CN201901846U - Rope climbing robot - Google Patents
Rope climbing robot Download PDFInfo
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- CN201901846U CN201901846U CN2010205891917U CN201020589191U CN201901846U CN 201901846 U CN201901846 U CN 201901846U CN 2010205891917 U CN2010205891917 U CN 2010205891917U CN 201020589191 U CN201020589191 U CN 201020589191U CN 201901846 U CN201901846 U CN 201901846U
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Abstract
The utility model relates to a rope climbing robot which is used for PE damage detection on the cable surfaces of a suspension bridge and an cable-stayed bridge, and comprises a drive trolley (1) and a driven trolley (2), wherein the drive trolley (1) and the driven trolley (2) are arranged in a bilaterally symmetrical manner, are respectively provided with two wheels (7) and are connected with each other by a connecting piece, a four-connecting rod tensioning mechanism (9) is arranged on the driven trolley (2) and comprises four connecting rods (13), an adjusting screw rod (14), an adjusting nut and an adjusting spring (12), and a climbing mechanism is arranged on the drive trolley (1) and comprises a pair of right-angle matched bevel gears, a direct current motor (5) and a transmission chain (6); and the wheels (7) of the drive trolley (1) and the driven trolley (2) are respectively provided with a 'V'-shaped groove. The rope climbing robot is suitable for surfaces of currently various ropes, good in universality and powered by a rechargeable battery, and applicable to high-altitude operation environment. The rope climbing robot is simple in structural design, convenient in maintenance, and safe and reliable in running.
Description
Technical field
The utility model relates to a kind of cable climbing robot, specifically, just relates to a kind of robot that is used for suspension bridge and stayed-cable bridge cable surface PE damage check.Belong to the Robotics field.
Background technology
Along with the continuous development of bridge construction, new large-scale suspension cable, suspension bridge are widely used.And cable as this kind bridge mainly be subjected to force mechanisms, its quality is directly determining the application life of bridge.The polyethylene on cable surface (PE) topping long term exposure destructions such as aging sclerosis in various degree can occur in the air on river, sea.Simultaneously because sea, river windward is big, rain is anxious, cable can produce the wind and rain shake under the wind and rain effect, therefore make helix or embossing pit at cable surface PE layer now, perhaps the two is used in combination and reduces the infringement of wind and rain shake to cable and bridge, and obtaining general application, this also detects the new problem of bringing to cable simultaneously.
Along with the prolongation of these bridge active times,, particularly important to the detection of its sealer damage to the also constantly increase of detection demand of drag-line, suspension cable etc.; in time find and maintenance; more help protecting steel wire in the rope, increase cable body application life, safeguard bridge safety.Corresponding research has also been done by some scientific research institutions, the robot of Shanghai Communications University development for example, the patent No. 99252056.8, this robot can finish the application maintenance function preferably, but complex structure is relatively heavier, and employing cable power supply, influenced greatly by working environment, be fit to the long rope operating environment in high-altitude, and detection efficiency is very low.These
Robot can the part satisfied detection requirement, but detection efficiency is lower, long to the bridge holding time, influence traffic.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, and the long rope operating environment in a kind of simple in structure, suitable high-altitude, complicated, the reliable cable climbing robot in cable body surface are provided.
The purpose of this utility model is achieved in that a kind of cable climbing robot, comprise an active dolly and a driven dolly, initiatively dolly and driven dolly are symmetrically arranged, initiatively dolly and driven dolly all have two wheels, initiatively interconnect by connector between dolly and the driven dolly, driven dolly is provided with one or four connecting rod strainers, this four connecting rods strainer includes four connecting rods, one adjusting screw(rod), one adjusting nut and a regulating spring, described four connecting rods connect into a parallelogram sturcutre by four connectors, described adjusting screw(rod) is threaded therein on two connectors, and this adjusting screw(rod) is provided with a regulating spring and an adjusting nut, and the axletree of two wheels of two connectors and described driven dolly links together in addition; The active dolly is provided with a climbing device, this climbing device comprises helical gear, direct current generator and the driving chain that a pair of right angle cooperates, direct current generator is by lithium battery power supply, direct current generator links to each other with a wherein wheel of active dolly by the helical gear that described a pair of right angle cooperates, and links to each other by driving chain between this wheel and another wheel of active dolly; Be provided with " V " font groove on the wheel of described active dolly and driven dolly.
During use, initiatively dolly and driven dolly are symmetrically distributed along the cable body circumferencial direction, by adjusting the adjusting screw(rod) of four connecting rod strainers on the described driven dolly, drive the folding of two wheels of the driven dolly that four connecting rods are connected, make two dollies hold cable body tightly, and finely tune by regulating spring.This four connecting rods strainer runs into the cable body embossing, spiral in two dolly crawling process simultaneously
During obstacles such as muscle, folding that can be by four connecting rods drive two wheel foldings, real-time guarantees holding tightly of two dollies and cable body.Initiatively the climbing device of dolly can increase the power that climbs.
The beneficial effects of the utility model are:
Implement cable climbing of the present utility model robot, be fit at present the various cable bodies surfaces such as the recessed empty cable body of light face cable body, impression, helix cable body in usefulness, versatility is good, and adjustable-speed satisfies rise detection simultaneously, and finishes the controlled ground that drops to after the testing.Adopt rechargeable battery poweredly, be fit to the work high above the ground environment.This cable climbing robot architecture simplicity of design, easy to maintenance, security of operation, reliable.
Description of drawings
Fig. 1 is the utility model cable climbing robot construction schematic diagram.
Fig. 2 is four connecting rod tensioning apparatus schematic diagrames of the present utility model.
Reference numeral among the figure:
The specific embodiment
Referring to Fig. 1, Fig. 1 is the utility model cable climbing robot construction schematic diagram.As seen from Figure 1, the utility model cable climbing robot, comprise an active dolly 1 and a driven dolly 2, initiatively dolly 1 and driven dolly 2 are symmetrically arranged, initiatively dolly 1 and driven dolly 2 all have two wheels 7, initiatively interconnect by connector between dolly 1 and the driven dolly 2, driven dolly 2 is provided with one or four connecting rod strainers 9, this four connecting rods strainer, 9 structures such as Fig. 2, include four connecting rods 13, one adjusting screw(rod) 14, one adjusting nut and a regulating spring 12, described four connecting rods 13 connect into a parallelogram sturcutre by four connectors, described adjusting screw(rod) 14 is threaded therein on two connectors, and this adjusting screw(rod) 14 is provided with a regulating spring 12 and an adjusting nut, the axletree of two wheels 7 of two connectors and described driven dolly 2 links together in addition, makes two wheels 7 of driven dolly 2 constitute a parallelogram with four connecting rods 13.Regulate the opening and closing of four connecting rods 13 by adjusting adjusting screw(rod) 14, and drive two wheel movement of driven dolly 2, realize and the clamping of cable body that this parallelogram sturcutre can be regulated in real time according to robot state of living in simultaneously, realization robot and cable body are held tightly; Active dolly 1 is provided with a climbing device, this climbing device comprises helical gear, direct current generator 5 and the driving chain 6 that a pair of right angle cooperates, direct current generator 5 is by lithium battery 4 power supplies, direct current generator 5 links to each other with a wherein wheel of active dolly 1 by the helical gear that described a pair of right angle cooperates, and links to each other by driving chain 6 between this wheel and active dolly 1 another wheel.
Be provided with " V " font groove on the wheel 7 of described active dolly 1 and driven dolly 2.Its " V " connected in star is opened grade width and the degree of depth, under the cooperation of four connecting rod strainers of driven dolly, can steadily cross high helix obstacle of 3～5mm and embossing pit minor axis is 5.0mm～8.0mm, major axis is 7.0mm～10.0mm, dark 2.0mm～4.0mm, embossing pit coverage scale is 3.0%～8.5% embossing pit cable body surface.
The connector of described connection four connecting rods 13 is to be fixed on initiatively dolly 1 and four pairs of junction plates at driven dolly two ends about in the of 2 and four connecting bolts that are connected described four pairs of junction plates, open the spaced through hole of a row of same specification on the junction plate successively, select suitable through hole active dolly 1 and driven dolly 2 to be fixed on the cable body according to the rope diameter by bolt, finely tune driven dolly by four connecting rod strainers then, two dollies are clamped on the cable body.
The utility model also has image store conveyer 10 and shooting dress is housed on the described driven dolly 2
Put 11, described cable climbing robot controls by PLC intelligence, realizes that detection speed according to the detection case remote control adjustment, improves detection efficiency.
The ground handling personnel can pass through remote control, the rotating of control direct current generator, and realization detects the tasks such as recovery with robot.
Claims (3)
1. cable climbing robot, it is characterized in that: described robot comprises an active dolly (1) and a driven dolly (2), initiatively dolly (1) and driven dolly (2) are symmetrically arranged, initiatively dolly (1) and driven dolly (2) all have two wheels (7), initiatively interconnect by connector between dolly (1) and the driven dolly (2), driven dolly (2) is provided with one or four connecting rod strainers (9), this four connecting rods strainer (9) includes four connecting rods (13), one adjusting screw(rod) (14), one adjusting nut and a regulating spring (12), described four connecting rods (13) connect into a parallelogram sturcutre by four connectors, described adjusting screw(rod) (14) is threaded therein on two connectors, and this adjusting screw(rod) (14) is provided with a regulating spring (12) and an adjusting nut, and the axletree of two wheels (7) of two connectors and described driven dolly (2) links together in addition; Active dolly (1) is provided with a climbing device, this climbing device comprises helical gear, direct current generator (5) and the driving chain (6) that a pair of right angle cooperates, direct current generator (5) is powered by lithium battery (4), the helical gear that direct current generator (5) cooperates by described a pair of right angle links to each other with the wherein wheel of dolly (1) initiatively, links to each other by driving chain (6) between this wheel and another wheel of active dolly (1); Be provided with " V " font groove on the wheel (7) of described active dolly (1) and driven dolly (2).
2. a kind of cable climbing according to claim 1 robot, it is characterized in that: the connector of described connection four connecting rods (13) is opened one of same specification successively and is arranged spaced through hole for being fixed on initiatively dolly (1) and driven dolly (2) four pairs of junction plates at two ends and four connecting bolts that are connected described four pairs of junction plates up and down on the junction plate.
3. a kind of cable climbing according to claim 1 and 2 robot is characterized in that: image store conveyer (10) and camera head (11) are housed on the described driven dolly (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205891917U CN201901846U (en) | 2010-11-03 | 2010-11-03 | Rope climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205891917U CN201901846U (en) | 2010-11-03 | 2010-11-03 | Rope climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201901846U true CN201901846U (en) | 2011-07-20 |
Family
ID=44272447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205891917U Expired - Lifetime CN201901846U (en) | 2010-11-03 | 2010-11-03 | Rope climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201901846U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101994290A (en) * | 2010-11-03 | 2011-03-30 | 江苏法尔胜材料分析测试有限公司 | Cable-climbing robot |
| CN104074135A (en) * | 2014-04-16 | 2014-10-01 | 广州诚泰交通机电工程有限公司 | Bridge cable detecting device |
| CN104652265A (en) * | 2015-03-05 | 2015-05-27 | 招商局重庆交通科研设计院有限公司 | Hydraulic-driven bridge cable detection maintenance robot |
| CN104674655A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN104674654A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN106120552A (en) * | 2016-06-27 | 2016-11-16 | 南京邮电大学 | A kind of friction wheel type cable climbing measuring robots |
| CN106223198A (en) * | 2016-08-31 | 2016-12-14 | 宋金博 | A kind of bridge superstructure regards angle detecting device entirely |
| CN106677059A (en) * | 2015-11-06 | 2017-05-17 | 株洲时代新材料科技股份有限公司 | Track device used for suspension type inspection vehicles driven by sprocket wheels |
| CN112281651A (en) * | 2020-10-21 | 2021-01-29 | 哈尔滨理工大学 | Cable climbing robot |
-
2010
- 2010-11-03 CN CN2010205891917U patent/CN201901846U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101994290A (en) * | 2010-11-03 | 2011-03-30 | 江苏法尔胜材料分析测试有限公司 | Cable-climbing robot |
| CN104074135A (en) * | 2014-04-16 | 2014-10-01 | 广州诚泰交通机电工程有限公司 | Bridge cable detecting device |
| CN104074135B (en) * | 2014-04-16 | 2016-08-24 | 广州诚泰交通机电工程有限公司 | A kind of bridge cables detection device |
| CN104674655A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN104674654A (en) * | 2015-02-27 | 2015-06-03 | 西南交通大学 | Cable climbing robot |
| CN104652265A (en) * | 2015-03-05 | 2015-05-27 | 招商局重庆交通科研设计院有限公司 | Hydraulic-driven bridge cable detection maintenance robot |
| CN106677059A (en) * | 2015-11-06 | 2017-05-17 | 株洲时代新材料科技股份有限公司 | Track device used for suspension type inspection vehicles driven by sprocket wheels |
| CN106677059B (en) * | 2015-11-06 | 2019-06-25 | 株洲时代新材料科技股份有限公司 | A kind of suspension type for using chain wheel drive checks the rail set of vehicle |
| CN106120552A (en) * | 2016-06-27 | 2016-11-16 | 南京邮电大学 | A kind of friction wheel type cable climbing measuring robots |
| CN106120552B (en) * | 2016-06-27 | 2018-03-13 | 南京邮电大学 | A kind of friction wheel type cable climbing detects robot |
| CN106223198B (en) * | 2016-08-31 | 2018-02-06 | 天津大学 | A kind of full visual angle detection means of bridge superstructure |
| CN106223198A (en) * | 2016-08-31 | 2016-12-14 | 宋金博 | A kind of bridge superstructure regards angle detecting device entirely |
| CN112281651A (en) * | 2020-10-21 | 2021-01-29 | 哈尔滨理工大学 | Cable climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110720 Effective date of abandoning: 20120201 |