CN105346615A - Closed high-altitude cable rope climbing robot - Google Patents
Closed high-altitude cable rope climbing robot Download PDFInfo
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- CN105346615A CN105346615A CN201510726413.2A CN201510726413A CN105346615A CN 105346615 A CN105346615 A CN 105346615A CN 201510726413 A CN201510726413 A CN 201510726413A CN 105346615 A CN105346615 A CN 105346615A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a closed high-altitude cable rope climbing robot which comprises three idler wheel sets, side supports, a descent speed limiting device and obstacle induction devices. The side supports are symmetrically arranged on the two sides of the three idler wheel sets and a closed structure is formed by the three idler wheel sets through the side supports. Each idler wheel set comprises at least one idler wheel and can serve as a drive wheel set. By the adoption of the structure, the whole robot is an elastic mechanism, the situation that each wheel is independently and elastically suspended is avoided, and therefore the robot obstacle crossing function is facilitated greatly. The descending speed can be adjusted through the descent speed limiting device, and when the robot climbs cable ropes at different inclination angles, the actual significance is higher. The fluid damping function is achieved, and compared with mechanical friction braking, thermal stability is good, the robot is suitable for being braked for a long time at a long distance, and braking force cannot be attenuated. Meanwhile, the braking force is increased along with the increase of the descending speed, the descending speed and the braking force are in a dynamic balanced process, and the robot can descend at a constant speed or nearly a constant speed.
Description
Technical field
The present invention relates to a kind of cable-stayed bridge cable measuring robots, specifically, relate to a kind of robot, particularly a kind of enclosed overhead calbe climbing robot for long-span cablestayed bridges drag-line or other high-altitude bar class, the fault detection of power transmission line class formation.
Background technology
In prior art, overhead calbe climbing robot adopts four or multiple wheel usually, and each wheels are all as an independent suspension, there is better flexibility, have better obstacle climbing ability, its groundwork is mechanism itself is rigidity, is only that the suspended portion of wheel is made elastomeric.
But above-mentioned many wheel overhead calbe climbing robots, have following deficiency:
1, pendulum spring is shorter usually, when wheel runs into obstacle, even if very little obstacle can cause the change that spring force is larger, totally unfavorable to obstacle detouring.
2, be all separate between wheel, a driving turbine needs a drive motor; And wheel quantum count is more, is substantially all employing drive wheel, or minority drive wheel, and the obstacle climbing ability of driving wheel and flower wheel cannot be mentioned in the same breath, therefore, actual obstacle climbing ability is usually very poor.In addition, be promote climbing ability, increase the positive pressure of roller and cable hold, mechanism's internal force is very large, actually climbs in process, and wheel damage is very serious, even climbs one back and forth, and wheel just damages, and affects also very large on climbing ability.This is also the basic reason place not having to produce practical application.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, and provide one to climb and obstacle climbing ability strong, mechanism's internal force is little, and roller is not fragile, and steadily of centre of gravity, the enclosed overhead calbe climbing robot that not easily derails.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of enclosed overhead calbe climbing robot, comprise three roller set, two symmetrically arranged lateral support and the device of limiting the dropping speed, three roller set shapes triangular in shape are arranged on three end points places of lateral support; Each lateral support include one piece of cross connecting plate and with the one piece of vertical connecting panel be connected in the middle part of cross connecting plate, each roller set includes at least one roller, and each roller set all can as driving wheels.
Two pieces of described vertical connecting panels are connected by crossbeam, and two pieces of vertical connecting panels and crossbeam form a suspension in H type.
Also comprise holddown spring, one end of holddown spring is connected with crossbeam, and the other end of holddown spring is connected with cross connecting plate by pipe link.
Each described roller is V-shape or cylindrical.
When described roller is V-shape, each roller includes wheel shaft and two bevel wheeies of coaxial package in wheel shaft periphery, and the taper bus of each bevel wheel is straight line or camber line.
Each described roller set includes two rollers, is connected between two rollers by crawler belt.
The device of limiting the dropping speed is connected with the axle stub of any one roller, the device of limiting the dropping speed comprises brake shell, brake rotor, centrifugal spring and centrifugal-block, wherein brake rotor, centrifugal spring and centrifugal-block are all arranged in brake shell, centrifugal-block and brake rotor are hinged, and are provided with centrifugal spring between centrifugal-block and brake rotor.
The device of limiting the dropping speed is connected with the axle stub of any one roller, and the device of limiting the dropping speed comprises stator, impeller, holddown spring, reaction plate and ball valve, and stator and reaction plate coaxial package are in the periphery of axle stub; The side of reaction plate adjacent stator is along the circumferential direction provided with several taper valve cores; Stator is from inside to outside disposed with mutually through hydraulic cavities, inner side blind hole and outside blind hole; The impeller be sleeved in axle stub is provided with in hydraulic cavities; Ball valve is provided with in the blind hole of inner side; One end of the contiguous reaction plate of outside blind hole is provided with the taper valve opening matched with taper valve core.
Also comprise obstacle induction installation, obstacle induction installation is fixedly installed on top and/or the bottom of climbing device, obstacle induction installation comprises at least two inductive switches, each inductive switch includes probe and switch body, every root probe comprises one section of arcuate probe and at least one needle-valve, one end of needle-valve is fixedly connected with arcuate probe, the other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection; At least two sections of arcuate probe are coaxially arranged, and can enclose formation cyclic structure.
Needle-valve described in every root is all coaxially arranged with several spherical point contacts, in switch body, is provided with the ball-and-socket equal with spherical point contacts quantity; The volume of ball-and-socket is greater than the volume of spherical point contacts, when spherical point contacts contacts with ball-and-socket any point, and all conductings of energy touch switch body breaker in middle amount signal.
After the present invention adopts said structure, there is following beneficial effect:
1. obstacle climbing ability is strong: above-mentioned three roller set, and design triangular in shape, and roller set is concerning suspension or lateral support, and be rigidity, and whole mechanism being a kind of elastic mechanism, is not carry out resilient suspension separately to each wheel, therefore very favourable to obstacle detouring; In addition, three roller set all can as driving wheels, and therefore very favourable to the lifting of climbing ability and obstacle climbing ability, the internal force of mechanism is little, very favourable for the service life of improving roller.
2. easy for installation, load-carrying capacity is strong: above-mentioned two lateral support, owing to arranging to there is not torsional deflection, there is not Rigidity in due to bilateral symmetry, load-carrying capacity is stronger, and distortion is symmetrical, there will not be derailing or falls safety misadventure.And, center-of-gravity position centering, the cable at the angle of inclination that is conducive to climbing, meanwhile, and shaft strength centering, not fragile.When oppositely installing, mechanism can realize self-locking.
3. namely dynamic brake declines: by the adjustment to taper valve opening (also damping hole) opening degree, realize the adjustment to descending speed, when robot climbs the cable of different angle, have more actual meaning.Fluid damping, compared with braking with mechanical type friction, Heat stability is good, is applicable to long-time, and long distance braking, braking force can not be decayed.In addition, when adopting the first or the third the device of limiting the dropping speed, the large young pathbreaker of braking force can increase with the increase of descending speed, and descending speed and braking force are the processes of a dynamical equilibrium, can realize at the uniform velocity or approximate uniform descent.
4. caliber is adaptable: adapt to different calibers by the spacing adjusting two rollers, and in the adjustable range of mechanism, cable and roller center distance remain unchanged.Namely climb various outer diameter cable time, the attitude of mechanism is constant, can keep-spring power invariable, this point for stable climb particularly important.
5. climbing for helix line, except requiring that robot will have very strong obstacle climbing ability, also requires that robot climbing device has good dynamics.Double side in the application supports, and dynamics is splendid, can resist larger impact load.Therefore impact resistance is stronger.
7, structure is simple, lightweight, be conducive to aloft work: both sides fixed mount is plane stress state, therefore simple plate part is only, simple and compact for structure, especially the structure of the parts such as fixed mount of connecting rod is more simple, and overall weight is lighter, more easily processing of parts, manufacturing cost is also low.
8, above-mentioned obstacle induction installation, can cover the whole excircle of cable, can to cable external cylindrical surface carry out 360 ° all-round to fault detection, detect without dead angle.Meanwhile, the obstacle that any shape encountered by inductive switch all can be triggered delicately, produces alarm switch amount signal.And integral structure is small and exquisite, reliably, lightweight, be conducive to aloft work.
Accompanying drawing explanation
Fig. 1 shows the structural representation of a kind of enclosed overhead calbe of the present invention climbing robot;
Fig. 2 shows the structural representation of suspension;
Fig. 3 shows the structural representation of the enclosed overhead calbe climbing robot adding the device of limiting the dropping speed;
Fig. 4 shows the perspective view of the first the device of limiting the dropping speed;
Fig. 5 shows the longitudinal sectional view of Fig. 4;
Fig. 6 shows the perspective view of brake rotor in Fig. 4;
Fig. 7 shows the perspective view of centrifugal-block in Fig. 4;
Fig. 8 shows the structural representation of the second the device of limiting the dropping speed;
Fig. 9 shows the cross-sectional view of stator in Fig. 8;
Figure 10 shows the structural representation of the third the device of limiting the dropping speed;
Figure 11 shows the schematic diagram of the enclosed overhead calbe climbing robot comprising the device of limiting the dropping speed and obstacle induction installation;
Figure 12 shows the perspective view of obstacle induction installation;
Figure 13 shows the perspective view of inductive switch;
Figure 14 shows the perspective cross section structural representation of inductive switch;
Figure 15 shows structural representation when roller surface is provided with striped;
Figure 16 shows structural representation when roller is detachable V-shape;
Figure 17 shows structural representation when each roller set comprises two rollers;
Figure 18 shows the structural representation that suspension, bevel wheel, drive motor and holddown spring are connected;
Figure 19 shows the structural representation that cross connecting plate, bevel wheel and drive motor are connected;
Figure 20 shows first step installation steps when enclosed overhead calbe climbing robot is installed;
Figure 21 shows second step installation steps when enclosed overhead calbe climbing robot is installed;
Figure 22 shows the 3rd step installation steps when enclosed overhead calbe climbing robot is installed.
Wherein have:
1. suspension; 11. vertical connecting panels; 12. crossbeams;
2. vertical connecting panel;
3. roller; 31. crawler belts; 32. wheel shafts; 33. bevel wheeies; 34. stripeds;
4. the device of limiting the dropping speed;
41. suspensions; 42. speed increasers; 43. brake rotors; 44. centrifugal-blocks; 45. centrifugal springs; 46. brake shells;
51. reaction plates; 511. taper valve core; 512. adjustment bolts; 52. stators; 521. hydraulic cavities; Blind hole inside 522.; Blind hole outside 523.; 53. impellers; 54. holddown springs; 55. taper valve openings; 56. ball valves; 57. rotors; 571. tip chute; 58. inertial mass; 581. dip plane;
6. obstacle induction installation;
61. arcuate probe; 62. needle-valves; 621. arc shaped contact; 63. inductive switch contiguous blocks; 631. ball-and-socket; 64. elasticity contiguous blocks; 641. elastic deformation cavitys; 65. supports;
7. pipe link;
8. drive motor;
9. holddown spring.
Detailed description of the invention
Below in conjunction with accompanying drawing and concrete better embodiment, the present invention is further detailed explanation.
As shown in Fig. 1, Fig. 3 and Figure 11, a kind of enclosed overhead calbe climbing robot, comprises three roller set, two symmetrically arranged lateral support, holddown spring 9, the device of limiting the dropping speed 4 and obstacle induction installations 6.The device of limiting the dropping speed 4 and obstacle induction installation 6 can be arranged according to actual needs.
Three roller set shapes triangular in shape are arranged on three end points places of lateral support.
As shown in Fig. 1, Figure 18 and Figure 19, each lateral support include one piece of cross connecting plate 2 and with one piece that is connected in the middle part of cross connecting plate 2 vertical connecting panel 11.
Each roller set all can as driving wheels, and each roller set is all connected with a drive motor 8.
Each roller set includes at least one roller 3.The periphery that each roller set preferably includes two rollers, 3, two rollers 3 is coated with crawler belt 31.Certainly, each roller set also can comprise 3 or multiple roller 3.
The setting of above-mentioned multiple roller, it is less that obstacle climbing ability is stronger, stronger, the single roller of climbing ability bears pressure, is conducive to improving fatigue life.
When roller 3 is in V-shape, as shown in figure 16, each roller 3 includes wheel shaft 32 and two bevel wheeies 33 of coaxial package in wheel shaft 32 periphery, and the taper bus of each bevel wheel 33 is straight line or camber line, and the surface of bevel wheel 33 is preferably provided with striped.
Above-mentioned bevel wheel 33 can dismounting, and also namely the spacing of bevel wheel 33 on wheel shaft 32 preferably can regulate.Therefore, it is possible to be suitable for different cable external diameter by the spacing changing both sides bevel wheel, can ensure that the width between centers of cable and roller is constant simultaneously.The direct benefit brought is exactly: only adjust two bevel wheel spacing during the change of cable external diameter, mechanism's attitude remains unchanged, and so the thrust of holddown spring can remain unchanged.
As shown in Figure 2, two pieces of vertical connecting panels 11 are connected by crossbeam 12, and two pieces of vertical connecting panels 11 and crossbeam 12 form a suspension 1 in H type.
As shown in Figure 3, one end of above-mentioned holddown spring 9 is connected with crossbeam 12, and the other end of holddown spring 9 is connected with cross connecting plate 2 by pipe link 7.
Above-mentioned three roller set are simultaneously as drive wheel, and during obstacle detouring, preferred control method is as follows:
During normal climb, only a roller set is as driving wheels, and when running into obstacle, drive wheels to occur skidding on cable, driven wheels stop operating, and pass through encoder feedback, now control system is according to encoder feedback, send driving instruction to other drive motor, three roller set drive simultaneously, clear an obstacle.After obstacle is crossed, digital control system according to encoder feedback signal, then adopts single wheel drive mode to climb.
Moreover, when many group roller obstacle detourings, cause the change of holddown spring length in mechanism also corresponding reduction half, spring force is also more stable.When being unlikely to obstacle detouring, spring force change is excessive.
Each above-mentioned rollers 3 can be V-shape, also can be cylindrical.The surface of roller 3 can be light face, and preferably, the surface of roller 3 is provided with striped as shown in figure 15.
Above-mentioned the device of limiting the dropping speed 4 can be connected with the axle stub of any one roller 3.
The device of limiting the dropping speed 4 has following three kinds of preferred embodiments.
Embodiment 1
As shown in Figure 4, Figure 5, Figure 6 and Figure 7, the device of limiting the dropping speed comprises suspension 41, speed increaser 42, brake shell 46, brake rotor 43, centrifugal spring 45 and centrifugal-block 44.
Wherein brake rotor, centrifugal spring and centrifugal-block are all arranged in brake shell, and centrifugal-block and brake rotor are hinged, and are provided with centrifugal spring between centrifugal-block and brake rotor.
Fixed mount is arranged on the left side of speed increaser, and is sleeved in axle stub, and axle stub is fixedly connected with the left side input end of speed increaser, and the output shaft end of speed increaser is fixedly connected with brake rotor.Wherein, speed increaser can be arranged according to actual needs, can not have.
When rotating speed is low, force of inertia is less, and under spring force, centrifugal-block is pressed on brake rotor, does not play brake action.Along with rotating speed increases, force of inertia increases, and overcome the constraint of spring force, centrifugal-block outwards gets rid of, and is pressed on brake shell, and rotating speed more high pressure is larger, plays the effect of dynamic speed limit.
Embodiment 2
As shown in Figure 8 and Figure 9, the device of limiting the dropping speed comprises stator 52, impeller 53, holddown spring 54, reaction plate 51, ball valve 56, speed increaser 42 and adjustment bolt 512.Speed increaser can be arranged according to actual needs, can not have.
Speed increaser 42, stator 52, reaction plate 51 and adjustment bolt 512 successively coaxial package in the periphery of axle stub 21.
The side of reaction plate 51 adjacent stator 52 is along the circumferential direction provided with several taper valve cores 511, is preferably 2.
As shown in Figure 10, stator 52 is from inside to outside disposed with mutually through hydraulic cavities 521, inner side blind hole 522 and outside blind hole 523; The impeller 53 be sleeved in axle stub 21 is provided with in hydraulic cavities 521.Ball valve 56 is provided with in the blind hole 522 of inner side.One end of the contiguous reaction plate of outside blind hole 523 is provided with the taper valve opening 55 matched with taper valve core 511.
By to taper valve opening 55(also i.e. damping hole) adjustment of opening degree, realize the adjustment to descending speed, when robot climbs the cable of different angle, have more actual meaning.
Embodiment 3
As shown in figure 11, the device of limiting the dropping speed, except comprising all parts in embodiment 2, also comprises rotor 57 and inertial mass 58.Rotor 57 is sleeved in the axle stub 21 that is positioned on the right side of reaction plate 51.The left side of rotor is along the circumferential direction provided with several tip chutes 571, is provided with an inertial mass 58 in each tip chute 571, and each inertial mass 58 all has a dip plane 581 of matching with tip chute 571.
When fluid flows through above-mentioned damping hole, produce resistance, the size of resistance is relevant to the opening degree of damping hole.During rising, fluid is through inner side blind hole, and flow to left side from the right side of steel ball, damping hole is inoperative.During decline, inner side blind hole is blocked by steel ball (effect of spring force), and fluid, by outside blind hole, through damping hole, circulates from left side to the right, produces brake resistance when fluid flows through damping hole.
Under the effect of holddown spring spring force, reaction plate promotes the left side section of inertial mass, and being pressed on rotor and being close to center, the dip plane on the right side of inertial mass and the tip chute of rotor match.When mandrel speed improves, inertial mass, can outwards " getting rid of " due to the effect of centnifugal force, and due to the existence of dip plane, inertial mass can produce the motion of both direction: 1, outwards get rid of; 2, slip left.Motion is left by holddown spring " compression ", and now the horizontal component of force of centnifugal force and spring force balance each other, and along with the increase of speed, reaction plate is to left movement, and then the opening degree of damping hole can diminish, and resistance when fluid flows through damping hole can become large.Namely the dynamic change along with the change of descending speed of descending system power is achieved.
Climb in process, fluid, through inner side blind hole, is circulated by steel ball left from right side, does not produce any resistance.
In decline process, mandrel impeller is reversed, and fluid from left to right, shut by spring application steel ball by inner side blind hole.Fluid is through outside blind hole, and fluid flows through damping hole, and produce resistance, descending speed is faster, and damping hole opening degree is less, and resistance is larger.
In decline process, if speed continues to increase, under inertial mass centnifugal force horizontal component of force promotes, reaction plate continues to move to the left, and damping hole is shut.
After damping hole is shut, resistance moment sharply increases, and descending speed reduces, inertial mass centnifugal force horizontal component of force reduces, reaction plate moves to right, and damping hole opening degree increases, and resistance diminishes, descending speed increases, force of inertia is separated and strengthens, and damping hole opening degree reduces once again (shutting), moves in circles, realize dynamic conditioning, finally reach constant speed and decline.
Above-mentioned obstacle induction installation 6 can be fixedly installed on the top of climbing device, also can be arranged on the bottom of climbing device, also can be arranged on top and the bottom of climbing device simultaneously.
As shown in Figure 12, Figure 13 and Figure 14, obstacle induction installation 6 comprises at least two inductive switches and a support, and the quantity of inductive switch is preferably three.
Several attaching partss that support comprises annulus and is fixedly installed along annulus circumference, inductive switch is preferably fixed on annulus.The other end of attaching parts is fixed on climbing robot.
Each inductive switch includes probe and switch body.
Probe has the following two kinds preferred embodiment.
Embodiment 1: every root probe comprises one section of arcuate probe and a needle-valve.
Embodiment 2: every root probe comprises one section of arcuate probe and two needle-valves arranged in parallel.
As replacement, the quantity of needle-valve can also be more than 3 or 3, all within the protection domain of the application.
One end of above-mentioned every root needle-valve is fixedly connected with arcuate probe, and the top of preferred needle-valve is fixedly connected with the middle part of arcuate probe.
The other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection.
Above-mentioned arcuate probe is all coaxially arranged, and can enclose formation cyclic structure.Preferably, the head and the tail of arcuate probe splice mutually, form an annulus.As replacement, also can be only close to each other without splicing relation between the head and the tail of arcuate probe, or arcuate probe decentraction is arranged, but coaxially arrange, have coincidence etc. between the head and the tail of arcuate probe, also all within the protection domain of the application.
Arcuate probe encloses the cyclic structure of formation, can cover the whole excircle of cable, can to cable external cylindrical surface carry out 360 ° all-round to fault detection, detect without dead angle.
Every root needle-valve is all coaxially arranged with several spherical point contacts, is preferably two.
Switch body comprises inductive switch contiguous block and is coaxially fixedly installed on two elasticity contiguous blocks at inductive switch contiguous block two ends.Elastic deformation cavity is preferably provided with in each elasticity contiguous block.
The ball-and-socket equal with spherical point contacts quantity is coaxially arranged with in inductive switch contiguous block; The volume of ball-and-socket is greater than the volume of spherical point contacts.Therefore, when inductive switch does not touch obstacle, spherical point contacts can be positioned at the center of ball-and-socket, and does not contact with ball-and-socket.
When spherical point contacts contacts with ball-and-socket any point, all conductings of energy touch switch body breaker in middle amount signal.
Above-mentioned needle-valve is fixedly connected with elasticity contiguous block, the elastic support that can carry out floating between needle-valve with inductive switch contiguous block is connected, the motion of 6 degree of freedom in energy implementation space under the elastic support effect of elasticity contiguous block, this guarantees probe when touching the obstacle of arbitrary shape at an arbitrary position, spherical point contacts can contact with the ball-and-socket of any attitude with inductive switch contiguous block inside at an arbitrary position, produces on-off model.
Enclosed overhead calbe climbing robot of the present invention, easy accessibility, installation method is preferably as follows:
1, as shown in figure 20, by cross connecting plate 2, two roller set are fastened on cable;
2, as shown in figure 21, spring cotter etc. is inserted in the aperture of wheel shaft easily;
3, as shown in figure 22, the part that whole suspension top assembly (mounted in advance) integrally assembles with step 1,2 is spliced (now holddown spring is not compacted), then insert bearing pin by suspension and two pieces of cross connecting plates 2 hinged, tight a bolt and pipe link and two pieces of cross connecting plates 2 fixed, adjustment push bolt, applies thrust to mechanism.
Because above-mentioned holddown spring is in advance by pretension, therefore, namely compaction process only needs push bolt to be twisted little several circles can provide enough thrusts, and easy to adjust, labour intensity is very little.
More than describe the preferred embodiment of the present invention in detail; but the present invention is not limited to the detail in above-mentioned embodiment, within the scope of technical conceive of the present invention; can carry out multiple equivalents to technical scheme of the present invention, these equivalents all belong to protection scope of the present invention.
Claims (10)
1. an enclosed overhead calbe climbing robot, is characterized in that: comprise three roller set, two symmetrically arranged lateral support and the device of limiting the dropping speed, and three roller set shapes triangular in shape are arranged on three end points places of lateral support; Each lateral support include one piece of cross connecting plate and with the one piece of vertical connecting panel be connected in the middle part of cross connecting plate, each roller set includes at least one roller, and each roller set all can as driving wheels.
2. enclosed overhead calbe climbing robot according to claim 1, is characterized in that: two pieces of described vertical connecting panels are connected by crossbeam, and two pieces of vertical connecting panels and crossbeam form a suspension in H type.
3. enclosed overhead calbe climbing robot according to claim 2, it is characterized in that: also comprise holddown spring, one end of holddown spring is connected with crossbeam, and the other end of holddown spring is connected with cross connecting plate by pipe link.
4. enclosed overhead calbe climbing robot according to claim 1, is characterized in that: each described roller is V-shape or cylindrical.
5. enclosed overhead calbe climbing robot according to claim 4, it is characterized in that: when described roller is V-shape, each roller includes wheel shaft and two bevel wheeies of coaxial package in wheel shaft periphery, and the taper bus of each bevel wheel is straight line or camber line.
6. enclosed overhead calbe climbing robot according to claim 1, be is characterized in that: each described roller set includes two rollers, is connected between two rollers by crawler belt.
7. enclosed overhead calbe climbing robot according to claim 1, it is characterized in that: described the device of limiting the dropping speed is connected with the axle stub of any one roller, the device of limiting the dropping speed comprises brake shell, brake rotor, centrifugal spring and centrifugal-block, wherein brake rotor, centrifugal spring and centrifugal-block are all arranged in brake shell, centrifugal-block and brake rotor are hinged, and are provided with centrifugal spring between centrifugal-block and brake rotor.
8. enclosed overhead calbe climbing robot according to claim 1, it is characterized in that: described the device of limiting the dropping speed is connected with the axle stub of any one roller, the device of limiting the dropping speed comprises stator, impeller, holddown spring, reaction plate and ball valve, and stator and reaction plate coaxial package are in the periphery of axle stub; The side of reaction plate adjacent stator is along the circumferential direction provided with several taper valve cores; Stator is from inside to outside disposed with mutually through hydraulic cavities, inner side blind hole and outside blind hole; The impeller be sleeved in axle stub is provided with in hydraulic cavities; Ball valve is provided with in the blind hole of inner side; One end of the contiguous reaction plate of outside blind hole is provided with the taper valve opening matched with taper valve core.
9. enclosed overhead calbe climbing robot according to claim 1, it is characterized in that: also comprise obstacle induction installation, obstacle induction installation is fixedly installed on top and/or the bottom of climbing device, obstacle induction installation comprises at least two inductive switches, each inductive switch includes probe and switch body, every root probe comprises one section of arcuate probe and at least one needle-valve, one end of needle-valve is fixedly connected with arcuate probe, the other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection; At least two sections of arcuate probe are coaxially arranged, and can enclose formation cyclic structure.
10. enclosed overhead calbe climbing robot according to claim 1, is characterized in that: needle-valve described in every root is all coaxially arranged with several spherical point contacts, is provided with the ball-and-socket equal with spherical point contacts quantity in switch body; The volume of ball-and-socket is greater than the volume of spherical point contacts, when spherical point contacts contacts with ball-and-socket any point, and all conductings of energy touch switch body breaker in middle amount signal.
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| CN201510726413.2A CN105346615B (en) | 2015-10-29 | 2015-10-29 | A kind of enclosed overhead calbe climbing robot |
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| CN201510726413.2A CN105346615B (en) | 2015-10-29 | 2015-10-29 | A kind of enclosed overhead calbe climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106911199A (en) * | 2017-03-02 | 2017-06-30 | 深圳威枫豪斯新能源科技有限公司 | A kind of Portable rope-climbing device |
| CN106955802A (en) * | 2017-03-06 | 2017-07-18 | 南通中港涂装设备有限公司 | The intelligent paint robot of polynary coupling sensor |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN108516027A (en) * | 2018-05-17 | 2018-09-11 | 香港中文大学（深圳） | A kind of support guide wheel construction and the cable climbing robot with the structure |
| CN111497962A (en) * | 2020-04-30 | 2020-08-07 | 江苏省苏科建设技术发展有限公司 | Self-adsorption type climbing mechanism for high-altitude building |
| CN113389841A (en) * | 2021-06-03 | 2021-09-14 | 南京邮电大学 | Spring magneto-rheological coupling loading mechanism for cable-stayed bridge climbing robot and vibration reduction method |
| CN115817669A (en) * | 2022-12-14 | 2023-03-21 | 国网浙江省电力有限公司舟山供电公司 | Obstacle-crossing pole-climbing robot |
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| CN106955802A (en) * | 2017-03-06 | 2017-07-18 | 南通中港涂装设备有限公司 | The intelligent paint robot of polynary coupling sensor |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN108216409B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Flexible peristaltic climbing robot |
| CN108516027A (en) * | 2018-05-17 | 2018-09-11 | 香港中文大学（深圳） | A kind of support guide wheel construction and the cable climbing robot with the structure |
| CN108516027B (en) * | 2018-05-17 | 2024-03-15 | 香港中文大学（深圳） | Support leading wheel structure and have cable climbing robot of this structure |
| CN111497962A (en) * | 2020-04-30 | 2020-08-07 | 江苏省苏科建设技术发展有限公司 | Self-adsorption type climbing mechanism for high-altitude building |
| CN113389841A (en) * | 2021-06-03 | 2021-09-14 | 南京邮电大学 | Spring magneto-rheological coupling loading mechanism for cable-stayed bridge climbing robot and vibration reduction method |
| CN115817669A (en) * | 2022-12-14 | 2023-03-21 | 国网浙江省电力有限公司舟山供电公司 | Obstacle-crossing pole-climbing robot |
| CN115817669B (en) * | 2022-12-14 | 2023-10-27 | 国网浙江省电力有限公司舟山供电公司 | Obstacle surmounting pole-climbing robot |
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Application publication date: 20160224 Assignee: Nanjing Nanyou Information Industry Technology Research Institute Co. Ltd. Assignor: Nanjing Post & Telecommunication Univ. Contract record no.: 2018320000285 Denomination of invention: Closed high-altitude cable rope climbing robot Granted publication date: 20170801 License type: Common License Record date: 20181101 |
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