CN103643630B - Speed-self-adjustable cable robot - Google Patents

Speed-self-adjustable cable robot Download PDF

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Publication number
CN103643630B
CN103643630B CN201310703732.2A CN201310703732A CN103643630B CN 103643630 B CN103643630 B CN 103643630B CN 201310703732 A CN201310703732 A CN 201310703732A CN 103643630 B CN103643630 B CN 103643630B
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China
Prior art keywords
assemblied
main shaft
rolling bearing
speed
gear
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CN201310703732.2A
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Chinese (zh)
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CN103643630A (en
Inventor
包贤强
冷护基
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马鞍山市力翔机械自动化科技有限公司
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Priority to CN201310703732.2A priority Critical patent/CN103643630B/en
Publication of CN103643630A publication Critical patent/CN103643630A/en
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Abstract

The invention discloses a kind of speed-self-adjustable cable robot, belong to field of special robots. It comprises frame, roller, main shaft, rolling bearing A, synchronous pulley A, Timing Belt, synchronous pulley B, synchronous motor, return mechanism, and described return mechanism is made up of speed increasing mechanism and internal expanding block brake mechanism; Described speed increasing mechanism is made up of power transmission shaft, rolling bearing B, gear B, gear A; Described internal expanding block brake mechanism is made up of braked wheel, ring flange, brake shoe, cam, tensioning spring, turning cylinder, axle sleeve. The invention solves existing cable robot in the time of accident power-off, be difficult to auto-returned ground, robot when consuming mass energy and return in the time normally returning to ground speed be difficult to the problem automatically regulating, have advantages of reasonable in design, be easy to manufacture.

Description

Speed-self-adjustable cable robot
Technical field
The invention belongs to field of special robots, more particularly, relate to a kind of for cable inspection and maintenance fromSpeed governing type cable robot.
Background technology
Cable-stayed bridge, as the new model of modern bridge, is worldwide widely used. As cable-stayed bridge masterWant the cable long term exposure of one of primary structure member in air, through wind and weather Exposure to Sunlight, the pe sheath on cable surface willProduce sclerosis and cracking phenomena in various degree, bring the serious problems such as rust staining, fracture of wire to the steel tendon in sheath; Simultaneously due toWind induced Random, rain shake, and make the steel wire in cable produce micro-friction, then cause serious fracture of wire problem, bury sternly to cable-stayed bridgeHeavy hidden danger. Because cable-stayed bridge is the bridges just rising nearest decades, match with the main bearing member cable of cable-stayed bridgeThe cable-maintaining measure of cover is still far from perfect.
In early days the detection of cable is dragged to hanging basket dolly in artificial mode with safeguarding employing hoist engine. The operation of hanging basket dollyThe shortcoming of mode is: 1. dolly weight is large, and hanging basket dolly adds that two staff weigh seven or eight hundred kilograms, and in order to reduceLifting force, has adopted hard nylon wheel to be pressed on cable, and this not only can scrape priming coat, and can abrade the PE on cable surfaceOvercoat, even can cut off steel wire when serious; 2. the construction period is long, cost is high, cleans on application bridge whole cablesDuration reaches the several months long, and various expense is higher; 3. the environment of workman work is exceedingly odious, and staff is at more than 100 metersWork high above the ground, not only faces strong wind, is difficult to the situation of communication, and has the generation of personnel casualty accidents.
In recent years, pneumatic, the electronic cable robot of many moneys of being developed by Shanghai Communications University has larger changing than beforeEnter, substantially meet general instructions for use, but also have mechanical construction and control system complexity, contingency robot is difficult to automaticallyReturn to ground, practical operation inconvenience, therefore fails to be widely used.
Summary of the invention
Be difficult to auto-returned ground, robot for existing cable robot in the time normally returning to ground when the accident power-offWhen consuming mass energy and returning, speed is difficult to the problem automatically regulating, and the invention provides a kind of speed-self-adjustable cable machinePeople.
For addressing the above problem, the present invention adopts following technical scheme.
A kind of speed-self-adjustable cable robot, it comprises frame, roller, main shaft, rolling bearing A, synchronous pulley A, synchronousBand, synchronous pulley B, synchronous motor, be provided with rolling bearing A, synchronous motor in frame, spindle mounted is in rolling bearing A, mainAxle one end is connected with synchronous pulley A, and roller is assemblied on main shaft, and roller arc surface is pressed on cable surface, and synchronous pulley B is assemblied inOn synchronous motor main shaft, synchronous pulley A and synchronous pulley B are meshed with Timing Belt; Speed-self-adjustable cable robot also comprisesReturn mechanism, described return mechanism is made up of speed increasing mechanism and internal expanding block brake mechanism.
Described speed increasing mechanism comprises power transmission shaft, rolling bearing B, gear B, gear A, and described rolling bearing B is fixed onIn frame, described drive shaft cartridge is assigned in rolling bearing B, and described gear B is assemblied on power transmission shaft by key, and and gearA is meshed, and described gear A is assemblied on main shaft by key and axial back-up ring.
Described internal expanding block brake mechanism comprises braked wheel, ring flange, brake shoe, cam, tensioning spring, turning cylinder, axleCover, described ring flange is assemblied on main shaft by key, and the through hole of described braked wheel passes main shaft, and by bolt and flangeDish connects; Described cam is assemblied on power transmission shaft by key; It is semicircle that described brake shoe section becomes, and its one end is provided with unthreaded hole,In hole, be provided with turning cylinder, its other end is pressed on cam, and described brake shoe number is 2, along the line pair of cam and turning cylinderClaim to arrange, and be provided with link in the one end near cam; Described tensioning spring two ends are connected to the link of two brake shoesOn; Described axle sleeve is fixed in frame, and one end of described turning cylinder is loaded on axle sleeve by nut, and axle sleeve and turning cylinder areMatched in clearance.
Described tensioning spring is extension spring; The quantity of described return mechanism is 1~2.
Than prior art, beneficial effect of the present invention is:
(1) the present invention, in the time of backhaul, utilizes main shaft to drive speed increasing mechanism operation, due to the accelerating function of speed increasing mechanism, makesObtain the output speed of speed increasing mechanism much larger than the speed of mainshaft, thereby increased the operating frequency of internal expanding block brake mechanism, makeRobot slows down more obvious in decline process.
(2) the present invention utilizes main shaft to drive speed increasing mechanism operation, and speed increasing mechanism drives the operation of internal expanding block brake mechanism, inThe block brake mechanism of rising reacts on the braked wheel being connected with main shaft, has formed a closed loop feedback system, thereby can realizeThe automatic adjusting of rotating speed; Determine again the decrease speed of robot due to the rotating speed of main shaft, therefore the decrease speed energy of robotEnough realization automatically regulates, and realized robot close to device descending at constant speed.
(3) the present invention is in the time of accident power-off, and due to the power source of losing the job, motor is out of service, but return mechanism utilizationRobot self gravitation is started working, and makes robot close at the uniform velocity falling, thereby prevents that robot is because declining and cause at a high speedRush cable accident and occur, avoid bridge to damage.
(4) the present invention is in the time that need normally return to ground, and powered-down, utilizes robot self gravitation effect, return mechanismStart working, make robot security return to ground, can save mass energy.
Brief description of the drawings
Fig. 1 is front view of the present invention;
Fig. 2 is the cutaway view along A-A in Fig. 1;
Fig. 3 is the partial enlarged drawing of I in Fig. 1;
Fig. 4 is the cutaway view along B-B in Fig. 3.
In figure: 1-cable, 2-frame, 3-roller, 4-main shaft, 5-rolling bearing A, 6-synchronous pulley A, 7-withStep band, 8-synchronous pulley B, 9-synchronous motor, 10-braked wheel, 11-ring flange, 12-brake shoe, 13-cam, 14-Tight spring, 15-power transmission shaft, 16-rolling bearing B, 17-gear B, 18-gear A, 19-turning cylinder, 20-axle sleeve, I-returningJourney mechanism, II-speed increasing mechanism, III-internal expanding block brake mechanism.
Detailed description of the invention
Describe the present invention below in conjunction with accompanying drawing.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, speed-self-adjustable cable robot comprises frame 2, roller 3, main shaft 4, the axis of rollingHold A5, synchronous pulley A6, Timing Belt 7, synchronous pulley B8, synchronous motor 9, in frame 2, be provided with rolling bearing A5, synchronous motor9, main shaft 4 is assemblied in rolling bearing A5, and main shaft 4 one end are connected with synchronous pulley A6, and roller 3 is assemblied on main shaft 4, roller 3Arc surface is pressed on cable 1 surface, and synchronous pulley B8 is assemblied on synchronous motor 9 main shafts, and synchronous pulley A6 and synchronous pulley B8 areBe meshed with Timing Belt 7; Speed-self-adjustable cable robot also comprises return mechanism I, and described return mechanism I is by speed increasing mechanism IIWith internal expanding block brake mechanism III formation.
As shown in Figure 2 and Figure 3, described speed increasing mechanism II comprises power transmission shaft 15, rolling bearing B16, gear B 17, gearA18, described rolling bearing B16 is fixed in frame 2, and described power transmission shaft 15 is assemblied in rolling bearing B16, described toothWheel B17 is assemblied on power transmission shaft 15 by key, and is meshed with gear A 18, and described gear A 18 is by key and axial back-up ring dressBe assigned on main shaft 4.
As shown in Figure 3, Figure 4, III comprises braked wheel 10, ring flange 11, brake shoe 12, cam 13, tensioning spring 14, turning cylinder19, axle sleeve 20, described ring flange 11 is assemblied on main shaft 4 by key, and the through hole of described braked wheel 10 passes main shaft 4, andBe connected with ring flange 11 by bolt; Described cam 13 is assemblied on power transmission shaft 15 by key; Described brake shoe 12 sections becomeSemicircle, its one end is provided with unthreaded hole, is provided with turning cylinder 19 in hole, and its other end is pressed on cam 13, described brake shoe 12 numbersBe 2, be arranged symmetrically with along cam 13 and the line of turning cylinder 19, and be provided with link in the one end near cam 13; Described opensTight spring 14 two ends are connected on the link of two brake shoes 12; Described axle sleeve 20 is fixed in frame 2, described rotationOne end of axle 19 is loaded on axle sleeve 20 by nut, and axle sleeve 20 is matched in clearance with turning cylinder 19.
Described tensioning spring 14 is extension spring; The quantity of described return mechanism I is 1~2.
Robot works on cable-stayed bridge, in the time there is accident power-off situation or need normal power down to return, and backhaul machineStructure I is started working. Robot is due to self gravitation effect fast-descending, main shaft 4 High Rotation Speeds. Now, main shaft 4 drives booster engineThe operation of structure II, speed increasing mechanism II drives the III operation of internal expanding block brake mechanism, and internal expanding block brake mechanism III reacts on and masterThe braked wheel 10 that axle 4 is connected, due to brake shoe 12 and the rubbing action of braked wheel 10, reduces the rotating speed of main shaft 4, thereby makesThe decrease speed of robot is reduced.
Due to the accelerating function of speed increasing mechanism II, make the output speed of speed increasing mechanism II much larger than main shaft 4 rotating speeds simultaneously,Thereby the operating frequency that has increased internal expanding block brake mechanism III slows down robot more obvious in decline process, allowsRobot declines safer.
And main shaft 4 drives the operation of speed increasing mechanism II, speed increasing mechanism II drives the III operation of internal expanding block brake mechanism, internal expanding pieceFormula arrestment mechanism III reacts on the braked wheel 10 being connected with main shaft 4, has formed a closed loop feedback system, thereby can realizeThe automatic adjusting of rotating speed; Determined again the decrease speed of robot due to the rotating speed of main shaft 4, therefore, the decrease speed of robotCan realize automatic adjusting, realize close to device descending at constant speed.
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3, Figure 4, speed-self-adjustable cable robot comprises frame 2, roller 3, main shaft 4, the axis of rollingHold A5, synchronous pulley A6, Timing Belt 7, synchronous pulley B8, synchronous motor 9, in frame 2, be provided with rolling bearing A5, synchronous motor9, main shaft 4 is assemblied in rolling bearing A5, and main shaft 4 one end are connected with synchronous pulley A6, and roller 3 is assemblied on main shaft 4, roller 3Arc surface is pressed on cable 1 surface, and synchronous pulley B8 is assemblied on synchronous motor 9 main shafts, and synchronous pulley A6 and synchronous pulley B8 areBe meshed with Timing Belt 7; Speed-self-adjustable cable robot also comprises return mechanism I, and described return mechanism I is by speed increasing mechanism IIWith internal expanding block brake mechanism III formation.
Described speed increasing mechanism II comprises power transmission shaft 15, rolling bearing B16, gear B 17, gear A 18, the described axis of rollingHold B16 and be fixed in frame 2, described power transmission shaft 15 is assemblied in rolling bearing B16, and described gear B 17 is assembled by keyOn power transmission shaft 15, and be meshed with gear A 18, described gear A 18 is assemblied on main shaft 4 by key and axial back-up ring.
Described internal expanding block brake mechanism III comprises braked wheel 10, ring flange 11, brake shoe 12, cam 13, tensioning spring14, turning cylinder 19, axle sleeve 20, described ring flange 11 is assemblied on main shaft 4 by key, and the through hole of described braked wheel 10 passesMain shaft 4, and be connected with ring flange 11 by bolt; Described cam 13 is assemblied on power transmission shaft 15 by key; Described brake shoeIt is semicircle that 12 sections become, and its one end is provided with unthreaded hole, is provided with turning cylinder 19 in hole, and its other end is pressed on cam 13, described lockPiece 12 numbers are 2, be arranged symmetrically with, and be provided with link in the one end near cam 13 along cam 13 and the line of turning cylinder 19;Described tensioning spring 14 two ends are connected on the link of two brake shoes 12; Described axle sleeve 20 is fixed in frame 2, instituteOne end of the turning cylinder 19 of stating is loaded on axle sleeve 20 by nut, and axle sleeve 20 is matched in clearance with turning cylinder 19.
Described tensioning spring 14 is extension spring; The quantity of described return mechanism I is 1.
Embodiment 2
As shown in Figure 1, Figure 2, Figure 3, Figure 4, speed-self-adjustable cable robot comprises frame 2, roller 3, main shaft 4, the axis of rollingHold A5, synchronous pulley A6, Timing Belt 7, synchronous pulley B8, synchronous motor 9, in frame 2, be provided with rolling bearing A5, synchronous motor9, main shaft 4 is assemblied in rolling bearing A5, and main shaft 4 one end are connected with synchronous pulley A6, and roller 3 is assemblied on main shaft 4, roller 3Arc surface is pressed on cable 1 surface, and synchronous pulley B8 is assemblied on synchronous motor 9 main shafts, and synchronous pulley A6 and synchronous pulley B8 areBe meshed with Timing Belt 7; Speed-self-adjustable cable robot also comprises return mechanism I, and described return mechanism I is by speed increasing mechanism IIWith internal expanding block brake mechanism III formation.
Described speed increasing mechanism II comprises power transmission shaft 15, rolling bearing B16, gear B 17, gear A 18, the described axis of rollingHold B16 and be fixed in frame 2, described power transmission shaft 15 is assemblied in rolling bearing B16, and described gear B 17 is assembled by keyOn power transmission shaft 15, and be meshed with gear A 18, described gear A 18 is assemblied on main shaft 4 by key and axial back-up ring.
Described internal expanding block brake mechanism III comprises braked wheel 10, ring flange 11, brake shoe 12, cam 13, tensioning spring14, turning cylinder 19, axle sleeve 20, described ring flange 11 is assemblied on main shaft 4 by key, and the through hole of described braked wheel 10 passesMain shaft 4, and be connected with ring flange 11 by bolt; Described cam 13 is assemblied on power transmission shaft 15 by key; Described brake shoeIt is semicircle that 12 sections become, and its one end is provided with unthreaded hole, is provided with turning cylinder 19 in hole, and its other end is pressed on cam 13, described lockPiece 12 numbers are 2, be arranged symmetrically with, and be provided with link in the one end near cam 13 along cam 13 and the line of turning cylinder 19;Described tensioning spring 14 two ends are connected on the link of two brake shoes 12; Described axle sleeve 20 is fixed in frame 2, instituteOne end of the turning cylinder 19 of stating is loaded on axle sleeve 20 by nut, and axle sleeve 20 is matched in clearance with turning cylinder 19.
Described tensioning spring 14 is extension spring; The quantity of described return mechanism I is 2.

Claims (2)

1. a speed-self-adjustable cable robot, comprises frame (2), roller (3), main shaft (4), rolling bearing A (5), Timing BeltWheel A (6), Timing Belt (7), synchronous pulley B (8), synchronous motor (9), be provided with rolling bearing A (5), synchronous electric in frame (2)Machine (9), main shaft (4) is assemblied in rolling bearing A (5), and main shaft (4) one end is connected with synchronous pulley A (6), and roller (3) is assemblied inMain shaft (4) is upper, and roller (3) arc surface is pressed on cable (1) surface, and synchronous pulley B (8) is assemblied on synchronous motor (9) main shaft, withStep belt wheel A (6) and synchronous pulley B (8) are meshed with Timing Belt (7), it is characterized in that, also comprise return mechanism (I), describedReturn mechanism (I) is made up of speed increasing mechanism (II) and internal expanding block brake mechanism (III); Described speed increasing mechanism (II) comprises biographyMoving axis (15), rolling bearing B (16), gear B (17), gear A (18), described rolling bearing B (16) is fixed on frame (2)Upper, described power transmission shaft (15) is assemblied in rolling bearing B (16), and described gear B (17) is assemblied in power transmission shaft by key(15) upper, and be meshed with gear A (18), described gear A (18) is assemblied on main shaft (4) by key and axial back-up ring; InstituteThe internal expanding block brake mechanism (III) stating comprises braked wheel (10), ring flange (11), brake shoe (12), cam (13), tensioning spring(14), turning cylinder (19), axle sleeve (20), it is upper that described ring flange (11) is assemblied in main shaft (4) by key, described braked wheel(10) through hole passes main shaft (4), and is connected with ring flange (11) by bolt; Described cam (13) is assemblied in biography by keyOn moving axis (15); It is semicircle that described brake shoe (12) section becomes, and its one end is provided with unthreaded hole, is provided with turning cylinder (19) in hole, and it is anotherIt is upper that one end is pressed in cam (13), and described brake shoe (12) number is 2, the symmetrical cloth of line along cam (13) with turning cylinder (19)Put, and be provided with link in the one end near cam (13); Described tensioning spring (14) two ends are connected to two brake shoes(12) on link; It is upper that described axle sleeve (20) is fixed on frame (2), and one end of described turning cylinder (19) is loaded on by nutAxle sleeve (20) is upper, and axle sleeve (20) is matched in clearance with turning cylinder (19).
2. speed-self-adjustable cable robot according to claim 1, is characterized in that, described tensioning spring (14) is for stretchingSpring.
CN201310703732.2A 2013-12-20 2013-12-20 Speed-self-adjustable cable robot CN103643630B (en)

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CN103643630B true CN103643630B (en) 2016-05-04

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104131511B (en) * 2014-07-14 2016-02-03 武汉恒兴通检测有限公司 Based on the cable detecting robot of parallelogram independent suspension
CN108562531B (en) * 2018-01-29 2020-12-01 鲁东大学 Bridge suspension cable corrosion detection equipment
CN108908366A (en) * 2018-08-01 2018-11-30 浙江树人学院 A kind of automatic detection overpass robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3392814B2 (en) * 2000-07-27 2003-03-31 オリエンタル建設株式会社 Self-propelled cable snow removal robot
EP1886904A2 (en) * 2006-08-11 2008-02-13 Ascend RMM, S.L. Climbing cleaning robot
CN101357637A (en) * 2008-08-08 2009-02-04 深圳市思韦尔检测科技有限公司 Cable detection robot
CN102071639A (en) * 2010-12-01 2011-05-25 马鞍山市力翔机械自动化科技有限公司 Rolling type cable robot
CN202023146U (en) * 2011-04-21 2011-11-02 广州市承信公路工程检验有限公司 Cable detection robot for cable-stayed bridge
CN102632937A (en) * 2012-05-04 2012-08-15 安徽工业大学 Crawling mechanism for peristaltic cable robot
CN203639818U (en) * 2013-12-20 2014-06-11 包贤强 Self speed-regulation cable robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3392814B2 (en) * 2000-07-27 2003-03-31 オリエンタル建設株式会社 Self-propelled cable snow removal robot
EP1886904A2 (en) * 2006-08-11 2008-02-13 Ascend RMM, S.L. Climbing cleaning robot
CN101357637A (en) * 2008-08-08 2009-02-04 深圳市思韦尔检测科技有限公司 Cable detection robot
CN102071639A (en) * 2010-12-01 2011-05-25 马鞍山市力翔机械自动化科技有限公司 Rolling type cable robot
CN202023146U (en) * 2011-04-21 2011-11-02 广州市承信公路工程检验有限公司 Cable detection robot for cable-stayed bridge
CN102632937A (en) * 2012-05-04 2012-08-15 安徽工业大学 Crawling mechanism for peristaltic cable robot
CN203639818U (en) * 2013-12-20 2014-06-11 包贤强 Self speed-regulation cable robot

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