CN201437247U - Robot capable of crawling cable - Google Patents
Robot capable of crawling cable Download PDFInfo
- Publication number
- CN201437247U CN201437247U CN2009201262044U CN200920126204U CN201437247U CN 201437247 U CN201437247 U CN 201437247U CN 2009201262044 U CN2009201262044 U CN 2009201262044U CN 200920126204 U CN200920126204 U CN 200920126204U CN 201437247 U CN201437247 U CN 201437247U
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- cable
- rod
- tripod
- robot according
- climbing robot
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Abstract
The utility model discloses a robot capable of crawling cable, which comprise a tripod formed by three pairs of straight connecting rods and oblique connecting rods and three connecting brackets in a connecting way, the upper end and the lower end of the connecting brackets at three top-points of the tripod are respectively hinged with one ends of an upper push rod and a lower push rod, the other ends of the upper push rod and the lower push rod are respectively provided with driven wheels and driving wheels, an upper push rod tension spring is connected between the upper push rod and the tripod, which makes the three driven wheels form elastic clamping for the cable; a lower push rod tension spring is connected between the lower push rod and the tripod, which makes the three driving wheels which are respectively driven by driving motors crawl along the cable and be close to the cable. Due to the above structure, the robot capable of crawling cable has simple structure, good safety, and realizes the maintenance of the cable, and increases the working efficiency.
Description
Technical field
The utility model relates to robot, especially can safeguard cable, the cable climbing robot of relevant operation such as spraying.
Background technology
At present, along with the improvement of CONSTRUCTION OF CABLE-STAYED BRIDGE process program and some such as long-span bridge difficult point problem by slowly solution, this novel bridge type of cable-stayed bridge just more and more is applied in the bridge construction.The main bearing member of cable-stayed bridge is a cable, but its long term exposure is among atmosphere, is subjected to wind, Exposure to Sunlight, drenches with rain and the erosion of environmental pollution, and the surface is subjected to more serious destruction easily.Cable is the main supporting part of cable-stayed bridge, and its cost accounts for 25%～30% of full-bridge cost, and the destruction on cable surface just means that also the safety in utilization of cable-stayed bridge will be subjected to great influence.In order to reduce the loss that causes owing to the destruction of cable and to improve the image appearance of bridge, regularly the cable-stayed bridge cable is detected and maintenance is very important, but detection and the maintenance mode to the cable-stayed bridge cable is also comparatively backward so far, generally still needs workmen's handwork.Its main mode is to set up the fixed pulley suspension centre at cat head, drives dolly and manned hanging basket by manually in the high-altitude cable being carried out operation with hoist engine through steel wire rope, and not only efficient is low and have potential safety hazard, and cost is very high.
Therefore press for a kind of robot that can also can finish certain job task automatically along cable rope climbing of exploitation.In the middle of prior art, though similar machine people's experimental prototype is arranged, its complex structure, volume are big, Heavy Weight, cost height, can't be extensive use of.
In sum, relevant operations such as the robot of prior art can't safeguard cable, spraying can not replace workmen's operation of being correlated with.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, provide a kind of can replace the workmen to cable safeguard, the cable climbing robot of relevant operation such as spraying.
The utility model is achieved through the following technical solutions, it is a kind of cable climbing robot, it is characterized in that: comprise by three pairs of direct-connected extension bars being connected the tripod that support connects and composes with three with oblique connecting rod, described tripod is hinged with an end of upper push-rod and lower push-rod respectively at the upper and lower side of the connection support at place, three summits, the other end of upper push-rod and lower push-rod is separately installed with driven pulley and driving wheel, be connected with the upper push-rod extension spring between upper push-rod and the tripod respectively, make three driven pulleys form resilient clamp cable; Be connected with the lower push-rod extension spring between lower push-rod and the tripod respectively, make three driving wheels that drive by drive motors respectively be close to cable and creep.
The utility model is owing to the advantage that said structure has is: simple in structure and can climb cable-stayed bridge cable or similar structures fast, reposefully, and can carry size and the position that checkout equipment detects cable-stayed bridge cable blemish; Can also install to cable clean, the device of other relevant operations such as spraying, color dress reaches the maintenance to cable.
Description of drawings
The utility model said structure can further specify by the non-limiting example that accompanying drawing provides.
Fig. 1 is a front view of the present utility model;
Fig. 2 is a vertical view of the present utility model.
Among the figure: 1, driving wheel, 2, synchronous belt, 3, drive motors; 4, oblique connecting rod, 5, direct-connected extension bar, 6, pallet; 7, safety guard, 8, imageing sensor, 9, driven pulley; 10, upper push-rod; 11, upper push-rod extension spring, 12, connect support, 13, lower push-rod; 14, lower push-rod extension spring, 15, corner measuring apparatus.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and example:
Referring to attached Fig. 1 and 2, cable climbing robot among the figure, it is characterized in that: comprise by three pairs of direct-connected extension bars 5 being connected the tripod that support 12 connects and composes with three with oblique connecting rod 4, described tripod is hinged with an end of upper push-rod 10 and lower push-rod 13 respectively at the upper and lower side of the connection support at place, three summits, the other end of upper push-rod 10 and lower push-rod 13 is separately installed with driven pulley 9 and driving wheel 1, be connected with upper push-rod extension spring 11 between upper push-rod 10 and the tripod respectively, the resilient clamp that three driven pulleys 9 are formed cable; Be connected with lower push-rod extension spring 14 between lower push-rod 13 and the tripod respectively, make three driving wheels 1 that drive by drive motors 3 respectively be close to cable and creep.
In the said structure, described tripod is the opening and closing type structure, and at least one limit can open, close up and be fixing, and the position around cable on the tripod is evenly equipped with imageing sensor 8, and a side of described driving wheel is equipped with corner measuring apparatus 15; Described imageing sensor adopts CCD or cmos image sensor, gathers cable surface image information in real time and passes to controller, and controller is distinguished effective defective and invalid defective after to Image Information Processing; If effectively defective is then calculated the feedback signal of corner measuring apparatus 15 simultaneously, determine the position of effective defective, and it is preserved; Described each to direct-connected extension bar 5, tiltedly the one or both ends of connecting rod 4 are respectively with to be connected support 12 hinged, and, satisfy the swing of connecting rod certain angle in the hinged end locking, to change the length on tripod one side, adapt to the needs of different cable diameters; Drive motors 3 is stepper motor or servomotor, is installed on the lower push-rod 13, and drive motors is connected with the co-axially fixed belt pulley of driving wheel by synchronous belt 2.
The upper end of the connection support 12 of the tripod described in the said structure or/and the lower end be connected with pallet 6, but described pallet 6 is the ring bodies of opening and closing, constitute by two-section arc section at least, be equipped with on tripod or the pallet 6 by cleaning, spraying or the coloured silk of controller control and pretend the industry device, be equipped with on the pallet 6 by cleaning, spraying or the coloured silk of controller control and pretend the industry device; At upper push-rod 10 safety guard 7 is installed, described safety guard comprises that Breake Electromagnet, tripping spring steel plate and safety reclaim hawser; When operate as normal, the electromagnet energising relies on electromagnetic attraction pulling tripping spring plate, and the constraint that makes driven pulley 9 break away from the tripping spring plate is normally rolled; Under powering-off state, the electromagnet return makes the tripping spring plate give 9 one brake force of driven pulley, prevents that robot from gliding under the gravity effect, and pulling safety reclaims cable robot is reclaimed.
Direct-connected extension bar 5 described in the said structure, oblique connecting rod 4, upper push-rod 10, lower push-rod 13 all adopt the light-weight metal pipe, or the high-strength engineering plastic pipe.
The foregoing description is like this work---open by behind direct-connected extension bar 5 and oblique connecting rod 4 and any limit that is connected the tripod that support 12 constitutes it is enclosed within on the cable, angle according to direct-connected extension bar 5 of cable size adjustment and oblique connecting rod 4, make three pairs of upper push-rods 10 and lower push-rod 13 uniform simultaneously all around along cable axis, fixed tray 6 then, under the pulling force effect of upper push-rod extension spring 11 and lower push-rod extension spring 14, three pairs of wheels all depend on the cable surface tightly, after finishing, debugging opens drive motors 3, driving wheel 1 rotates under the drive of drive motors 3 by synchronous belt 2, and driven pulley 9 is just followed and rotated the purpose that reaches the cable of steadily creeping fast; In crawling process, all be connected with a corner measuring apparatus 15 on each drive motors 3, the rotary speed information of feedback drive motors 3, the control system receiving feedback signals, send corresponding control instruction, adjust the rotating speed of drive motors 3, make the velocity of rotation unanimity of three driving wheels 1, thereby guarantee this robot motion's stationarity.Imageing sensor 8 is gathered cable surface image information in real time and is passed to controller simultaneously, controller is distinguished effective defective and invalid defective after to Image Information Processing, if effective defective, then simultaneously the feedback signal of corner measuring apparatus 15 is calculated, determine the position of effective defective, and it is preserved the purpose of getting off to reach detection.On pallet 6, install can clean cable, spray, device such as color dress carries out upkeep operation to cable.
Safety guard 7 in the foregoing description is work like this---when this robot operate as normal, the electromagnet energising relies on electromagnetic attraction pulling tripping spring plate, and the constraint that makes driven pulley 9 break away from the tripping spring plate is normally rolled; Under the situation that accident (as system cut-off) takes place, the electromagnet return makes the tripping spring plate give 9 one brake force of driven pulley, prevents that robot from gliding in the gravity effect, reclaims hawser by safety then robot is reclaimed.
Obviously, the utility model is because described structure is simple in structure; Can climb cable-stayed bridge cable or similar structures, security performance height fast, reposefully; And can carry size and position that checkout equipment detects cable-stayed bridge cable blemish, improve operating efficiency; Can also install to cable clean, the device of other relevant operations such as spraying, color dress reaches the maintenance to cable.
Claims (10)
1. cable climbing robot, it is characterized in that: comprise by three pairs of direct-connected extension bars (5) being connected the tripod that support (12) connects and composes with three with oblique connecting rod (4), described tripod is hinged with an end of upper push-rod (10) and lower push-rod (13) respectively at the upper and lower side of the connection support at place, three summits, the other end of upper push-rod (10) and lower push-rod (13) is separately installed with driven pulley (9) and driving wheel (1), be connected with upper push-rod extension spring (11) between upper push-rod (10) and the tripod respectively, make the resilient clamp of three driven pulleys (9) formation cable; Be connected with lower push-rod extension spring (14) between lower push-rod (13) and the tripod respectively, make three driving wheels (1) that drive by drive motors (3) respectively be close to cable and creep.
2. cable climbing robot according to claim 1 is characterized in that: described tripod is the opening and closing type structure, and at least one limit can open, close up and be fixing.
3. cable climbing robot according to claim 1 is characterized in that: described direct-connected extension bar (5), oblique connecting rod (4), upper push-rod (10), lower push-rod (13) all adopt the light-weight metal pipe, or the high-strength engineering plastic pipe.
4. cable climbing robot according to claim 1 is characterized in that: described drive motors (3) is stepper motor or servomotor, is installed on the lower push-rod (13), and drive motors is connected with the co-axially fixed belt pulley of driving wheel by synchronous belt (2).
5. cable climbing robot according to claim 1 is characterized in that: the position around cable on the described tripod is evenly equipped with imageing sensor (8), and a side of described driving wheel is equipped with corner measuring apparatus (15); Described imageing sensor adopts CCD or cmos image sensor.
6. cable climbing robot according to claim 1 is characterized in that: the upper end of the connection support (12) of described tripod or/and the lower end be connected with pallet (6), described pallet (6) but be the ring bodies of opening and closing, constitute by two-section arc section at least.
7. cable climbing robot according to claim 6 is characterized in that: described pallet (6) is gone up around the position of cable and is evenly equipped with imageing sensor (8), and a side of described driving wheel is equipped with corner measuring apparatus (15); Described imageing sensor adopts CCD or cmos image sensor.
8. robot according to claim 1 is characterized in that: at upper push-rod (10) safety guard (7) is installed, described safety guard comprises that Breake Electromagnet, tripping spring steel plate and safety reclaim hawser.
9. cable climbing robot according to claim 5 is characterized in that: be equipped with on described tripod or the pallet (6) by cleaning, spraying or the coloured silk of controller control and pretend the industry device.
10. cable climbing robot according to claim 7 is characterized in that: be equipped with on the pallet (6) by cleaning, spraying or the coloured silk of controller control and pretend the industry device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201262044U CN201437247U (en) | 2009-01-21 | 2009-01-21 | Robot capable of crawling cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201262044U CN201437247U (en) | 2009-01-21 | 2009-01-21 | Robot capable of crawling cable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201437247U true CN201437247U (en) | 2010-04-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201262044U Expired - Fee Related CN201437247U (en) | 2009-01-21 | 2009-01-21 | Robot capable of crawling cable |
Country Status (1)
| Country | Link |
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| CN (1) | CN201437247U (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323331A (en) * | 2011-09-07 | 2012-01-18 | 华中科技大学 | In service cable rope defect detection device |
| CN102407205A (en) * | 2011-09-05 | 2012-04-11 | 河北科技大学 | High altitude chimney and navigation mark automatic spray robot |
| CN102962156A (en) * | 2012-12-07 | 2013-03-13 | 崔新运 | Full-automatic wire pole spraying robot |
| CN102975783A (en) * | 2011-09-06 | 2013-03-20 | 山东科技大学 | Single-wheel type robot used for climbing outside pipe |
| CN103018166A (en) * | 2011-09-23 | 2013-04-03 | 北京九通衢道桥工程技术有限公司 | Bridge cable creep detection device |
| CN105346616A (en) * | 2015-11-11 | 2016-02-24 | 珠海安作机器人自动化有限公司 | X-Y both-way unmanned remote control climbing robot |
| CN106251743A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | A kind of little motor vehicle drive system of physics teaching experiment |
| CN106442568A (en) * | 2016-10-14 | 2017-02-22 | 国网浙江嵊州市供电公司 | System and method for detecting state of round steel lightning rod |
| CN106481140A (en) * | 2016-11-13 | 2017-03-08 | 国网吉林省电力有限公司检修公司 | Electric power tower square climbing device automatically |
| CN108517772A (en) * | 2018-03-30 | 2018-09-11 | 彭云秋 | A kind of bridge construction bridge stay cable cleaning equipment |
| CN109174502A (en) * | 2018-07-17 | 2019-01-11 | 东莞市奇趣机器人科技有限公司 | A kind of steel pipe paint sprayer device people |
| CN109834692A (en) * | 2019-03-11 | 2019-06-04 | 重庆工业职业技术学院 | Cable detecting robot |
| CN109975390A (en) * | 2019-03-08 | 2019-07-05 | 柳州市自动化科学研究所 | A kind of device detecting bridge cable surface disease |
| CN110205930A (en) * | 2019-06-13 | 2019-09-06 | 广东承信公路工程检验有限公司 | Novel bridge cable intelligent measurement robot |
| CN110331661A (en) * | 2018-11-19 | 2019-10-15 | 长安大学 | A kind of bridge pier detection device based on electromagnetic spring type |
| CN111058377A (en) * | 2019-12-31 | 2020-04-24 | 哈尔滨理工大学 | Wheeled cable climbing robot |
| CN112012113A (en) * | 2020-08-19 | 2020-12-01 | 姚华 | Multifunctional bridge detection robot and working method |
| CN112198167A (en) * | 2020-10-10 | 2021-01-08 | 招商局重庆交通科研设计院有限公司 | Telescopic bridge cable detection device |
-
2009
- 2009-01-21 CN CN2009201262044U patent/CN201437247U/en not_active Expired - Fee Related
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407205A (en) * | 2011-09-05 | 2012-04-11 | 河北科技大学 | High altitude chimney and navigation mark automatic spray robot |
| CN102407205B (en) * | 2011-09-05 | 2013-09-18 | 河北科技大学 | High altitude chimney and navigation mark automatic spray robot |
| CN102975783A (en) * | 2011-09-06 | 2013-03-20 | 山东科技大学 | Single-wheel type robot used for climbing outside pipe |
| CN102323331B (en) * | 2011-09-07 | 2014-03-26 | 华中科技大学 | In service cable rope defect detection device |
| CN102323331A (en) * | 2011-09-07 | 2012-01-18 | 华中科技大学 | In service cable rope defect detection device |
| CN103018166A (en) * | 2011-09-23 | 2013-04-03 | 北京九通衢道桥工程技术有限公司 | Bridge cable creep detection device |
| CN102962156A (en) * | 2012-12-07 | 2013-03-13 | 崔新运 | Full-automatic wire pole spraying robot |
| CN105346616B (en) * | 2015-11-11 | 2018-08-17 | 珠海安作机器人自动化有限公司 | A kind of two-way unmanned remote controlled climbing robots of X-Y |
| CN105346616A (en) * | 2015-11-11 | 2016-02-24 | 珠海安作机器人自动化有限公司 | X-Y both-way unmanned remote control climbing robot |
| CN106251743B (en) * | 2016-08-24 | 2019-01-11 | 合肥凌翔信息科技有限公司 | A kind of small motor vehicle drive system of physics teaching experiment |
| CN106251743A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | A kind of little motor vehicle drive system of physics teaching experiment |
| CN106442568A (en) * | 2016-10-14 | 2017-02-22 | 国网浙江嵊州市供电公司 | System and method for detecting state of round steel lightning rod |
| CN106481140A (en) * | 2016-11-13 | 2017-03-08 | 国网吉林省电力有限公司检修公司 | Electric power tower square climbing device automatically |
| CN108517772A (en) * | 2018-03-30 | 2018-09-11 | 彭云秋 | A kind of bridge construction bridge stay cable cleaning equipment |
| CN108517772B (en) * | 2018-03-30 | 2020-11-20 | 东阳市晖宏环境工程有限公司 | Bridge suspension cable cleaning equipment for bridge construction |
| CN109174502A (en) * | 2018-07-17 | 2019-01-11 | 东莞市奇趣机器人科技有限公司 | A kind of steel pipe paint sprayer device people |
| CN109174502B (en) * | 2018-07-17 | 2020-12-08 | 浙江金汇休闲制品有限公司 | Steel pipe painting robot |
| CN110331661A (en) * | 2018-11-19 | 2019-10-15 | 长安大学 | A kind of bridge pier detection device based on electromagnetic spring type |
| WO2020103344A1 (en) * | 2018-11-19 | 2020-05-28 | 长安大学 | Electromagnetic spring-based pier test device |
| CN110331661B (en) * | 2018-11-19 | 2021-02-05 | 长安大学 | Pier detection device based on electromagnetic spring |
| CN109975390A (en) * | 2019-03-08 | 2019-07-05 | 柳州市自动化科学研究所 | A kind of device detecting bridge cable surface disease |
| CN109834692A (en) * | 2019-03-11 | 2019-06-04 | 重庆工业职业技术学院 | Cable detecting robot |
| CN109834692B (en) * | 2019-03-11 | 2021-05-11 | 重庆工业职业技术学院 | Cable detection robot |
| CN110205930A (en) * | 2019-06-13 | 2019-09-06 | 广东承信公路工程检验有限公司 | Novel bridge cable intelligent measurement robot |
| CN111058377A (en) * | 2019-12-31 | 2020-04-24 | 哈尔滨理工大学 | Wheeled cable climbing robot |
| CN112012113A (en) * | 2020-08-19 | 2020-12-01 | 姚华 | Multifunctional bridge detection robot and working method |
| CN112198167A (en) * | 2020-10-10 | 2021-01-08 | 招商局重庆交通科研设计院有限公司 | Telescopic bridge cable detection device |
| CN112198167B (en) * | 2020-10-10 | 2021-07-13 | 招商局重庆交通科研设计院有限公司 | Telescopic bridge cable detection device |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100414 Termination date: 20110121 |