CN104153294B - Climb cable robot - Google Patents
Climb cable robot Download PDFInfo
- Publication number
- CN104153294B CN104153294B CN201410151966.5A CN201410151966A CN104153294B CN 104153294 B CN104153294 B CN 104153294B CN 201410151966 A CN201410151966 A CN 201410151966A CN 104153294 B CN104153294 B CN 104153294B
- Authority
- CN
- China
- Prior art keywords
- cable
- frame
- driving
- robot
- sides
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses one and climb cable robot, comprise can opening and closing structure driving frame and embrace a cable frame, frame both sides are driven respectively to be provided with the cylindrical drive roller arranged for about a pair, two pairs of driving rollss are synchronously driven by same drive motors, embrace cable frame and be provided with an armful cable motor, embrace cable motor to be connected with the pressure strip embraced in cable frame by embracing cable transmission mechanism, pressure strip is respectively provided with near driving the one side both sides of frame the cylindrical holding-down roller arranged for about a pair, when driving frame and armful cable frame close and hold around cable, inside the wheel face of driving rolls and pinch rollers, projection is in the horizontal plane in the diamond structure holding around cable, climb cable robot and also comprise ground remote controller.It efficiently solve prior art climb cable robot climbing, obstacle climbing ability is poor, and cannot climb the problem of the less cable of diameter, the satisfied detection to cable, tour or daily maintenance requirements of one's work, have very high practical value.
Description
Technical field
The present invention relates to a kind of Industrial Robot Technology field, be specifically related to a kind ofly climb cable 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 it manufactures and installation cost accounts for about 25% of bridge investment.Because cable is in that wind shakes, rain shakes for a long time, in the environment of varying load and pollution, inevitably there will be wire rope corrosion, stock market-circumstance condition is broken in strain relaxation.For improving the application life of wire rope, drag-line manufacturer adds corrosion protection system on wirerope.What extensively adopt at present is that first the little steel wire of every root adopts zinc-plated and be coated with oil guard, is wound around high-strength polyester band outside and protects, finally form sheath, with air insulated at the coated two-layer PE layer of outside pyrocondensation after then wire rope made by many little steel wires.But As time goes on, PE sheath will aging, bulge, cracking.Once the wire rope of inside exposes to the open air touch air, cable will very fast corrosion fracture.The example of bridge damage is caused to be a lot of due to cable corrosion.Famous Venezuela Maracaibo bridge adopts the cable of concrete parcel corrosion protection system, within 16 years, finds the serious corrosion of anchored end afterwards and changes cable, 2 years consuming time at that time, cost 5,000 ten thousand dollars building up.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 cost 6,000 ten thousand dollars is 4 times of former cost.Wire rope is placed in polyethylene pipe and past pipe interior injection cement paste by the employing of U.S. Pascokenewick cable stayed bridge, then the corrosion protection system of polyvinyl chloride band is wound with again outward at polyethylene pipe, former endurance expectation is 25 years, and due to uviolize, only 3-5 just all fails.Sea, China Guangzhou print bridge only uses 6 years half, and Jinan Yellow River highway bridge uses 13 years to be waited just because of cable corrosion, has to all change rope.Bridge, once there is disconnected rope, will cause not predictable serious consequence.But the fixed cycle blindly carries out changing rope, certainly will great social resources can be brought again to waste, because the cost changing a cables is that bridge construction installs a cables several times period.Therefore be necessary to study a kind ofly to carry out accurately in-service cable, the ways and means of efficient detection.By making regular check on 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 simple, quick, reliable suspension cable detection method at present, the inspection that bridge owner unit still will take the working condition of certain methods to in-service suspension cable to be correlated with.Existing the method that suspension cable carries out routine examination to be mainly included: artificial telescope ocular estimate, the scaffold inspection technique of small-sized cable stayed bridge, the hoist engine trailing equipment detection method of large-scale cable stayed bridge, the manned detection method of hanging basket of large-scale cable stayed bridge, the Physico-chemical tests method regularly replacing a small amount of cable, suspension cable detect special purpose robot's method etc.Along with the development of Robotics, adopting small, dedicated robot to carry out detecting to suspension cable be best selection, and domestic many scientific research institutions are to this has been research.Suspension cable measuring robots mainly comprises climbs cable basic machine system, kinetic control system, detection transmission of video and receiving system, and wherein basic machine system is that the core of technology is with crucial.
It is not a lot of for studying report for the measuring robots that suspension cable is special both at home and abroad, though there is research, real practical technology does not also have, and is generally speaking in initial stage.The seminar that the raw professor of Shanghai Communications University Lv Tian leads at home takes the lead in having carried out the research work of this respect, successfully have developed and adopt driven type, pneumatic worming two kinds of cable robot model machines, and carry out correlation test at Shanghai Xu Pu bridge and Nanpu Bridge, and achieve 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 at about 200 kilograms, and Installation and Debugging are inconvenient, 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, each cross section is provided with three rollers and carries out embracing clamping.Distinguish slightly different with enclasping force bringing device in frame construction, each drive motors only drives a roller, can increase drive motors quantity as required.Southeast China University and Shenzhen Si Weier detect the suspension cable measuring robots of company's cooperative research and development, and maximum feature is that lightweight structure and bilateral arc roller embrace the mode of cable, achieves 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 embrace cable power in cable process can not regulable 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 devise the pole-climbing cable climbing mechanism of creeping motion type, Shandong University Building and Anhui University of Technology then have studied and utilize the conical surface to lock the creeping motion type pole-climbing cable climbing device alternately embracing cable, Shaanxi Tech Univ also studied the pipeline mobile robot of double card pawl, its topmost feature is that claw can overturn obstacle detouring, and Zhejiang Industry Trade Vocation and Technical College has also carried out the research that crawler type climbs cable robot.Abroad in relevant metal tubing climbing robot, research is slightly more.Within 2002, Teheran university have developed street lamp post cleaning robot UT-PCR, and its feature is that dependence three pairs of circumference uniform distribution roller clips hug bar, and every pair roller is provided with a drive motors, light structure, operates steadily, and adopts cable power supply.But the collaborative work of three drive motors is more difficult, work under being not suitable for high-altitude and harsher wind conditions.2008, Ahmadabadi.M.N etc. also been proposed a kind of three-wheel pole-climbing mechanism, adopt the climbing principle of similar source for street light maintenance workman, be made up of a driving wheel and two driven pulleys, driving wheel is arranged on cage plate arm, but only proposes conceptual design, has no follow-up report.Madrid Polytechnics in 2003 develops can along the CPR climbing robot in parallel being bent into cylinder, square pole at any angle and creeping.Its design feature is that robot is provided with upper and lower two annulus for alternately clamping the body of rod, connects between two annulus by many linear actuator, realizes flexible wriggling.This structure crosses the very capable of bending obstacle, but the control of robot pose is very complicated.
The research of power-line patrolling robot also has certain reference to the research of suspension cable measuring robots, but there is a lot of difference in the application scenario of Liang Zhong robot, as the acquiring way etc. of the kind of cable diameter, obstacle and form, angle of climbing, driving power, wherein there is a lot of technical problems.
Although the robot capable of crawling cable of practicality is little, in published patent, the climbing robot of various structure has open, but patent is still in prototype and theoretical research stage mostly, and the model machine really with commercial value is little.Publication date 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 trolley, initiatively be interconnected by bindiny mechanism between dolly and driven trolley, driven trolley is provided with four strainers, this strainer includes an adjusting screw(rod), is provided with adjusting nut and regulating spring at this adjusting screw(rod); Active dolly is provided with a climbing device, this climbing device comprises the helical gear of a pair cooperation at a right angle, dc motor and driving chain, the helical gear that direct current generator is coordinated by described a pair right angle is connected with a wherein wheel of active dolly, is connected between this wheel with another wheel of active dolly by driving chain; The wheel of active dolly and driven trolley is provided with " V " font groove, and the external surface of " V " font groove is processed into rough continuous camber line.Its symmetrical configuration designs, and adopts two rubber wheels to be combined into a dumbbell shaped roller, and four dumbbell shaped rollers are formed between two to embracing structure, and a drive motors is by driving centre wheel, and the active drive realizing two dumbbell shaped rollers is rolled.Many type of drive of this similar offroad vehicle can obtain larger climbs cable frictional force, but deadweight or excessive.Publication date is on September 20th, 2000, publication number is that the patent document of CN2396936 discloses a kind of electrical cable-maintaining robot climbing device, the program is in the frame along uniform three travelling cars of cable circumferencial direction, be pressed on cable by clamp system, variable-frequency motor drives dolly by reducer, may be used for the maintenance works such as the application of large-scale Character of Cable Force of Cable stayed Bridge, cleaning and detection.But such scheme robot architecture is heavy, profile is comparatively large, 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 during work high above the ground, robot burden is very heavy, and by wind impact is large; This robot does not design relevant lowering means in addition, but is adopt the wire rope be connected in robot when there is fortuitous event in operation process, pulls recycling machine people from the high-altitude manpower of up to a hundred meters, very dangerous.Publication date is on February 4th, 2009, publication number is that the patent document of CN101357637 discloses a kind of cable detecting robot, connected to form by connector by two dollies uniform along cable circumferencial direction, active dolly is provided with climbing device wherein, another driven trolley is provided with clamping device, be provided with anti-deflection device on the coupling, the program 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, with magnetic docking facilities be used as institution staff out of control after the inadequate science for the treatment of method, and cost is high.Publication date 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 upper body plate a pair upper body screw rod that also front and back are symmetrical, respectively be fixed on the upper body rubber wheel that the spring of screw rod bottom, each upper body is parallel with about a pair that is respectively fixed on every root lower spring end, 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 the two pair lower body rubber wheels up and down corresponding with upper body rubber wheel, described upper body plate and lower body plate are fixed by lower body screw rod.This cable detecting robot structure is simple novel, easy for installation, is suitable for stable operation on various cable, is suitable for detection and the flaw detection of Character of Cable Force of Cable stayed Bridge.In the program, weight concentrates on the vertical direction of drag-line, and therefore structure is reasonable not, and the moment of flexure being easy to generation front and back is stuck on suspension cable, and is easy to spin around drag-line and rock back and forth.Publication date is on May 11st, 2011, publication number is that the patent document of CN201826256U discloses a kind of adjustable detector for cables, be made up of at least three pieces of detection template, 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 probing head installing plate is fixed with chute respectively, the upper and lower end of described slide plate embeds chute respectively and is slidably connected with chute, the left and right sides of described at least three pieces of detection template is interconnected successively, surrounds 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.
Publication date is on November 28th, 2012, publication number is that the patent document of CN102795273A 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 be parallel to each other be separately positioned on two dolly front and rears, guide rail and cable axis perpendicular; Described each guide rail is slidably provided with two rolling wheel supports, between each rolling wheel support and the car body of dolly, is provided with spring along guide rail direction; Described each rolling wheel support is provided with the roller rotated 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; A roller is had at least to be provided with drive unit in described roller.Cable robot is climbed by the one that the basis of cable robot is researched and developed of climbing that the present inventor is specializing in domestic and international prior art by this robot, although this structure solves embracing of cable detecting robot in prior art more to a certain extent and pulls poor effect, cable climbed by easy generation spiral, poor stability, and the problem of climbing to the obstacle detouring poor effect of local disturbance in cable process, but the variable elastic power that this robot relies on spring pair roller to apply solves obstacle detouring problem, when encountering the suspension cable being 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 driven by motor roller, when adopting single motor to drive, because its power transmission is subject to the restriction of spring force, spring tension then affects obstacle climbing ability, spring is crossed pine and then can not be provided enough and climb cable power, cannot climb the cable that angle is larger; And when adopting multiple motor to drive, driving wheel asynchronous is easy to cause robot to tremble climbing the appearance in cable process, cause skidding and wearing and tearing cable clad, simultaneously also impact climbing performance.In addition, because roller forms four-point supporting clamping on the same cross section of cable, not only have impact on the raising of robot obstacle climbing ability, and the less cable of diameter cannot be climbed.
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 the problem of the less cable of diameter and provide a kind of climbing, obstacle climbing ability good, what cable diameters adaptation was wide climbs cable robot.
The present invention for the concrete technical scheme reaching above-mentioned technical purpose and adopt is: one climbs cable 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, frame both sides are driven respectively to be provided with the cylindrical drive roller arranged for about a pair, 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 in the horizontal plane of its axis is inverted V-shaped, the U-shaped profile of described armful of cable frame, comprise a header board and be arranged on the side plate of header board dual-side, embrace in cable frame be provided with can with the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embrace cable motor to be connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with near driving the one side both sides of frame the cylindrical holding-down roller arranged for about a pair, described pinch rollers shifts to install in pressure strip both sides and the projection in the horizontal plane of its axis is V-shaped, when driving frame and armful cable frame close and hold around cable, inside the wheel face of driving rolls and pinch rollers, projection is in the horizontal plane in the diamond structure holding around cable, driving rolls and pinch rollers one_to_one corresponding are positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 55-160 millimeter, climb cable robot and also comprise ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.The present invention arranges driving rolls and pinch rollers respectively in driving frame and armful cable frame, and driving rolls is substantially fixing relative to driving frame, is convenient to power transmission; And pinch rollers is removable relative to embracing cable frame, make the cable of climbing cable robot adaptation sizes; On the other hand, because driving rolls shifts to install in driving frame both sides, therefore the present invention only has a pair roller on the same cross section of cable, namely when pressure strip moves to cable, there is not driving rolls in the moving direction of pinch rollers, pinch rollers on pressure strip can not be interfered mutually with driving the driving rolls on frame, and compared with structure on the same cross section of cable of the four rolling of prior art, the present invention can use on the cable that diameter is less.In addition, the present invention arranges four bites in the longitudinal direction of cable, each bite distributes two rollers, this and documents arrange in the longitudinal direction of cable 2 bites, the same cross section of cable are arranged four structures that assume diamond in shape roller compared with, can more effective flexibility to utilizing cable itself, be conducive to improving obstacle climbing ability.The wheel face of driving rolls of the present invention and pinch rollers forms dislocation up and down and holds around the diamond structure of cable, abut from the varying cross-section of cable and compress cable surface, angle of friction between roller and cable does not change with cable diameters change, therefore its climb cable ability not with cable diameters change and change, this structure and bilateral, it is more reliable that three limit rollers embrace cable, aerial statue is more stable, there is cable diameters compliance more better than arc wheel simultaneously, in addition, four limit rollers are adopted to hold tightly, prevent robot from climbing the anti-deflection ability rotated around cable in cable process stronger, the equlvalent coefficient of friction that groove face tribology principle demonstrates arc wheel folder cable mode can change with cable diameters and change, the equlvalent coefficient of friction of multiple cylinder roller clip cable mode does not then change with cable diameters and keeps constant, therefore multiple cylinder roller is embraced cable and is had and larger climb cable friction, capability.The present invention's two pairs of driving rollss are synchronously driven by same drive motors, namely each roller of frame side is driven all to have power, formed and drive structure more, what greatly improve robot climbs cable ability, therefore robot of the present invention not only has and enough climbs cable power, may be used for the climbing of vertical cables, and due to synchronously drive avoid prior art driving wheel operationally the asynchronous robot caused tremble, cause the problem of skidding and wearing and tearing cable clad between roller and cable, also the problem of performance is climbed in impact simultaneously.In addition, driving rolls of the present invention and there is not elastic construction between pinch rollers and housing, its armful of cable thrust regulates setting by ground control unit by embracing cable motor, only need embrace cable motor one point control and just can complete armful cable power different to the cable applying of different-diameter, 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 occurring skidding of enclasping force.Driving frame of the present invention and embrace cable frame be oppositely arranged can opening and closing structure, in-site installation or dismounting are very simple, convenient and swift.The present invention is by remote control drive motors and the rotation of embracing cable motor, the activity of climbing cable robot can be controlled in far distance, and climb cable speed more than 5 ms/min, and corresponding detection, tour or attending device can be loaded climbing on cable robot, meet the detection to cable, tour or daily maintenance requirements of one's work.
As preferably, drive motors is arranged on the centre position driving frame upper back, 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 being arranged symmetrically in its both sides, downside and the master gear of master gear are coaxially provided with driving wheel, drive the driving wheel on the left of frame to be connected with the driving rolls rotating shaft transmission of below on the left of driving frame by driving-belt, bevel gear set; The driving wheel on the right side of frame is driven to be connected with the driving rolls rotating shaft transmission of top on the right side of driving frame 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, selects jumbo iron lithium phosphate battery to be feeding electric motors, adopts the form of four driving wheels simultaneously, guarantees the climbing ability of robot.The driven wheel of motor passes through 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 above linkage and homonymy, thus realize a driven by motor four driving wheels, because the gearratio of two-way is completely the same, therefore four driving rolls Complete Synchronizations rotate, the cable robot of climbing solving prior art trembles climbing easily occurring in cable process, cause skidding and wearing and tearing cable clad, also the problem of performance is climbed in impact simultaneously.
As preferably, embracing cable motor arranges outside armful cable frame, described cable transmission mechanism of embracing comprises two horizontal lead screws be set in parallel in armful cable frame, one end and the feed screw nut be arranged on pressure strip of two rhizoid bars are spirally connected, the other end of two rhizoid bars is provided with the screw axis extending and embrace cable frame, screw axis is provided with linkage gear, be connected by Timing Belt between two rhizoid bars, 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 in the middle part of cable frame and is provided with Timing Belt regulating wheel.The present invention moves pressure strip by embracing the rotation of cable driven by motor two rhizoid bar, the rotation of embracing cable motor is controlled by ground control unit, can control to climb the enclasping force of cable robot to cable, climbing in cable process, when encountering obstruction, can making to climb the smooth obstacle detouring of cable robot by rotating armful cable motor reduction dynamics of holding tightly, avoiding locking; Otherwise if to climb in cable process cable angle comparatively large, dynamics of holding tightly makes to climb cable robot when skidding not, cable motor can be embraced increase an enclasping force by rotating, prevent from climbing cable robot landing.And rotate the initial position that handwheel conveniently can arrange pressure strip.
As preferably, be positioned at the screw axis end of embracing screw mandrel on the right side of cable frame 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 the some directive wheels arranged up and down, and the side plate 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.Arrange directive wheel in pressure strip both sides of the edge, directive wheel is embedded in the horizontal elongated slot of side plate slidably, parallel with header board when can ensure that pressure strip moves like this, guarantees the pressure equalizing of pressure strip to its upper and lower pinch rollers.
As preferably, be provided with enclasping force sensor between feed screw nut and pressure strip, 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, ground control unit is arranged corresponding pressure display screen, 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 need to judging the change of enclasping force by observing the operating condition of climbing cable robot, control rate and precision can significantly improve, and also significantly improve operating efficiency simultaneously.In addition, also corresponding enclasping force scope can be preset according to different cable situations, during real work when surveying enclasping force and exceeding the scope of setting, automatically controlled to embrace cable motor by ground control unit, enclasping force is returned in the scope of setting in time, greatly can reduce the workload of ground remote control work like this, increase work efficiency, in addition, also ground artificial can be adopted to control the control model automatically controlling with machine to combine, guarantee the normal work of climbing cable robot under various different operating mode.
As preferably, drive on the opposite face of frame and pressure strip and 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 on driving 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 to install driving rolls and pinch rollers, make driving frame and the driving rolls compressed in frame and pinch rollers can form the diamond structure holding around cable, usual right-angled triangle adopts isosceles right triangle, and the angle namely between inclined-plane and the installing plate installing rolling wheel support is 45 degree.Rhombus of the present invention might not be a complete diamond shape, and when the area that driving rolls and pinch rollers enclose is less, the opposite face outline line of driving rolls and pinch rollers can form a complete diamond shape; And the area that driving rolls and pinch rollers enclose larger time, the opposite face outline line of driving rolls and pinch rollers is a part for rhombus.
As preferably, driving-belt is connected with regulating wheel, drive the upper and lower two ends of frame to be respectively provided with a regulating block, described regulating block drives the rolling wheel support of frame upper and lower side to be connected with close by adjustment screw respectively, and the installing hole driving the rolling wheel support that frame is connected with regulating block is mounting hole.Regulating wheel is used for tensioning driving-belt, and regulating block pulls open the distance of upper and lower rolling wheel support for tensioning linkage by adjustment screw, thus avoids because driving-belt relaxes with linkage and affect the synchronous 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 make.Polyurethane material makes pinch rollers and its wheel face of driving rolls has suitable elasticity, can reduce the damage to cable surface that may occur under the prerequisite guaranteeing enclasping force, especially very little to the cable damage of coated PE sheath; The engraved structure that housing and pressure strip adopt engineering plastics to make, can reduce the own wt of climbing cable robot greatly.
As preferably, drive the U-shaped profile of frame, comprise plate after one and be arranged on the side plate of rear plate both sides, drive a side board of frame and embrace the respective side side plate of cable frame by hinge, driving between the opposite side side plate of frame and the side plate embracing cable frame respective side and be provided with locking device.Drive frame to adopt similar structure to an armful cable frame, can cost of production be reduced.
The present invention also can adopt technical scheme below: one climbs cable 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, the both sides of frame are driven respectively to be provided with about four the cylindrical drive rollers arranged, 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 in the horizontal plane of its axis is inverted V-shaped, the U-shaped profile of described armful of cable frame, comprise a header board and be arranged on the side plate of header board both sides, embrace in cable frame that be provided with can relative to the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embrace cable motor to be connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with about four the cylindrical holding-down rollers arranged near driving the one side both sides of frame, described pinch rollers shifts to install in pressure strip both sides and the projection in the horizontal plane of its axis is V-shaped, when driving frame and armful cable frame close and hold around cable, inside the wheel face of driving rolls and pinch rollers, projection is in the horizontal plane in the diamond structure holding around cable, driving rolls and pinch rollers one_to_one corresponding are positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 55-160 millimeter, climb cable robot and also comprise ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.The program is compared with aforesaid technical scheme, its change is that the quantity of driving wheel and contact roller is eight, drive between four driving wheels of frame homonymy (left side or right side) and connect synchronous axial system 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 carry out position statement according to climbing cable robot on vertically disposed cable, such statement is only used to the convenience in those skilled in the art's understanding, and be not the concrete restriction to its positional structure, in fact agent structure of the present invention can be inverted, namely upper-lower position can exchange, and position all around also can change because the position of observer is different, therefore there is not the qualified relation of absolute position up and down or all around.
The invention has the beneficial effects as follows: it efficiently solve prior art climb cable robot climbing, obstacle climbing ability is poor, and the problem of the less cable of diameter cannot be climbed, of the present inventionly climb cable robot climbing, obstacle climbing ability is good, the wide-angle cable close to 90 ° can be climbed up, and the adaptation of cable diameters is wide, little to the damage of the cable of coated PE sheath, the situation that there will not be high-altitude to embrace the stuck or climbing of cable to skid.The present invention is by remote control drive motors and the rotation of embracing cable motor, the activity of climbing cable robot can be controlled in far distance, and corresponding detection, tour or attending device can be loaded climbing on cable robot, thus the satisfied detection to cable, tour or daily maintenance requirements of one's work, there is very high practical value.
Accompanying drawing explanation
Fig. 1 is a kind of perspective view that the present invention climbs cable robot;
Fig. 2 is the front elevation drawing that the present invention climbs cable robot;
Fig. 3 is the right view that the present invention climbs cable robot;
Fig. 4 is the top view that the present invention climbs cable robot;
Fig. 5 is a kind of structural configuration schematic diagram that the present invention climbs cable robot driving rolls;
Fig. 6 is a kind of structural configuration stereogram that the present invention climbs cable robot driving rolls;
Fig. 7 is a kind of structural configuration sketch that the present invention climbs cable robot driving rolls;
Fig. 8 is the top view of Fig. 7;
Fig. 9 is a kind of structural configuration schematic diagram that the present invention climbs cable robot pinch rollers;
Figure 10 is a kind of structural configuration stereogram that the present invention climbs cable robot pinch rollers.
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, plate after 31., 32. hinges, 33. gear frames.
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, one climbs cable 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, driving frame and armful cable frame are the engraved structure that engineering plastics make, and its cross section all takes the shape of the letter U, and drive frame to comprise a rear plate 31 and are arranged on the side plate 6 of rear plate both sides; Embrace cable frame to comprise a header board 5 and be arranged on the side plate of header board both sides, drive a side board of frame hinged by hinge 32 with the side plate embracing cable frame respective side, drive between the opposite side side plate of frame and the side plate embracing cable frame respective side and be provided with locking device (not shown).Drive frame both sides to be respectively provided with the cylindrical drive roller 3(arranged for about a pair 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 in the horizontal plane of its axis is inverted V-shaped (see Fig. 4, Fig. 8).Embrace in cable frame and be provided with and can see Fig. 9 relative 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, embrace cable motor to be connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with near driving the one side both sides of frame the cylindrical holding-down roller 9 arranged for about a pair, described pinch rollers shifts to install in pressure strip both sides and the projection in the horizontal plane of its axis is V-shaped, when driving frame and armful cable frame close and hold around cable, inside the wheel face of driving rolls and pinch rollers, projection is in the horizontal plane in the diamond structure holding around cable 10, driving rolls and pinch rollers one_to_one corresponding are positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 55-160 millimeter, climb cable robot and also comprise 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.
Drive motors is arranged on the centre position driving frame upper back, 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 being 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 on the left of frame by driving-belt 15, bevel gear set 16 and drive the driving rolls rotating shaft transmission of below on the left of frame to be connected; The driving wheel on the right side of frame is driven to be connected with the driving rolls rotating shaft transmission of top on the right side of driving frame 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, driving-belt is connected with regulating wheel 28, regulating wheel is arranged on gear frame 33.Rear plate about 31 two ends are respectively provided with a regulating block 29, 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 that rear plate is connected with regulating block is mounting hole.
Embrace cable motor and lower right outside armful cable frame header board is set, described cable transmission mechanism of embracing comprises two horizontal lead screws 18 be set in parallel in armful cable frame, one end and the feed screw nut 19 be arranged on pressure strip of two rhizoid bars are spirally connected, the other end of two rhizoid bars is provided with the screw axis extending and embrace cable frame, screw axis is provided with linkage gear 20, be connected by Timing Belt 21 between two rhizoid bars, be positioned at the screw axis end of embracing screw mandrel on the right side of cable frame to be 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 in the middle part of cable frame and be provided with Timing Belt regulating wheel 28.
Feed screw nut is arranged on the middle part (see Fig. 9, Figure 10) of pressure strip both sides, described pressure strip is the engraved structure that engineering plastics make, its both sides of the edge are respectively provided with two directive wheels 23 arranged up and down, the directive wheel dislocation of both sides is arranged, the every side board 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.
Drive on the opposite face of frame and pressure strip and 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 on driving frame, pinch rollers is arranged in the rolling wheel support cammed surface on pressure strip, driving rolls and pinch rollers are cross-shaped correspondingly arranges, 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 example 2, be provided with enclasping force sensor between feed screw nut and pressure strip, 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, climb cable robot to 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, the both sides of frame are driven respectively to be provided with about four the cylindrical drive rollers arranged, 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 in the horizontal plane of its axis is inverted V-shaped, the U-shaped profile of described armful of cable frame, comprise a header board and be arranged on the side plate of header board both sides, embrace in cable frame that be provided with can relative to the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embrace cable motor to be connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with about four the cylindrical holding-down rollers arranged near driving the one side both sides of frame, described pinch rollers shifts to install in pressure strip both sides and the projection in the horizontal plane of its axis is V-shaped, when driving frame and armful cable frame close and hold around cable, inside the wheel face of driving rolls and pinch rollers, projection is in the horizontal plane in the diamond structure holding around cable, driving rolls and pinch rollers one_to_one corresponding are positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 55-160 millimeter, climb cable robot and also comprise ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system, all the other are identical with embodiment 1 or embodiment 2.Compared with the technical scheme of the program and embodiment 1 or embodiment 2, its change is that the quantity of driving wheel and contact roller is eight, drive between four driving wheels of frame homonymy (left side or right side) and connect synchronous axial system 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.
Of the present invention climb cable robot use time, by driving frame with embrace a cable frame and to hold around on cable and to lock, rotate handwheel, make driving rolls and pinch rollers conflict cable, elasticity between roller and cable with climb cable robot can on cable not landing for benchmark, the lifting of climbing cable robot controls drive motors by ground control unit and completes, and artificial or automatic control armful cable motor can change the elasticity between roller and cable, make to climb cable robot to surmount obstacles smoothly, 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, the activity of climbing cable robot can be controlled in far distance, and climb cable speed more than 5 ms/min, and corresponding detection, tour or attending device can be loaded climbing on cable robot, meet the detection to cable, tour or daily maintenance requirements of one's work.
Claims (10)
1. climb cable robot for one kind, 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 the cylindrical drive roller (3) arranged for about a pair, 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 in the horizontal plane of its axis is inverted V-shaped, the U-shaped profile of described armful of cable frame, comprise a header board (5) and be arranged on the side plate (6) of header board both sides, embrace in cable frame that be provided with can relative to the pressure strip of header board parallel sliding (7), embrace cable frame and be provided with an armful cable motor (8), embrace cable motor to be connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with near driving the one side both sides of frame the cylindrical holding-down roller (9) arranged for about a pair, described pinch rollers shifts to install in pressure strip both sides and the projection in the horizontal plane of its axis is V-shaped, when driving frame and armful cable frame close and hold around cable, inside the wheel face of driving rolls and pinch rollers, projection is in the horizontal plane in the diamond structure holding around cable (10), driving rolls and pinch rollers one_to_one corresponding are positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 55-160 millimeter, climb cable robot and also comprise ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.
2. according to claim 1ly climb cable robot, it is characterized in that: described drive motors is arranged on the centre position driving frame upper back, 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) being arranged symmetrically in its both sides, the downside of master gear is coaxially provided with driving wheel (14), drives the driving wheel on the left of frame by driving-belt (15), bevel gear set (16) and drives the driving rolls rotating shaft transmission of below on the left of frame to be connected; The driving wheel on the right side of frame is driven to be connected with the driving rolls rotating shaft transmission of top on the right side of driving frame 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. according to claim 1ly climb cable robot, it is characterized in that: described cable motor of embracing is arranged on outside armful cable frame, described cable transmission mechanism of embracing comprises two horizontal lead screws (18) be set in parallel in armful cable frame, one end and the feed screw nut (19) be arranged on pressure strip of two rhizoid bars are spirally connected, the other end of two rhizoid bars is provided with the screw axis extending and embrace cable frame, screw axis is provided with linkage gear (20), be connected by Timing Belt (21) between two rhizoid bars, 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 in the middle part of cable frame and be provided with Timing Belt regulating wheel.
4. according to claim 3ly climb cable robot, 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 the some directive wheels (23) arranged up and down, the side plate 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. according to claim 3ly climb cable robot, 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. according to claim 1ly climb cable robot, it is characterized in that: described driving frame and the opposite face of pressure strip are 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) on driving 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. according to claim 2ly climb cable robot, it is characterized in that: described driving-belt is connected with regulating wheel (28), the upper and lower two ends of frame are driven respectively to be provided with a regulating block (29), described regulating block drives the rolling wheel support of frame upper and lower side to be connected with close by adjustment screw (30) respectively, and the installing hole driving the rolling wheel support that frame is connected with regulating block is mounting hole.
8. according to any one of claim 1-7, climb cable robot, 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 make.
9. according to any one of claim 1-7, climb cable robot, it is characterized in that: the U-shaped profile of described driving frame, comprise plate (31) after one and be arranged on the side plate (6) of rear plate both sides, drive a side board of frame hinged by hinge (32) with the respective side side plate embracing cable frame, drive between the side plate of frame opposite side and the side plate embracing cable frame respective side and be provided with locking device.
10. climb cable robot for one kind, 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 about four the cylindrical drive rollers arranged, 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 in the horizontal plane of its axis is inverted V-shaped, the U-shaped profile of described armful of cable frame, comprise a header board and be arranged on the side plate of header board both sides, embrace in cable frame that be provided with can relative to the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embrace cable motor to be connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with about four the cylindrical holding-down rollers arranged near driving the one side both sides of frame, described pinch rollers shifts to install in pressure strip both sides and the projection in the horizontal plane of its axis is V-shaped, when driving frame and an armful cable frame to close, inside the wheel face of driving rolls and pinch rollers, projection is in the horizontal plane in the diamond structure holding around cable, driving rolls and pinch rollers one_to_one corresponding are positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 55-160 millimeter, climb cable robot and also comprise ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410151966.5A CN104153294B (en) | 2014-04-15 | 2014-04-15 | Climb cable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410151966.5A CN104153294B (en) | 2014-04-15 | 2014-04-15 | Climb cable robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104153294A CN104153294A (en) | 2014-11-19 |
| CN104153294B true CN104153294B (en) | 2016-01-06 |
Family
ID=51878910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410151966.5A Active CN104153294B (en) | 2014-04-15 | 2014-04-15 | Climb cable robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104153294B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104652263B (en) * | 2015-02-10 | 2016-08-17 | 西南交通大学 | One climbs cable robot |
| CN104674655B (en) * | 2015-02-27 | 2016-06-29 | 西南交通大学 | A kind of cable climbing robot |
| CN104674654B (en) * | 2015-02-27 | 2016-06-15 | 西南交通大学 | A kind of robot capable of crawling cable |
| CN105350450B (en) * | 2015-10-29 | 2017-04-19 | 南京邮电大学 | High-altitude cable rope climbing mechanism and robot based on elastic frame |
| CN106245525A (en) * | 2016-08-31 | 2016-12-21 | 西南交通大学 | One travelling wheel type main rope of suspension bridge voluntarily checks car |
| CN112576883B (en) * | 2020-12-09 | 2022-04-01 | 浙江工贸职业技术学院 | Derrick climbing device |
| CN114875783B (en) * | 2022-01-06 | 2023-12-08 | 长沙理工大学 | Portable cable climbing detection robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2396936Y (en) * | 1999-12-10 | 2000-09-20 | 上海交通大学 | Electric power driven cable service robot climbing device |
| JP3392814B2 (en) * | 2000-07-27 | 2003-03-31 | 鹿島建設株式会社 | Self-propelled cable snow removal robot |
| CN101357637A (en) * | 2008-08-08 | 2009-02-04 | 深圳市思韦尔检测科技有限公司 | Cable detection robot |
| CN101538830A (en) * | 2009-04-14 | 2009-09-23 | 重庆交通大学 | Bridge cable health detection robot |
| CN201933407U (en) * | 2011-01-11 | 2011-08-17 | 江苏法尔胜材料分析测试有限公司 | Cable detecting robot |
| CN102605713A (en) * | 2011-12-26 | 2012-07-25 | 重庆大学 | Bionic robot climbing on bridge inhaul cable |
| KR101304175B1 (en) * | 2011-09-22 | 2013-09-09 | 성균관대학교산학협력단 | Apparatus for generating fixing force for robot for inspecting cable |
-
2014
- 2014-04-15 CN CN201410151966.5A patent/CN104153294B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2396936Y (en) * | 1999-12-10 | 2000-09-20 | 上海交通大学 | Electric power driven cable service robot climbing device |
| JP3392814B2 (en) * | 2000-07-27 | 2003-03-31 | 鹿島建設株式会社 | Self-propelled cable snow removal robot |
| CN101357637A (en) * | 2008-08-08 | 2009-02-04 | 深圳市思韦尔检测科技有限公司 | Cable detection robot |
| CN101538830A (en) * | 2009-04-14 | 2009-09-23 | 重庆交通大学 | Bridge cable health detection robot |
| CN201933407U (en) * | 2011-01-11 | 2011-08-17 | 江苏法尔胜材料分析测试有限公司 | Cable detecting robot |
| KR101304175B1 (en) * | 2011-09-22 | 2013-09-09 | 성균관대학교산학협력단 | Apparatus for generating fixing force for robot for inspecting cable |
| CN102605713A (en) * | 2011-12-26 | 2012-07-25 | 重庆大学 | Bionic robot climbing on bridge inhaul cable |
Non-Patent Citations (2)
| Title |
|---|
| "一种抱缆力可调的斜拉索检测机器人设计";彭立明;《机械设计与研究》;20120630;第28卷(第3期);第21-23页 * |
| 面向快速制造的一种爬缆机器人结构设计;彭立明;《宁波职业技术学院学报》;20130228;第17卷(第1期);第93-95页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104153294A (en) | 2014-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104153293B (en) | Cable inspection machine people | |
| CN104153290B (en) | Cable maintains machinery people | |
| CN104153294B (en) | Climb cable robot | |
| CN104153291B (en) | Cable inspecting robot | |
| CN103194967B (en) | Detecting system of bridge cable | |
| CN104372737B (en) | A kind of cable-stayed bridge cable measuring robots | |
| CN102788730B (en) | Device for testing bending fatigue of wire rope for elevator, and testing method thereof | |
| CN201240810Y (en) | Novel manual hoister | |
| CN104153301B (en) | Cable-maintaining robot | |
| CN205170077U (en) | Cable discharges device and equipment | |
| CN104153292B (en) | Cable hoisting machine people | |
| CN204224986U (en) | A kind of cable-stayed bridge cable measuring robots | |
| CN201118145Y (en) | Powerline aerial spanning device | |
| CN102808521A (en) | High-altitude butting method and high-altitude butting device for heavy structures | |
| CN102587270B (en) | Climbing device for cables of cable-stayed bridge | |
| CN104452594A (en) | Multi-support cable guide method cable replacement device | |
| CN116223236A (en) | Wind resistance test equipment for awning for building | |
| CN203923896U (en) | Cable inspecting robot | |
| CN111945560B (en) | Robot for detecting FAST cable | |
| CN203923895U (en) | Cable inspection machine people | |
| CN204959598U (en) | A device for detecting bridge jib | |
| CN213416079U (en) | Lifting device for bridge engineering | |
| CN212198198U (en) | Pipeline installation device in crane beam | |
| CN203920962U (en) | Cable-maintaining robot | |
| CN201191731Y (en) | Electric tackle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181119 Address after: 313000 room 1020, science and Technology Pioneer Park, 666 Chaoyang Road, Nanxun Town, Nanxun District, Huzhou, Zhejiang. Patentee after: Huzhou You Yan Intellectual Property Service Co., Ltd. Address before: 315800 No. 1069 Xinda Road, Beilun District, Ningbo City, Zhejiang Province Patentee before: Ningbo Polytechnic College |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210628 Address after: Room 501, office building, Langchuan Avenue, Jianping Town, Langxi County, Xuancheng City, Anhui Province Patentee after: Langxi pinxu Technology Development Co., Ltd Address before: 313000 room 1020, science and Technology Pioneer Park, 666 Chaoyang Road, Nanxun Town, Nanxun District, Huzhou, Zhejiang. Patentee before: Huzhou You Yan Intellectual Property Service Co.,Ltd. |
|
| TR01 | Transfer of patent right |