CN101214412A - Scroll cable detecting robot - Google Patents

Scroll cable detecting robot Download PDF

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Publication number
CN101214412A
CN101214412A CNA2008100191662A CN200810019166A CN101214412A CN 101214412 A CN101214412 A CN 101214412A CN A2008100191662 A CNA2008100191662 A CN A2008100191662A CN 200810019166 A CN200810019166 A CN 200810019166A CN 101214412 A CN101214412 A CN 101214412A
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CN
China
Prior art keywords
cable
driving wheel
spring base
dolly
robot
Prior art date
Application number
CNA2008100191662A
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Chinese (zh)
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CN100563758C (en
Inventor
王兴松
徐丰羽
田富湘
皮扬
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东南大学
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Priority to CNB2008100191662A priority Critical patent/CN100563758C/en
Publication of CN101214412A publication Critical patent/CN101214412A/en
Application granted granted Critical
Publication of CN100563758C publication Critical patent/CN100563758C/en

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Abstract

The invention discloses a spiral line cable detecting robot which consists of a cart, an upper and a lower supporting hugging devices symmetrically distributed along the cable which are connected together. The robot is characterized in that the active cart is provided with a climbing device and a magnetic absorbing device; two supporting horizontal levers are provided with hugging devices; the climbing device includes a lithium battery fixed in the cart and a DC motor fixed on one side of the driving wheel in the cart; power of the DC motor is supplied by the lithium battery, and the DC motor drives the driving wheel of the cart to rotate by a drive axle, so as to drive the whole robot to spirally climb along a water transmission line of the cable; the hugging devices and the magnetic absorbing device work together to tightly press the driving wheel onto the surface of the cable. The climbing device can rotate for any degree relative to the cart, so as to adapt to the water transmission line with different thread pitch; power supply by the lithium battery is more suitable for the environment of high-altitude operation; the robot is also provided with a descending device, which is safer and more reliable in use. The invention has simple and reasonable structure, is convenient in maintenance, can have high climbing speed, is applicable in detection of the spiral line cable of large cable-stayed bridges as well as lamps and other rod types.

Description

Scroll cable detecting robot
Technical field
Patent of the present invention relates to a kind of scroll cable detecting robot, specifically, relates to a kind of robot that is used for striding greatly the fault detect of cable-stayed bridge scroll cable, belongs to the Robotics field.
Background technology
Along with developing rapidly of China's communication, the development of Longspan Bridge is also more and more faster, and cable-stayed bridge, suspension bridge have become the citation form of modern Longspan Bridge.After cable-stayed bridge, suspension bridge build up; the cable long term exposure of one of its main bearing member is among air; the aging breakoff phenomenon that waits of sclerosis in various degree will appear in the polyethylene on cable surface (PE) protective layer; cable inner wire bundle is also corroded because of airborne moisture and other acidic materials; severe patient even the fracture of wire phenomenon occurs jeopardizes the safety of bridge.At present, the maintenance measure that matches with the bridge cable detection is imperfection also, and the detection of cable and maintenance are mainly by manually finishing.
Industrial robot is safeguarded in the cable detection that is used for of Shanghai Communications University's development, its load capacity is very strong, can finish the function such as detection, application, maintenance of bridge cable well, it is in 99252056.8 the Chinese utility model patent file that its technical scheme is published in the patent No..But the climbing device construction profile that this cable detects maintaining robot is bigger; Complete machine adopts the cable power supply, and the length of its stube cable must be subjected to windage more obvious greater than the length of the bridge cable that robot climbed during work high above the ground; In addition, this robot does not have the relevant lowering means of design, when fortuitous event occurring in the operation process, be to adopt the steel wire rope that is connected in the robot, from tens in addition the high-altitude of hundreds of rice pull the recycling machine people with manpower, have certain danger,, be not suitable for testing so this mechanism is only applicable to painting work.
Along with the span of cable-stayed bridge is increasing, the cable wind-engaging shakes, the shadow that rain shakes also rings increasing, because scroll cable and impression pit cable can effectively suppress drag-line rain wind induced vibration phenomenon, now generally adopted by newly-built bridge, simultaneously also can bring series of new problems, the detection of first drag-line inner wire intensity is difficulty very, logical bridge is an example to revive, its the longest dorsal funciculus reaches 575m, carry detecting sensor to the cable fracture of wire as still using hoist engine to drag the hanging basket dolly in artificial mode, wearing and tearing, rust stainings etc. detect, and exist expense higher, work under bad environment, inefficiency, destroy serious problems such as cable surface easily.Owing to novelly windproofly shake, there is the circular protrusions of diameter 6-10mm on scroll cable surface that rain shakes, because the helix of projection is identical with the cable protection layer material, bear incessantly big external force, the schemes such as cable detection maintaining robot that hoist engine drags hanging basket dolly and Shanghai traffic development can't realize at all; This seminar had applied for that (application number was 2006101576019.9 to two kinds of detection machine people that are applied to the optical cable rope, 200620016413.X) etc. specialized robot all be not suitable for the testing of scroll cable, according to international online retrieval, yet there are no the report of scroll cable detecting robot.This patent is primarily aimed at scroll cable and has designed testing agency, and mechanism is useful for the detection of optical cable rope equally.
Summary of the invention
Technical problem to be solved by this invention is at above-mentioned the deficiencies in the prior art, and provides a kind of simple in structure, is suitable for the scroll cable detecting robot of scroll cable work high above the ground.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: a kind of scroll cable detecting robot, comprise along a dolly of cable circumferencial direction setting and be arranged on dolly car body top and bottom be used for dolly is supported the enclasp device of holding tightly on cable, described dolly comprises the climbing device of a band driving wheel at least, described driving wheel radially with axially the having angle of cable, this angle is identical with the helical angle of the helix of cable.
The car body of described dolly is provided with an arc groove, is provided with a balancing stand in this arc groove, and described climbing device is arranged on the balancing stand and can rotates around arc groove.
Described enclasp device comprises the fixed mount of holding tightly of fixedlying connected with car body, and this fixed mount is provided with at least two apart from the adjustable support wheel of driving wheel spacing, and the driving wheel of these at least two support wheels and dolly forms supported at three point clamping at least.
The described fixed mount of holding tightly is provided with at least four support wheels, comprises that also two are used for anti-inclined to one side anti-inclined to one side support wheel, and these two are prevented that inclined to one side support wheel lays respectively at the both sides of driving wheel.
The described fixed mount of holding tightly is supported spring base and is formed by the first support spring base, the second support spring base, the 3rd, fixedly connected with an end, the 3rd end that supports spring base of first spring base respectively in second two ends of supporting spring base, first other end, the 3rd other end that supports spring base that supports spring base is separately fixed on the car body, described at least two support wheels are arranged on second and support on the spring base, and described two anti-inclined to one side support wheels are separately positioned on first and support on spring base and the 3rd support spring base.
Described enclasp device also comprises the attached structure of a magnetic, and the attached structure of this magnetic is arranged on the car body of dolly.
The attached structure of described magnetic comprises: at least one yoke and be arranged at least one block of magnet on the yoke, described yoke is by on the car body that is bolted to dolly.
Also comprise an anti-drop device, anti-drop device comprises a slider-crank mechanism and has the cylinder of aperture, the crank of described slider-crank mechanism is connected with the outer shroud of a clutch, the interior ring of this clutch is fixedlyed connected with the wheel shaft of the driving wheel of dolly, the slide block of described slider-crank mechanism is connected with the piston rod of cylinder, and described aperture is arranged on the bottom of cylinder.
Described driving wheel is arranged on the driving wheel wheel shaft, on this driving wheel wheel shaft, also be provided with one first bevel gear, one driven by motor is provided with the gear shaft of second bevel gear that cooperates with first bevel gear, and described driving wheel is realized transmission by described first bevel gear, second bevel gear.
Compared with prior art, scroll cable detecting robot of the present invention has following advantage:
1, the driving wheel of scroll cable detecting robot of the present invention and cable radially have angle, the helical angle of the helix on this angle and the cable is consistent, so, detection machine people is when climbing, driving wheel just in time climbs along the helix spiral, is barrier and can not look helix, can't climb, driving wheel is when climbing, and robot finishes testing process.
2, driving wheel of the present invention is taken turns by the first half and the second half is taken turns and form, the car body of described dolly is provided with an arc groove, in this arc groove, be provided with a balancing stand, described climbing device is arranged on the balancing stand and can rotates around arc groove, when climbing, the first half take turns with the second half take turns helix is clamped in the middle of, the driving wheel of climbing device can rotate in the arc groove of car body, the first half take turns and the second half take turns just in time and can well proofread and correct the direction of climbing, guarantee consistent with the direction of helix, more stable, the safety of climbing.
3, enclasp device of the present invention is made of a plurality of directional wheels and the attached structure of magnetic, and directional wheel can adopt universal wheel, the frictional force when the minimizing robot climbs, adopt the attached structure of magnetic, on the one hand can be only with driving wheel and cable firm fixation, do not contact between the attached structure of magnetic and the cable on the other hand, when climbing, there is not resistance, reduced the energy consumption when climbing, thereby can finish testing process, need not lead and connect external power by powered battery such as lithium electricity, total is simple, and is reliable.
4, implement this cable detecting robot, its climbing device adopts motor direct-drive, adopts robot to carry the power supply mode rather than the active cable power supply of lithium battery, is more suitable for the work high above the ground environment, is subjected to windage less; When accident power-off occurring, perhaps when other fortuitous events such as electric energy deficiency, mechanical breakdown, mechanism cuts off the electricity supply automatically, robot can utilize the gravity of self and entrained detection service equipment, leading of piston motion by the porose cylinder of slider-crank mechanism interlock is stagnant, robot can be from the operation high-altitude along the slow decline of cable helix, and is safe and reliable.
5, the robot control section also comprises a control circuit, and when mechanism's outage was glided, motor was as generator work, and robot body is equivalent to prime mover, drives driving wheel and drives armature rotation, the torque T that prime mover produces and the electromagnetic torque T of motor mAnd open circuit loss torque T 0Balance each other, adopt ground to shake the break-make of four relays of prosecutor formula control, regulate the conducting and the disconnection of resistance in the regulating circuit plate, control electromagnetic torque thereby change electric current, and then the decrease speed of guiding mechanism.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is an enclasp device structural representation of the present invention;
Fig. 4 is an adsorption structure structural representation of the present invention;
Fig. 5 is a vehicle structure schematic diagram of the present invention;
Fig. 6 is dolly decomposition texture of the present invention-climbing device structural representation;
Fig. 7 is dolly decomposition texture of the present invention-rotation supporting construction schematic diagram;
Fig. 8 is the cylinder principle schematic of lowering means of the present invention;
Fig. 9 is used to control the circuit theory diagrams of robot decrease speed for the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is elaborated:
Be the overall construction drawing of scroll cable detecting robot of the present invention as shown in Figure 1 and Figure 2, comprise along a dolly 1 of cable 5 circumferencial direction settings and be arranged on dolly 1 top and bottom be used for dolly 1 is supported the enclasp device of holding tightly on cable 53, described dolly comprises the climbing device 2 of a band driving wheel 21 at least, driving wheel 21 axially has angle with cable 5, and this angle is identical with the helical angle of the helix 51 of cable 5.Described driving wheel 21 is arranged on the driving wheel wheel shaft 22, on this driving wheel wheel shaft 22, also be provided with one first bevel gear 23, one motor 6 drives the gear shaft that is provided with second bevel gear 24 that cooperates with first bevel gear 23, described driving wheel 21 is realized transmission by described first bevel gear 23, second bevel gear 24, and motor can be by lithium electricity or other powered battery.Described driving wheel 21 is taken turns 211 and the second half by the first half and is taken turns 212 and form, the car body 11 of dolly 1 is provided with an arc groove 111, be provided with a balancing stand 112 in this arc groove 111, described climbing device 2 is arranged on the balancing stand 112 and can rotates to adapt to the needs of different angles scroll cable around arc groove 111.Described enclasp device 3 comprise fixedly connected with car body 11 hold fixed mount 31 tightly, this is held fixed mount 31 tightly and is provided with at least two apart from the adjustable support wheel 32 of cable 5 spacings, and these at least two support wheels 32 form supported at three point clamping at least with the driving wheel 21 of dolly.
Also be provided with two anti-inclined to one side support wheels 33 on the fixed mount 31 holding tightly, and these two anti-inclined to one side support wheels 33 lay respectively at the both sides of driving wheel 21.
Hold fixed mount 31 tightly and support spring base 311 by first, second supports spring base 312, the 3rd supports spring base 313 forms, second two ends of supporting spring base 312 respectively with an end of first spring base 311, one end of the 3rd support spring base 313 is fixedly connected, first supports the other end of spring base 311, the 3rd other end that supports spring base 313 is separately fixed on the car body 11, described at least two support wheels 32 are arranged on second and support on the spring base 312, described two anti-inclined to one side support wheels 33 are separately positioned on first and support on spring base 311 and the 3rd support spring base 313, two anti-inclined to one side universal wheels 33 are " [" type, by adjusting nut, screw is installed on separately the support spring base, make robot climbing on cable more stable, the limiting robot track that climbs can prevent that locking mechanism departs from cable when moving on cable.
Described enclasp device 3 also comprises the attached structure 34 of a magnetic, and the attached structure 34 of this magnetic is arranged on the car body 11 of dolly 1.The attached structure 34 of this magnetic comprises: at least one yoke 341 and be arranged at least one block of magnet 342 on the yoke 341, described yoke 341 is fixed on the car body 11 of dolly 1 by bolt 343.
As a further improvement on the present invention, robot of the present invention also comprises an anti-drop device 4, anti-drop device 4 comprises a slider-crank mechanism 41 and has the cylinder 42 of aperture 421, the crank of described slider-crank mechanism 41 is fixedlyed connected with the driving wheel wheel shaft 22 of dolly 1 by one-way clutch 43, the slide block of described slider-crank mechanism 41 is connected with the piston rod of cylinder 42, and described aperture 421 is arranged on the bottom of cylinder 42.
As shown in Figure 3, enclasp device support wheel 32 is fixed on second by bolt 314 and supports on the spring base 312, between the support wheel 32 and the second support spring base 312, spring 316 and stop sleeve 317 are set also, on the second support spring base 312, adjustment hole 315 is set also, be used to regulate support wheel 32 to the distance between the cable, thereby adapt to holding tightly of obstructed diameter cable, applied compression spring 316 struts sleeve 317 and support wheel 32, after robot installs, unclamp the nut of bolt 314, enclasp device can clamp cable 5, and when robot walks on cable, but 316 axially-movables of support wheel 32 extrusion springs surmount obstacles.
Another preferred embodiment of the present invention is, as shown in Figure 4, the attached structure 34 of described magnetic has comprised four spring guides 343 that are fixed on the dolly car body 11 and the yoke 341 that links to each other with four guide rods, described yoke 341 is directly inhaled the formation magnetic circuit mutually with a pair of rubidium iron boron permanent magnet 342 absorption affinity that cable 5 produces is pressed on driving wheel 21 on the cable 5, magnet overlaps 344 edges and is processed into circular arc, when running into obstacle extruding magnet and overlap 344, spring 345 compressions, magnet 342 along spring guide is flexible surmount obstacles after, rely on spring that magnet 342 is pushed back original position, the nut of regulating on the guide rod 343 can change gap between adsorption structure 34 and the cable 5.
Another preferred embodiment of the present invention is, as Fig. 5, shown in Figure 6, climbing device driving wheel 21 is taken turns 211 and the second half by the first half and is taken turns 212 and form, regulate between the two halves wheel apart from the helix that can adapt to different in width by governor motion nut and compression spring, driving wheel is embedded with ball 213, becomes rolling friction with helix.
Another preferred embodiment of the present invention is that as Fig. 5, shown in Figure 6, cable detecting robot has also comprised anti-drop device 4, is arranged on the opposite side of dolly car body 11 drive sprocket axle climbing devices 2; On the wheel shaft 22 between driving wheel 21 and the anti-drop device 4, freewheel clutch 43 is set.When robot climbed, freewheel clutch 43 was in released state, and promptly anti-drop device 4 does not contact with driving wheel 21 and do not work; When electric fault appears in robot, or lithium battery be can exhaust outage the time, freewheel clutch 43 closures, and driving wheel 21 is connected with anti-drop device 4, and robot will be because gravity will drive anti-drop device 4 along cable 5 downslides works.As Fig. 5, Fig. 7 and shown in Figure 8, lowering means has comprised slider-crank mechanism 41 and has had the cylinder 42 of aperture 421 that the crank end of slider-crank mechanism 41 connects the outer shroud of freewheel clutch 43, the piston in the other end connection cylinder 42.During anti-drop device 4 work, drive piston by slider-crank mechanism 41 and in cylinder 42, move; And cylinder has only an aperture 421 ventilative, and promptly piston will provide and lead stagnantly with the damping of velocity correlation, make the motion that slider-crank mechanism 41 can only be steady and slow; And this moment, slider-crank mechanism 41 was connected with dolly driving wheel 21, electric system breaks down when robot, or the battery electric energy exhausts and when cutting off the power supply, robot can rely on the gravity of self, steady and slow from the cable slide down, promptly realized the purpose that robot reclaims from the operation high-altitude safe.
Another preferred embodiment of the present invention is, is parallel with the resistive module that is used to regulate current of electric at described motor two ends, and the current supply circuit of motor is provided with and is used to the relay module controlling the motor operation and turn to.Comprise a lithium battery on the described current supply circuit, the positive and negative polarities end of battery current connects first movable contact and second movable contact of first relay J 5 respectively, the first normally closed electric shock of first relay J 5 is connected with first movable contact of second relay J 6, first normally opened contact of first relay J 5 connects the input of current supply circuit, second normally-closed contact of first relay J 5 connects second movable contact of second relay J 6, second normally opened contact of first relay J 5 is connected to the output of described current supply circuit, the first normally-closed contact ground connection of described second relay J 6, first normally opened contact of described second relay J 6 connects the output of described current supply circuit, second normally-closed contact of described second relay J 6 is ground connection also, second normally opened contact of described second relay J 6 is connected to the input of current supply circuit, described resistive module comprises first resistance R 1, second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, first relay J 1, second relay J 2, the 3rd relay J 3 and the 4th relay J 4, described first resistance R 1 is connected with first relay J 1 and is formed first branch road, described second resistance R 2 is connected with second relay J 2 and is formed second branch road, described the 3rd resistance R 3 is connected with the 3rd relay J 3 and is formed the 3rd branch road, described the 4th resistance R 4 is connected with the 4th relay J 4 and is formed the 4th branch road, and this above-mentioned first branch road, second branch road, the 3rd branch road and the 4th branch road are parallel with one another.As shown in Figure 9, wherein L, R are respectively motor inductance and internal resistance.When mechanism's outage relied on deadweight to glide, motor was as generator work, and robot body is equivalent to prime mover, drove driving wheel and drove armature rotation, the torque T that prime mover produces and the electromagnetic torque T of motor mAnd open circuit loss torque T 0Balance each other.Its principle as shown in Figure 9, the resistance adjustable value is 20 Ω, 40 Ω, 60 Ω, 80 Ω are when the mechanical load on the axle changes (the cable inclination angle changes), the rotating speed of motor, electromotive force, electric current and electromagnetic torque will be adjusted automatically, to adapt to the variation of load, reach and keep new balance, mechanism is steadily descended.Ground staff adopts ground to shake four interlock relay (J of prosecutor formula control 1, J 2, J 3, J 4) break-make, in the regulating circuit plate connection of first resistance R 1, second resistance R 2, the 3rd resistance R 3 and the 4th resistance R 4 in disconnection, thereby change current i aControl electromagnetic torque, and then the decrease speed of controlling organization, finish relevant cable and detect maintenance work.
In a word, the described several embodiments of the foregoing description are not represented all implementations of the present invention; Above embodiment is not the concrete qualification to this robot, such as, robot also applicable to the cylinders such as similar electric pole, lamppost, flagpole that climb, finishes relevant detection maintenance work.In an embodiment of the present invention, model machine power is 90W, the deadweight 6kg of robot, but load-carrying 4kg (camera and magnetic checkout equipment), climbing speed 0.2m/s is to 0.3m/s, and prototype structure is simple, and is easy to maintenance, in engineering test, working stability has application value.

Claims (10)

1. scroll cable detecting robot, comprise a dolly (1) that is provided with along the cable circumferencial direction and be arranged on dolly car body (11) top and bottom be used for dolly is supported the enclasp device of holding tightly on cable (3), described dolly comprises the climbing device (2) of a band driving wheel (21) at least, it is characterized in that: described driving wheel (21) radially with axially the having angle of cable (5), this angle is identical with the helical angle of the helix (51) of cable (5).
2. scroll cable detecting robot according to claim 1, it is characterized in that: the car body (11) of described dolly (1) is provided with an arc groove (111), be provided with a balancing stand (112) in this arc groove (111), described climbing device (2) is arranged on balancing stand (112) and goes up and can rotate around arc groove (111).
3. scroll cable detecting robot according to claim 1 and 2, it is characterized in that: described enclasp device (3) comprise fixedly connected with car body (11) hold fixed mount (31) tightly, this is held fixed mount (31) tightly and is provided with at least two apart from the adjustable support wheel (32) of driving wheel (21) spacing, and these at least two support wheels (32) form supported at three point clamping at least with the driving wheel (21) of dolly.
4. scroll cable detecting robot according to claim 3, it is characterized in that: the described fixed mount (31) of holding tightly is provided with at least four support wheels, comprise that also two are used for anti-inclined to one side anti-inclined to one side support wheel (33), and these two are prevented that inclined to one side support wheel (33) lays respectively at the both sides of driving wheel (21).
5. scroll cable detecting robot according to claim 4, it is characterized in that: the described fixed mount (31) of holding tightly supports spring base (311) by first, second supports spring base (312), the 3rd supports spring base (313) forms, second two ends of supporting spring base (312) respectively with an end of first spring base (311), one end of the 3rd support spring base (313) is fixedly connected, first supports the other end of spring base (311), the 3rd other end that supports spring base (313) is separately fixed on the car body (11), described at least two support wheels (32) are arranged on second and support on the spring base (312), and described two anti-inclined to one side support wheels (33) are separately positioned on first and support on spring base (311) and the 3rd support spring base (313).
6. scroll cable detecting robot according to claim 3 is characterized in that: described enclasp device (3) also comprises the attached structure of a magnetic (34), and the attached structure of this magnetic (34) is arranged on the car body (11) of dolly (1).
7. scroll cable detecting robot according to claim 6, it is characterized in that: the attached structure of described magnetic (34) comprising: at least one yoke (341) and be arranged at least one block of magnet (342) on the yoke (341), described yoke (341) is fixed on the car body (11) of dolly (1) by bolt (343) and spring (345).
8. scroll cable detecting robot according to claim 4, it is characterized in that: also comprise an anti-drop device (4), anti-drop device (4) comprises a slider-crank mechanism (41) and has the cylinder (42) of aperture (421), the crank of described slider-crank mechanism (41) is connected with the outer shroud of a clutch (43), the interior ring of this clutch (43) is fixedlyed connected with the wheel shaft (22) of the driving wheel (21) of dolly (1), the slide block of described slider-crank mechanism (41) is connected with the piston rod of cylinder (42), and described aperture (421) is arranged on the bottom of cylinder (42).
9. scroll cable detecting robot according to claim 1, it is characterized in that: described driving wheel (21) is arranged on the driving wheel wheel shaft (22), on this driving wheel wheel shaft (22), also be provided with one first bevel gear (23), one motor (6) drives the gear shaft that is provided with second bevel gear (24) that cooperates with first bevel gear (23), and described driving wheel (21) is realized transmission by described first bevel gear (23), second bevel gear (24).
10. scroll cable detecting robot according to claim 1, it is characterized in that: described driving wheel (21) is taken turns (211) and the second half by the first half and is taken turns (212) and form, take turns (211) and the second half the first half and take turns also to be provided with between (212) and be used to regulate the first half and take turns the governor motion that (211) and the second half take turns (212) spacing, take turns (211) and the second half the first half and take turns on the opposite face of (212) and be respectively arranged with ball (213).
CNB2008100191662A 2008-01-15 2008-01-15 Scroll cable detecting robot CN100563758C (en)

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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
CN102416242A (en) * 2010-12-31 2012-04-18 上海师范大学附属第二外国语学校 Pole climbing robot
CN103507927A (en) * 2012-06-29 2014-01-15 新昌县冠阳技术开发有限公司 Robot capable of implementing underwater vertical climbing
CN104058014A (en) * 2014-04-30 2014-09-24 黔南民族师范学院 Semi-wheel type robot
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CN106052920A (en) * 2016-05-19 2016-10-26 武汉理工大学 Intelligent lifting positioning cable force detecting device
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CN106476004A (en) * 2016-12-12 2017-03-08 中国矿业大学 A kind of derrick defect crusing robot
CN107769075A (en) * 2017-11-09 2018-03-06 梁瑞城 A kind of electric power automatic climbing pole wire-sending device
CN109455243A (en) * 2018-11-08 2019-03-12 山东大学 A kind of pipe support curvature self-reacting device
CN109969279A (en) * 2019-03-19 2019-07-05 中国矿业大学 A kind of cable lay climbing robot
CN110271621A (en) * 2019-08-07 2019-09-24 国网安徽省电力有限公司电力科学研究院 A kind of obstacle detouring rod rising device and its step on bar method
CN111377002A (en) * 2018-12-30 2020-07-07 中国科学院沈阳自动化研究所 Rope-driven under-actuated climbing robot driven by single motor
CN111891240A (en) * 2020-06-15 2020-11-06 南方电网科学研究院有限责任公司 Wheel type robot curvature following device

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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
CN102416242A (en) * 2010-12-31 2012-04-18 上海师范大学附属第二外国语学校 Pole climbing robot
CN103507927A (en) * 2012-06-29 2014-01-15 新昌县冠阳技术开发有限公司 Robot capable of implementing underwater vertical climbing
CN104058014A (en) * 2014-04-30 2014-09-24 黔南民族师范学院 Semi-wheel type robot
CN105059415A (en) * 2015-08-06 2015-11-18 中国林业科学研究院林业新技术研究所 Climbing robot
CN105000079A (en) * 2015-08-06 2015-10-28 中国林业科学研究院林业新技术研究所 Climbing robot
CN105109569A (en) * 2015-08-06 2015-12-02 中国林业科学研究院林业新技术研究所 Climbing robot
CN105035201A (en) * 2015-08-06 2015-11-11 中国林业科学研究院林业新技术研究所 Climbing robot
CN105819307B (en) * 2016-05-07 2018-02-23 北京工业大学 Cable wire climbing robot
CN105819307A (en) * 2016-05-07 2016-08-03 北京工业大学 Steel rope climbing robot
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