present invention;
Fig. 7 is a kind of structural configuration sketch of cable inspecting robot driving rolls of the present invention;
Fig. 8 is the top view of Fig. 7;
Fig. 9 is a kind of structural configuration schematic diagram of cable inspecting robot pinch rollers of the present invention;
Figure 10 is a kind of structural configuration stereogram of cable inspecting robot pinch rollers of the present invention.
In figure: 1. drive frame, 2. armful cable frame, 3. driving rolls, 4. drive motors, 5. header board, 6. side plate, 7. pressure strip, 8. armful cable motor, 9. pinch rollers, 10. cable, 11. power supplies, 12. driven wheels, 13. master gears, 14. driving wheels, 15. driving-belts, 16. bevel gear set, 17. linkages, 18. screw mandrels, 19. feed screw nuts, 20. linkage gears, 21. Timing Belts, 22. handwheels, 23. directive wheels, 24. elongated slots, 25. rolling wheel supports, 26. cammed surface, 27. bearing supports, 28. regulating wheels, 29. regulating blocks, 30. adjustment screw, 31. rear plates, 32. hinges, 33. gear frames, 34. camera 35. image emissions devices.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings the detailed description of the invention of technical solution of the present invention is further described.
Embodiment 1
In the embodiment 1 shown in Fig. 1 Fig. 2, a kind of cable inspecting robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving frame 1 and embraces a cable frame 2, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive frame to be with embracing cable frame the engraved structure that engineering plastics are made, its cross section all takes the shape of the letter U, and driving frame comprises a rear plate 31 and is arranged on the side plate 6 of rear plate both sides; Embrace the side plate that cable frame comprises a header board 5 and is arranged on header board both sides, one side board of driving frame is hinged by hinge 32 with the side plate of embracing cable frame respective side, drives between the opposite side side plate of frame and the side plate of armful cable frame respective side and is provided with locking device (not shown).Drive frame both sides to be respectively provided with a pair of cylindrical drive roller 3(arranging up and down and see Fig. 5, Fig. 6, Fig. 7), driving rolls is arranged on rear plate, two pairs of driving rollss are synchronously driven by same drive motors 4, drive motors is stepper motor, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped (seeing Fig. 4, Fig. 8).Embrace in cable frame and be provided with and can see Fig. 9 with respect to the pressure strip 7(of header board parallel sliding, Figure 10), embrace cable frame and be provided with an armful cable motor 8, embracing cable motor is stepper motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with a pair of cylindrical pinch rollers 9 of arranging up and down near the one side both sides that drive frame, described pinch rollers shift to install in pressure strip both sides and the projection of its axis on horizontal plane V-shaped, while driving frame and an armful cable frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable 10, driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, the inscribed circle diameter excursion of described rhombus is 65-170 millimeter, cable inspecting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, receiving system is arranged on housing, drive motors and armful cable motor connect receiving system.On cable inspecting robot, be also provided with four cameras 34, wherein two cameras are arranged on the top of housing, and two cameras are arranged on the bottom of housing, and four cameras connect respectively independent four image emissions devices 35 that arrange separately.
Drive motors is arranged on the centre position that drives upper lateral part after frame, the power supply 11 of drive motors is arranged on the below of drive motors, power supply adopts jumbo iron lithium phosphate battery, the output shaft of drive motors is connected with driven wheel 12, driven wheel engages (see figure 7) with the master gear 13 that is arranged symmetrically in its both sides, the downside of master gear and master gear are coaxially provided with driving wheel 14, drive the driving wheel in frame left side to be connected by the driving rolls rotating shaft transmission of driving-belt 15, bevel gear set 16 and below, driving frame left side; Drive the driving wheel on frame right side to be connected with the driving rolls rotating shaft transmission of top, driving frame right side by driving-belt, bevel gear set, being in transmission connection by linkage 17 between two driving rolls rotating shafts up and down of the same side, described driving-belt and linkage are Timing Belt, on driving-belt, be connected with regulating wheel 28, regulating wheel is arranged on gear frame 33.Rear plate is respectively provided with a regulating block 29 in two ends Shang Xia 31, and described regulating block is connected with the rolling wheel support near rear plate upper and lower side respectively by adjustment screw 30, and the installing hole of the rolling wheel support being connected with regulating block on rear plate is mounting hole.
Embrace the setting of cable motor and embrace lower right outside cable frame header board, the described cable transmission mechanism of embracing comprises that two are set in parallel in the horizontal lead screw 18 of embracing in cable frame, one end of two rhizoid bars is spirally connected with the feed screw nut 19 who is arranged on pressure strip, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable frame, screw axis is provided with linkage gear 20, between two rhizoid bars, be connected by Timing Belt 21, the screw axis end that is positioned at armful cable frame right side screw mandrel is connected with an armful cable motor-driven by bevel gear set 16, the screw axis end of left side screw mandrel is provided with handwheel 22, embrace cable frame middle part and be provided with Timing Belt regulating wheel 28.
Feed screw nut is arranged on the middle part (seeing Fig. 9, Figure 10) of pressure strip both sides, described pressure strip is the engraved structure that engineering plastics are made, its both sides of the edge are respectively provided with two directive wheels 23 arranging up and down, the directive wheel dislocation of both sides is arranged, every side board of embracing cable frame is provided with two the horizontal elongated slots 24 corresponding with described directive wheel, and directive wheel is embedded in (see figure 3) in horizontal elongated slot slidably.
On the opposite face of driving frame and pressure strip, be equipped with rolling wheel support 25, the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface 26 driving on frame, pinch rollers is arranged in the rolling wheel support cammed surface on pressure strip, driving rolls and the cross-shaped corresponding layout of pinch rollers, the two ends of described cammed surface are provided with bearing support 27, the rotating shaft of driving rolls and pinch rollers is arranged on bearing support by bearing, and the wheel face of pinch rollers and driving rolls adopts polyurethane material to make.
Embodiment 2
In embodiment 2, between feed screw nut and pressure strip, be provided with enclasping force sensor, described enclasping force sensor connects ground control unit by wireless launcher, and described ground control unit is provided with pressure display screen, and all the other are identical with embodiment 1.
Embodiment 3
In embodiment 3, cable inspecting robot comprises housing and is arranged on the roller devices in housing, described housing comprises driving frame and embraces a cable frame, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive the both sides of frame to be respectively provided with four cylindrical drive rollers of arranging up and down, eight driving rollss are synchronously driven by same drive motors, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped, the cross section of described armful of cable frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board both sides, embrace that be provided with in cable frame can be with respect to the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with four cylindrical pinch rollers of arranging up and down near the one side both sides that drive frame, described pinch rollers shift to install in pressure strip both sides and the projection of its axis on horizontal plane V-shaped, while driving frame and an armful cable frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, the inscribed circle diameter excursion of described rhombus is 65-170 millimeter, cable inspecting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system, on cable inspecting robot, be also provided with camera, camera is arranged on housing, and camera connection layout is as emitter, and all the other are identical with embodiment 1 or embodiment 2.Compared with the technical scheme of this scheme and embodiment 1 or embodiment 2, its variation is that the quantity of driving wheel and contact roller is eight, between four driving wheels of driving frame homonymy (left side or right side), connect synchronous rotation by linkage, its operating principle is consistent with aforesaid technical scheme, it is stronger that cable ability is climbed by the robot of this structure, is applicable to need to load the occasion of more detections, tour or service equipment.
When cable inspecting robot of the present invention uses, driving frame and an armful cable frame are held around on cable and locking, rotate handwheel, make driving rolls and pinch rollers conflict cable, elasticity between roller and cable taking cable inspecting robot can be on cable not landing as benchmark, the lifting of cable inspecting robot completes by ground control unit control drive motors, and an artificial or automatic control armful cable motor can change the elasticity between roller and cable, cable inspecting robot is surmounted obstacles smoothly, on the scroll cable with anti-exciting function, also can normally work.The present invention is by remote control drive motors and the rotation of embracing cable motor, can in far distance, control the activity of cable inspecting robot, and climb cable speed more than 5 ms/min, can make people just know on the ground the concrete degree of impairment of learning cable and be arranged on camera on cable inspecting robot, and can adopt corresponding counter-measure according to actual conditions, thereby guarantee cable safety.
Claims (10)
1. a cable inspecting robot, comprise housing and be arranged on the roller devices in housing, it is characterized in that, described housing comprises driving frame (1) and embraces cable frame (2), drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive the both sides of frame to be respectively provided with a pair of cylindrical drive roller (3) of arranging up and down, two pairs of driving rollss are synchronously driven by same drive motors (4), and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped, the cross section of described armful of cable frame takes the shape of the letter U, comprise a header board (5) and be arranged on the side plate (6) of header board both sides, embrace that be provided with in cable frame can be with respect to the pressure strip of header board parallel sliding (7), embrace cable frame and be provided with an armful cable motor (8), embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with a pair of cylindrical pinch rollers (9) of arranging up and down near the one side both sides that drive frame, described pinch rollers shift to install in pressure strip both sides and the projection of its axis on horizontal plane V-shaped, while driving frame and an armful cable frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable (10), driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, the inscribed circle diameter excursion of described rhombus is 65-170 millimeter, cable inspecting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system, on cable inspecting robot, be also provided with camera (34), camera is arranged on housing, and camera connection layout is as emitter (35).
2. cable inspecting robot according to claim 1, it is characterized in that: described drive motors is arranged on the centre position that drives upper lateral part after frame, the power supply (11) of drive motors is arranged on the below of drive motors, the output shaft of drive motors is connected with driven wheel (12), driven wheel engages with the master gear (13) that is arranged symmetrically in its both sides, the downside of master gear is coaxially provided with driving wheel (14), drives the driving wheel in frame left side to be connected by the driving rolls rotating shaft transmission of driving-belt (15), bevel gear set (16) and below, driving frame left side; Drive the driving wheel on frame right side to be connected with the driving rolls rotating shaft transmission of top, driving frame right side by driving-belt, bevel gear set, being in transmission connection by linkage (17) between two driving rolls rotating shafts up and down of homonymy, described driving-belt and linkage are Timing Belt or chain.
3. cable inspecting robot according to claim 1, it is characterized in that: cable frame outside is embraced in the described cable motor setting of embracing, the described cable transmission mechanism of embracing comprises that two are set in parallel in the horizontal lead screw (18) of embracing in cable frame, one end of two rhizoid bars is spirally connected with the feed screw nut (19) who is arranged on pressure strip, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable frame, screw axis is provided with linkage gear (20), between two rhizoid bars, be connected by Timing Belt (21), wherein the screw axis end of a rhizoid bar is connected with an armful cable motor-driven, the end of another rhizoid bar is provided with handwheel (22), embrace cable frame middle part and be provided with Timing Belt regulating wheel.
4. cable inspecting robot according to claim 3, it is characterized in that: described feed screw nut is arranged on the middle part of pressure strip both sides, described pressure strip both sides of the edge are provided with some directive wheels (23) of arranging up and down, the side plate of embracing cable frame is provided with the horizontal elongated slot (24) corresponding with described directive wheel, and directive wheel is embedded in horizontal elongated slot slidably.
5. cable inspecting robot according to claim 3, it is characterized in that: between feed screw nut and pressure strip, be provided with enclasping force sensor, described enclasping force sensor connects ground control unit by wireless launcher, and described ground control unit is provided with pressure display screen.
6. cable inspecting robot according to claim 1, it is characterized in that: on described driving frame and the opposite face of pressure strip, be equipped with rolling wheel support (25), the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface (26) driving on frame, pinch rollers is arranged in the rolling wheel support cammed surface on pressure strip, the two ends of described cammed surface are provided with bearing support (27), and the rotating shaft of driving rolls and pinch rollers is arranged on bearing support by bearing.
7. cable inspecting robot according to claim 2, it is characterized in that: on described driving-belt, be connected with regulating wheel (28), drive the upper and lower two ends of frame to be respectively provided with a regulating block (29), described regulating block is connected respectively with near the rolling wheel support that drives frame upper and lower side by adjustment screw (30), and driving the installing hole of the rolling wheel support being connected with regulating block on frame is mounting hole.
8. according to the cable inspecting robot described in claim 1-7 any one, it is characterized in that: the wheel face of pinch rollers and driving rolls adopts polyurethane material to make; Described housing and pressure strip are the engraved structure that engineering plastics are made.
9. according to the cable inspecting robot described in claim 1-7 any one, it is characterized in that: the cross section of described driving frame takes the shape of the letter U, comprise a rear plate (31) and be arranged on the side plate (6) of rear plate both sides, one side board of driving frame is hinged by hinge (32) with the respective side side plate of embracing cable frame, drives between the side plate of frame opposite side and the side plate of armful cable frame respective side and is provided with locking device.
10. a cable inspecting robot, comprise housing and be arranged on the roller devices in housing, it is characterized in that, described housing comprises driving frame and embraces a cable frame, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive the both sides of frame to be respectively provided with four cylindrical drive rollers of arranging up and down, eight driving rollss are synchronously driven by same drive motors, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped, the cross section of described armful of cable frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board both sides, embrace that be provided with in cable frame can be with respect to the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with four cylindrical pinch rollers of arranging up and down near the one side both sides that drive frame, described pinch rollers shift to install in pressure strip both sides and the projection of its axis on horizontal plane V-shaped, while driving frame and an armful cable frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, the inscribed circle diameter excursion of described rhombus is 65-170 millimeter, cable inspecting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system, on cable inspecting robot, be also provided with camera, camera is arranged on housing, and camera connection layout is as emitter.
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| CN201410150772.3A CN104153291B (en) | 2014-04-15 | 2014-04-15 | Cable inspecting robot |
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| CN201410150772.3A CN104153291B (en) | 2014-04-15 | 2014-04-15 | Cable inspecting robot |
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| CN104153291B CN104153291B (en) | 2016-01-06 |
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| CN104652263A (en) * | 2015-02-10 | 2015-05-27 | 西南交通大学 | Cable climbing robot |
| CN106672102A (en) * | 2015-11-09 | 2017-05-17 | 周帆 | Double-cable climbing working platform |
| CN111516831A (en) * | 2020-04-21 | 2020-08-11 | 中国船舶科学研究中心 | Cable type monitoring underwater robot |
| CN111595856A (en) * | 2020-06-13 | 2020-08-28 | 浙江工业大学 | Wall-climbing robot for flaw detection of guyed bridge |
| CN111755980A (en) * | 2020-05-18 | 2020-10-09 | 重庆工业职业技术学院 | Parallel cable detection device |
| CN115158504A (en) * | 2022-06-08 | 2022-10-11 | 国网浙江省电力有限公司 | Wheel type pole-climbing robot |
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| CN111755980A (en) * | 2020-05-18 | 2020-10-09 | 重庆工业职业技术学院 | Parallel cable detection device |
| CN111755980B (en) * | 2020-05-18 | 2021-06-04 | 重庆工业职业技术学院 | Parallel cable detection device |
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| CN115158504A (en) * | 2022-06-08 | 2022-10-11 | 国网浙江省电力有限公司 | Wheel type pole-climbing robot |
| CN115158504B (en) * | 2022-06-08 | 2023-10-20 | 国网浙江省电力有限公司宁波市奉化区供电公司 | Wheel type pole-climbing robot |
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