CN1076255C - Electrical cable-maintaining robot - Google Patents

Abstract

The present invention relates to an electrical cable-maintaining robot which is composed of a climbing mechanism, a painting mechanism, a monitoring system, etc. The present invention is in a cylindrical frame structure, and three traveling cars uniformly distributed on the circumference of the present invention clamp on a cable. A clamping mechanism is provided with a coarse step hole and a trimming nut for adapting to various types of cables. A frequency variable motor drives the traveling cars through a speed reducer, and the inner frame and the outer frame are connected by a bearing. An inner ring and an outer ring of the painting mechanism are connected by the bearing, wherein the inner ring is uniformly provided with spraying guns. The present invention has the advantages of reasonable structure and high climbing speed, and not only can be used for the maintenance work of painting, cleaning, detection, etc. of large cable-stayed bridge cables, but also can be used for maintaining electric poles, etc.

Description

Electrical cable-maintaining robot

The present invention relates to a kind of cable-maintaining robot, relate in particular to a kind of electrical cable-maintaining robot that is used for striding greatly operation on the cable-stayed bridge cable, belong to the Robotics field.

Cable-stayed bridge is new as modern bridge, has worldwide obtained using widely.Particularly in construction during the span bridge, cable-stayed bridge has become first-selected bridge pattern.As the cable long term exposure of one of cable-stayed bridge three big primary structure members (bridge tower, bridge floor and bridge rope) in air, through the wind and weather Exposure to Sunlight, the pe sheath on cable surface will produce sclerosis and cracking phenomena in various degree, bring serious problems such as rust staining, fracture of wire can for the steel tendon in the sheath, simultaneously, because RANDOM WIND is shaken, rain shakes, make the steel wire in the cable produce little friction, then cause serious fracture of wire problem, all can bury serious hidden danger to cable-stayed bridge.At present, to the maintenance of cable mostly adopt hoist engine drag the hanging basket dolly with artificial mode to suspension cable clean, application.There are serious problems in this hanging basket dolly operating type: dolly weight is big, the hanging basket dolly adds that two staff weigh seven, 800 kilograms, and in order to reduce lifting force, adopted hard nylon wheel to be pressed on the cable, this not only can wipe priming coat off, and can abrade the PE overcoat on cable surface, when serious even can cut off steel wire; Construction period is long, the cost height, and the duration of cleaning whole cables on bridge of application reaches the several months long, and various expense is higher; The working environment of workers is exceedingly odious, and the staff not only faces strong wind, is difficult to the situation of communication, and have the generation of personnel casualty accidents more than 100 meters work high above the ground.

In the prior art, to managing the existing research of outer robot and electric wire detection machine people.The 15 the meeting 15th ISIR Vol.1 of International Industry robot (P339～345) reported that the Japanese quick man in Feitian waits the Mark I that is developed, II manages outer maintaining robot, this robot is formed by the rotary joint connection by three dollies, utilize micro-processor controlled three motors can finish the on-off action of nine wheels, rely on them to hug pipeline outer wall to keep certain attitude, and finish the action that moves forward and backward by six wheels about driving, Mark II robot structurally can utilize motor to change the advancing angle of wheel, can finish helix on pipeline and move.But the outer robot of this pipe has just developed experimental prototype, and the pipeline of creeping also is a rigid conduit on the ground, and tractive force is little, translational speed slow (Mark I is 0.3m/min, and Mark II only is 0.2m/min).Higher for this absolute altitude of cable-stayed bridge, flexible than hawser, its climbing ability is obviously not enough.The Japan will Vol.9 of association of robot (4), a kind of electric wire detection machine people has been reported in 1991 (P457～463), mainly form by several less wheels and four crawler belts, drive by small machine, but can only on the electric wire of certain gradient, move and cross over the iron tower of tightening electric wire, and the working environment of the rugosity of electric wire and gradient and robot obviously can not be compared with the cable on the bridge.So these specialized robots all can not be applied on the cable.According to international online retrieval, yet there are no the report of cable-maintaining robot.

The objective of the invention is to develop a kind of cable-maintaining robot that is applicable to any gradient cable rope climbing, to finish the automatic cleaning to cable, a series of activities such as application, detection alleviate working strength of workers to reach, improve the quality, reduce purposes such as cost.

For realizing such purpose, the present invention's design provides a kind of electrical cable-maintaining robot, by climbing device, safeguard that applying mechanism and several parts of ground control cabinet form, the climbing device body adopts the cylindrical frame structure of being made by square tube, this not only helps reducing the influence that upper-level winds shakes, but also has improved the integral rigidity of body.Along uniform three travelling cars of cable circumferencial direction, provide enough clamping forces respectively three dollies to be pressed on the cable by clamp mechanism in the climbing device, three motors climb along rope by three dollies of transmission mechanism driving respectively on the dolly; Cable robot is begun by the cable top then, starts applying mechanism, can carry out circumferential application downwards along cable; If coating is changed into cleaning fluid, just can clean with cleaning brush again cable; The steel wire detecting sensor is installed on the outside framework of climbing device can carries out fracture of wire and rust staining detection cable.Wherein the translational speed of robot can be controlled by the ground handling platform, and can monitor clearly that on the ground the working condition of high-altitude robot is also adjusted.Cable robot is worked on cable can not damage the original coating and the pe sheath on cable surface.

Below by way of embodiments and drawings technical scheme of the present invention is described in further detail.

Fig. 1 is an overall structure schematic diagram of the present invention.

As shown in the figure, robot is made up of climbing device, applying mechanism, monitoring system etc.In the climbing device along uniform three travelling cars 5 of cable circumferencial direction, sprocket wheel 3, front-wheel 6, sprocket wheel 4, trailing wheel 7 after the chain transmission drives again before the motor 1 in every dolly drives by worm type of reduction gearing 2 and chain transmission.Clamp mechanism on the dolly is established rough segmentation shelves hole and fine-tuning nut 9, two guide posts 10 of spring 8 both sides configuration.Because robot is when cable moves, climbing device might rotate around cable, for this reason, one cover outside framework 14 respectively is set at two up and down of the cylinder inner frame of climbing device, connect with bearing between the internal and external frame, rotate flexibly mutually, and on outside framework 14, get three fulcrums and hang weights such as paint can 23, keep stable status with the operating mechanism that guarantees in the climbing device rotation, to make outside framework 14 and link to each other with outside framework 14.The outside framework 14 of climbing device front end links to each other with the framework 24 of applying mechanism through contiguous block 25, the small machine 17 of applying mechanism connects inner ring through crank 18, connecting rod 19, three cover gunjet racks 26 evenly are set on inner ring, three spray guns 27 on the gunjet rack 26 can be by inside and outside rotating member (II) relatively in the applying mechanism, make circle swing along the cable center, the application cable 32 equably.Fixed support 31 on the application framework 24, and control cabinet 29 and CCD camera 30 are housed on the support 31, can monitor the coating quality of high-altitude cable on ground control cabinet.Simultaneously, in order to prevent of the influence of high-altitude RANDOM WIND to spraying, in the spray gun installed inside hurricane globe 28, and the coating accumulator tank is set outside hurricane globe.Can also fasten steel wire rope 16 in robot, its effect is the deadweight of carrying cable and pulls robot under unexpected situation.

Fig. 2 is the structural representation of climbing device among the present invention.

Among the figure, along uniform three travelling cars 5 of cable 32 circumferencial directions, the framework 12 of climbing device has adopted cylindrical structural in the climbing device, and clamp mechanism is provided with rough segmentation shelves hole 11 and fine-tuning nut 9, and at two guide posts 10 of the both sides of spring 8 configuration.Thickness (adapting to diameter of wire cord φ 90～φ 200) according to cable diameters, select suitable rough segmentation shelves hole 11 usefulness pins to be fixed on the support plate 13, adjusting nut 9 is finely tuned then, makes travelling car (comprising car body 5, front-wheel 6, trailing wheel 7) and cable 32 keep certain pressure.

Fig. 3 is the inside and outside enlarged drawing of rotating member relatively in the climbing device for I place among Fig. 1.

As seen, the cylinder inner frame 12 of climbing device is connected with outside framework 14 through bearing 15 among the figure, and internal and external frame can rotate each other flexibly.

Fig. 4 is the structural representation of applying mechanism of the present invention.

Among the figure, outer ring 21 is affixed with application framework 24, and connecting rod 19 is fixed on the inner ring, uniform three gunjet racks 26 on inner ring.When motor when connecting rod 19 drives inner rings around cable 32 swings, spray gun is also correspondingly swung, the application cable 32 more equably.

Fig. 5 is the inside and outside enlarged drawing of rotating member relatively in the applying mechanism for II place among Fig. 1.

Among the figure, inner ring 20 is connected with outer ring 21 through little bearing 22, and Internal and external cycle rotates mutually flexibly.Connecting rod 19 is fixed on the inner ring 20, and outer ring 21 is affixed with application framework 24.

Fig. 6 is the speed control principle figure of climbing device of the present invention.

Among the figure,, regulate motor speed by job requirements by three variable-frequency motors 1 of frequency converter 33 controls.

Fig. 7 sprays the electrical schematic diagram of part for the present invention.

As shown in the figure, ground control cabinet is provided with the rotating speed demonstration of motor (inner ring swing), air valve (spray gun spraying), warning lamp action buttons such as (safety instructions) and variable-frequency motor, the devices such as monitoring of operating environment.

Fig. 8 sprays the pneumatic schematic diagram of part for the present invention.

Among the figure, one road compressed air makes coating be pressed into the FLU of spray gun 27 through pressure-reducing valve to paint can 23, and another road compressed air is controlled the break-make and the atomizing of spraying through the CYL and the CAP of magnetic valve (DT1 and DT2) to spray gun 27.

Compact conformation of the present invention, reasonable, three travelling cars of circumference uniform distribution are under the clamp mechanism effect, generation is enough to overcome the frictional force of deadweight and load, under the driving of three ponderomotive forces, can start applying mechanism then and do the circumference application downwards along cable along the cable of any gradient with at the uniform velocity the climb top of cable of higher speed with lower speed.The robot climbing device has adopted the column type frame form, can reduce the influence that upper-level winds shakes.Because the kind difference of cable, internal and external frame adopts relative rotating member, rotates each other flexibly, can guarantee the stable state of applying mechanism at climbing device when the cable spiral moves.Adopt the relative rotating member of Internal and external cycle in the applying mechanism, spray gun work is rotated flexibly, spraying evenly.Cable-maintaining robot of the present invention can be used for the maintenance work of large-scale cable-stayed bridge cable, as aspects such as cable application, cleaning and detections, can also be used for the maintenance of other cylindrical bars such as electric pole etc.

In one embodiment of the invention, the power of engineering prototype is 1.1KW, and deadweight is 150 kilograms, but 280 kilograms of load-carryings, and the climbing speed scope is between 1 meter to 10 meters of per minutes.This model machine is in engineering test, and the effect of application and detection quality is very good, has application value.

Claims (5)

1, a kind of electrical cable-maintaining robot, by climbing device, applying mechanism, compositions such as monitoring system, it is characterized in that adopting the column type frame structure, in the climbing device along uniform three travelling cars 5 of cable circumferencial direction, be pressed on the cable by clamp mechanism, sprocket wheel 3 before variable-frequency motor 1 in the car connects by decelerator 2, front-wheel 6 and back sprocket wheel 4, trailing wheel 7, cylinder inner frame 12 is connected with outside framework 14 through bearing 15, outside framework 14 links to each other with application framework 24 through contiguous block 25, hang with paint can 23 on the outside framework 14, the small machine 17 of applying mechanism is through crank 18, connecting rod 19 connects inner ring 20, interior Figure 20 is connected with outer ring 21 through bearing 22, three cover gunjet racks 26 evenly are set on inner ring 20, spray gun 27 is arranged on the gunjet rack 26.

2, a kind of as the said electrical cable-maintaining robot of claim 1, it is characterized in that the dolly upper clamping mechanism is provided with rough segmentation shelves hole 11 and fine-tuning nut 9, and at two guide posts 10 of the both sides of spring 8 configuration.

3, a kind of as the said electrical cable-maintaining robot of claim 1, it is characterized in that fixed support 31 on the application framework 24, control cabinet 29 and CCD camera 30 are housed on the support 31.

4, a kind ofly it is characterized in that in the spray gun installed inside hurricane globe 28, and the coating accumulator tank has been set outside hurricane globe as claim 1 or 3 said electrical cable-maintaining robots.

5, a kind ofly want and 1 said electrical cable-maintaining robot, it is characterized in that also having in the robot in order to the carrying cable deadweight and under unexpected situation, pull the steel wire rope 16 of robot as right.

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