CN103741608B - A kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system - Google Patents
A kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system Download PDFInfo
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- CN103741608B CN103741608B CN201410022459.1A CN201410022459A CN103741608B CN 103741608 B CN103741608 B CN 103741608B CN 201410022459 A CN201410022459 A CN 201410022459A CN 103741608 B CN103741608 B CN 103741608B
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Abstract
The invention provides a kind of hydraulic clamping system, comprising: square wheel hub 1, small-sized self-control hydraulic cylinder 2; Three-position four-way electromagnetic directional valve 6; Small-sized hydraulic station 7; Wherein, bearing installed surface 8 is connected with described bilateral wheeled cable surface PE layer measuring robots; Square hub 1 is connected with small-sized self-control hydraulic cylinder 2: small-sized hydraulic station 7 forms hydraulic circuit with three-position four-way electromagnetic directional valve 6 and small-sized self-control hydraulic cylinder 2.When robot complete tentatively clamp on cable time, just by Hydraulic Station to two hydraulic cylinder fuel feeding, two hydraulic cylinder synchronous jackings can be made, reach the object of clamping.The size of pressure sensor Real-time Feedback clamping pressure simultaneously, programmable logic controller (PLC) controls the duty of three-position four-way electromagnetic directional valve according to the size of pressure.Utilize electromagnetic valve M type Median Function when robot normally works, reach the object of locked hydraulic cylinder.Structure of the present invention is simple, and it is convenient to implement, and has broad application prospects.
Description
Technical field
The invention belongs to field of special robots, relate to a kind of bilateral cable detecting robot, especially a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
Background technology
In recent years, cable stayed bridge is as the new model of modern bridge, and the anti-seismic performance good with it and economic performance, be worldwide widely applied.And cable is as one of cable stayed bridge main bearing member, the importance of its security performance inspection and assessment is well imagined, therefore increasing attention is also subject to the development of cable robot.The pneumatic worming robot of current university of communications development is mainly by pneumatic principle clamping, but gas circuit pipeline that need be very long, and during high-altitude, wind-engaging carries impact comparatively seriously, therefore limits its universal possibility used to a great extent.The research of Southeast China University to bilateral wheeled cable robot is comparatively deep, but the comparatively simple and easy size that can not control clamping force of its clamping mode, clamping mode is screw thread--Extension Spring-type, and clamping process is more loaded down with trivial details.And the present invention adopts hydraulic clamp technology, clamping is convenient and by the size of pressure sensor Real-time Feedback clamping force, so that the duty of PLC Controlling solenoid valve.Structure of the present invention is simple, and it is convenient to implement, and has broad application prospects.
In view of above background, in conjunction with the actual jam of robot, devise a kind of bilateral cable surface PE layer measuring robots hydraulic clamping system.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
According to an aspect of the present invention, a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system is provided, can fix on cable to make described bilateral wheeled cable surface PE layer measuring robots for clamping a bilateral wheel formula cable surface PE layer measuring robots, it is characterized in that, at least comprise: square wheel hub 1, at least comprises bearing installed surface 8; Small-sized self-control hydraulic cylinder 2; Three-position four-way electromagnetic directional valve 6; Small-sized hydraulic station 7; Wherein, described bearing installed surface 8 is connected with described bilateral wheeled cable surface PE layer measuring robots; Described square hub 1 is connected with described small-sized self-control hydraulic cylinder 2; Described small-sized hydraulic station 7 forms hydraulic circuit with described three-position four-way electromagnetic directional valve 6 and described small-sized self-control hydraulic cylinder 2.
Preferably, described square wheel hub 1 also comprises: hydraulic cylinder installed surface 9 and distance rod installed surface 10, and described square hub 1 is connected with described small-sized self-control hydraulic cylinder 2 by described hydraulic cylinder installed surface 9.
Preferably, described hydraulic clamping system also comprises distance rod 5, and described square wheel hub 1 is connected with described distance rod 5 by described distance rod installed surface 10.
Preferably, the surface of described hydraulic cylinder installed surface 9 and described distance rod installed surface 10 has two screwed holes at least.
Preferably, described small-sized self-control hydraulic cylinder 2 at least comprises cylinder barrel 11, cylinder cap 12, cylinder core 13 and sealing ring, and described cylinder cap 12 is connected to one end of described cylinder barrel 11; Described cylinder core 13 is connected with described cylinder barrel 11 through described cylinder cap 12.
Preferably, described cylinder core 13 one end is provided with pressure sensor 4.
Preferably, described pressure sensor 4 is electrically connected with the programmable logic controller in the PE layer measuring robots of described bilateral wheeled cable surface, and clamping pressure is fed back to described programmable logic controller, clamping pressure in described programmable logic controller is compared with given reference value, controls the duty of described three-position four-way electromagnetic directional valve 6 according to comparative result.
Preferably, described hydraulic circuit, by the flow direction of described three-position four-way electromagnetic directional valve 6 hydraulic control, when the left position work of described three-position four-way electromagnetic directional valve 6, hydraulic circuit conducting, starts oil-feed in described small-sized self-control hydraulic cylinder 2, the jacking of described cylinder core 13, when the right position work of described three-position four-way electromagnetic directional valve 6, described small-sized self-control hydraulic cylinder 2 is in oil return state, and described cylinder core 13 shrinks.
Preferably, the Median Function of described three-position four-way electromagnetic directional valve 6 is preferably M type, and described electromagnetic valve Median Function is used for the locking of described cylinder circuit.
Preferably, there is the counter sink 14 for being arranged in described robot at described crossbeam 3 two ends, and there is the pilot hole 15 for sensor installation 4 centre, and both sides have gathering sill 16.
Preferably, in the pilot hole 15 that the centre that described pressure sensor 4 is installed in a crossbeam 3 is offered, there is the counter sink 14 for being arranged in described robot at the two ends of described crossbeam 3, and the both sides of described crossbeam 3 have gathering sill 16.
Preferably, described cylinder core 13 is arranged in the pilot hole 15 of crossbeam 3.
Preferably, the large end 17 of described distance rod 5 be absorbed in crossbeam 3 gathering sill 16 in and slidably.
Preferably, the external diameter of described cylinder barrel 11 is preferably φ 25mm, internal diameter is φ 18mm, and overall height is 43mm.
Preferably, described cylinder core 13 external diameter is preferably φ 10mm, and effective travel is 26mm.
Preferably, the screwed hole on described hydraulic cylinder installed surface 9 and described distance rod installed surface 10 surface is preferably M5 screwed hole.
The present invention has following characteristics: when robot complete tentatively clamp on cable time, just by Hydraulic Station to two hydraulic cylinder fuel feeding, two hydraulic cylinder synchronous jackings can be made, reach the object of clamping.The size of pressure sensor Real-time Feedback clamping pressure simultaneously, programmable logic controller (PLC) controls the duty of three-position four-way electromagnetic directional valve according to the size of pressure.Utilize electromagnetic valve M type Median Function when robot normally works, reach the object of locked hydraulic cylinder.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 illustrates according to the first embodiment of the present invention, a kind of bilateral wheeled cable surface PE layer measuring robots general three figure;
Fig. 2 illustrates according to the first embodiment of the present invention, the assembling drawing of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system on slave module;
Fig. 3 illustrates according to the first embodiment of the present invention, the square wheel hub graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system;
Fig. 4 illustrates according to the first embodiment of the present invention, the self-control hydraulic cylinder assembling graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system;
Fig. 5 illustrates according to the first embodiment of the present invention, the crossbeam graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system;
Fig. 6 illustrates according to the first embodiment of the present invention, the distance rod graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system;
Fig. 7 illustrates according to the first embodiment of the present invention, the three-position four-way electromagnetic directional valve schematic diagram of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system; And
Fig. 8 illustrates according to the first embodiment of the present invention, the hydraulic circuit diagram of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
Label declaration:
1, square wheel hub, 2, small-sized self-control hydraulic cylinder, 3, crossbeam,
4, pressure sensor, 5, distance rod, 6, three-position four-way electromagnetic directional valve,
7, small-sized hydraulic station, 8, bearing installed surface, 9, hydraulic cylinder installed surface,
10, distance rod installed surface, 11, cylinder barrel, 12, cylinder cap,
13, cylinder core, 14, counter sink, 15, pilot hole,
16, gathering sill, 17, hold greatly.
Detailed description of the invention
Fig. 1 illustrates according to the first embodiment of the present invention, a kind of bilateral wheeled cable surface PE layer measuring robots general three figure.It will be appreciated by those skilled in the art that clamping system provided by the invention is preferably used for fixing a robot worked on cable, cannot stably be fixed on cable for solving robot in prior art, and cannot the problem of movement flexibly.Further, those skilled in the art understand, clamping system provided by the present invention is preferably used for bilateral wheeled cable surface PE layer measuring robots, and such as Shanghai Tongji University project delivery method measuring station proposed invention name is called that the application for a patent for invention of " a kind of Character of Cable Force of Cable stayed Bridge robot " and the cable robot described in utility application just can apply clamping system provided by the invention.Further, it will be appreciated by those skilled in the art that other similar machine people also can apply clamping system provided by the invention, do not repeat them here.
Artificially routine with the machine described by above-mentioned " a kind of Character of Cable Force of Cable stayed Bridge robot " patent application document, those skilled in the art understand, described bilateral wheeled cable surface PE layer measuring robots preferably includes slave module, specifically as shown in dotted line frame inner module in Fig. 1.Described slave module is used for providing electric energy for described measuring robots, and can move along detected cable.Further, described slave module at least comprises pair of driven group, and described hydraulic clamping system acts on described slave module, particularly, act on described driven wheels, and then realize the clamping of miscellaneous part on cable of described slave module and described measuring robots.Further, those skilled in the art understand, in the embodiment shown in fig. 1, the first half of Fig. 1 is depicted as described slave module, described hydraulic clamping system acts on described slave module, slave module is fixed on cable, and then makes the robot belonging to described slave module be fixed on cable, do not repeat them here.Particularly, in following embodiment, set forth the structure of described hydraulic clamping system in detail.
Preferably, it will be appreciated by those skilled in the art that described bilateral wheeled cable surface PE layer measuring robots is mainly used to detect the PE layer of cable, so described measuring robots needs to be fixed on described cable surface.Further, realized described measuring robots fixing on cable by described hydraulic clamping system.
Fig. 2 illustrates according to the first embodiment of the present invention, the assembling drawing of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system on slave module.On the basis of specific embodiment shown in Fig. 1, show the assembling drawing of described hydraulic clamping system at slave module.Further, it will be appreciated by those skilled in the art that described hydraulic clamping system at least comprises: square wheel hub 1, at least comprises bearing installed surface 8; Small-sized self-control hydraulic cylinder 2; Three-position four-way electromagnetic directional valve 6; Small-sized hydraulic station 7; Wherein, described bearing installed surface 8 is connected with described bilateral wheeled cable surface PE layer measuring robots; Described square hub 1 is connected with described small-sized self-control hydraulic cylinder 2; Described small-sized hydraulic station 7 forms hydraulic circuit with described three-position four-way electromagnetic directional valve 6 and described small-sized self-control hydraulic cylinder 2.Further, it will be appreciated by those skilled in the art that described bearing installed surface 8 has two, be symmetrically distributed in described square wheel hub 1 both sides.Preferably, described square hub 1 is fixed by the bearing of described bearing installed surface 8 with the driven pulley assembly in the PE layer measuring robots of described bilateral wheeled cable surface, and then realizes the connection of square wheel hub 1 and described measuring robots.
Preferably, it will be appreciated by those skilled in the art that in described square hub 1, hydraulic cylinder installed surface 9 is connected with described small-sized self-control hydraulic cylinder 2.Preferably, the bottom of described small-sized self-control hydraulic cylinder 2 has the M5 screwed hole corresponding with hydraulic cylinder installed surface 9 described in described square wheel hub, the two is fixed by this M5 screwed hole, in the present embodiment, also can be fixed the two by other means, be not limited to the mode of adopting and being screwed, this does not affect specific embodiment of the invention.
Further, it will be appreciated by those skilled in the art that described square wheel hub 1 to be fixed with distance rod 5 by distance rod installed surface 10 to be connected, further, all there are at least two M5 screwed holes the position of distance rod installed surface 10 and distance rod 5 correspondence, then adopts corresponding screw to be fixed.In described fixed form, the connection of described distance rod 5 and described square wheel hub 1 is not limited to the mode of adopting and being screwed equally, and other functions that can realize fixing also are feasible, do not repeat them here.Preferably, those skilled in the art understand, the large end 17 of described distance rod 5 passes the gathering sill 16 of described crossbeam 3, make described square wheel hub 1 relative fixing with described crossbeam 3, and described large end 17 can slide in described gathering sill 16, and then make distance rod can slide up and down in described gathering sill 16, and perpendicular to described gathering sill 16
directionkeep fixing.
Preferably, it will be appreciated by those skilled in the art that on the vehicle frame of described crossbeam 3 across described robot, respectively have a counter sink 14 at the two ends of crossbeam 3, be fixed on the vehicle frame of described robot by described counter sink 14, realize the connection of described crossbeam 3 and described robot.Further, it will be appreciated by those skilled in the art that described small-sized hydraulic station 7, three-position four-way electromagnetic directional valve 6 and described small-sized self-control hydraulic cylinder 2 are all fixed on the vehicle frame of slave module, and form hydraulic circuit system.Further, it will be appreciated by those skilled in the art that described whole hydraulic system carries out fuel feeding by described small-sized hydraulic station 7, to ensure the normal work of described hydraulic system.
Further, those skilled in the art also understand, and described small-sized self-control hydraulic cylinder 2 respectively has one at described two driven wheels, and other corresponding fastening devicess and parts, thus can both realize clamping function at two driven wheels.
Fig. 3 illustrates according to the first embodiment of the present invention, the square wheel hub graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.On the basis of the embodiment shown in Fig. 2, Fig. 3 more specifically illustrates the graphics that label in Fig. 2 is the square wheel hub of 1 in detail.
Preferably, it will be appreciated by those skilled in the art that described square wheel hub 1 also comprises: hydraulic cylinder installed surface 9 and distance rod installed surface 10.Described square hub 1 is connected with described small-sized self-control hydraulic cylinder 2 by described hydraulic cylinder installed surface 9.Preferably, it will be appreciated by those skilled in the art that described square wheel hub 1 also comprises distance rod installed surface 10, be connected with distance rod 5 by described distance rod installed surface 10.Further, described hydraulic cylinder installed surface 9 and described distance rod installed surface 10 surface have two screwed holes at least.Preferably, the screwed hole that it will be appreciated by those skilled in the art that described hydraulic cylinder installed surface 9 and described distance rod installed surface 10 surface is M5 screwed hole.Similarly, described square wheel hub 1 and described distance rod 5, and the connected mode of described square wheel hub 1 and described small-sized self-control hydraulic cylinder 2 is not limited to and described fixed form, does not repeat them here.
Fig. 4 illustrates according to the first embodiment of the present invention, the self-control hydraulic cylinder assembling graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
Preferably, those skilled in the art understand, described small-sized self-control hydraulic cylinder 2 at least comprises cylinder barrel 11, cylinder cap 12, cylinder core 13 and sealing ring, and described cylinder cap 12 is connected to one end of described cylinder barrel 11, and described cylinder core 13 is connected with described cylinder barrel 11 through described cylinder cap 12.Further, those skilled in the art also understand, and hydraulic cylinder is made up of cylinder barrel and cylinder cap, piston and piston rod, sealing device, buffer and exhaust plant substantially.Buffer and exhaust plant are depending on embody rule occasion, and other devices are then essential.
Preferably, it will be appreciated by those skilled in the art that described cylinder core 13 one end is provided with pressure sensor 4.Further, described pressure sensor 4 is electrically connected with the programmable logic controller in the PE layer measuring robots of described bilateral wheeled cable surface, further, clamping pressure is fed back to described programmable logic controller, further, by obtain in described programmable logic controller clamping pressure compare with reference value given in advance, further, control the duty of described three-position four-way electromagnetic directional valve 6 according to comparative result.
Preferably, it will be appreciated by those skilled in the art that the external diameter of described cylinder barrel 11 is preferably φ 25mm, internal diameter is φ 18mm, overall height is 43mm.Further, those skilled in the art also understand, and described cylinder core 13 external diameter is preferably φ 10mm, and effective travel is 26mm.
Fig. 5 illustrates according to the first embodiment of the present invention, the crossbeam graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
Preferably, it will be appreciated by those skilled in the art that there is the counter sink 14 for being arranged in described robot at described crossbeam 3 two ends, there is the pilot hole 15 for sensor installation 4 centre, and both sides have gathering sill 16.Further, it will be appreciated by those skilled in the art that described crossbeam 3 realizes the connection with the vehicle frame of described measuring robots by described counter sink 14.Further, described counter sink 14 refers to the shoulder hole head of securing member being sunk to completely part, and can ensure the level and smooth of the vehicle frame surface of slave module so better, this does not affect content of the present invention.
Further, it will be appreciated by those skilled in the art that described cylinder core 13 is arranged in the pilot hole 15 of described crossbeam 3.Further, because described cylinder core 13 is in the pilot hole of described crossbeam 3, so when described cylinder core 13 moves, can ensure that described cylinder core 13 moves in pilot hole, further, namely move perpendicular to described crossbeam 3, ensure that described small-sized self-control hydraulic cylinder 2 can be had an effect in the direction perpendicular with described crossbeam 3, depart from when preventing described cylinder core 13 from moving.
Preferably, those skilled in the art understand, described gathering sill 16 is mainly used to fixing described distance rod 5, the large end 17 of described distance rod 5 is absorbed in the gathering sill 16 of described crossbeam 3, such guarantee distance rod 5 vertically can be fixed on described crossbeam 3, and can slide in gathering sill 16 due to the large end 17 of described distance rod 5, ensure that distance rod 5 can freely-movable on the direction perpendicular to described crossbeam 3, and then make described distance rod 5 can relatively be fixed on described crossbeam 3 on the direction perpendicular to described distance rod 5, can move upward in the side perpendicular to described crossbeam 3 again.
Fig. 6 illustrates according to the first embodiment of the present invention, the distance rod graphics of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
Preferably, those skilled in the art understand, the part that described distance rod 5 contacts with described square wheel hub 1 has two screwed holes at least, be preferably M5 screwed hole, be mainly used to one end of described distance rod 5 to be fixed on described square wheel hub 1 by described distance rod installed surface 10, the connection of both guarantees, but the connection of the two is not limited to the mode of M5 screwed hole, other modes that can realize this linkage function are also feasible, do not repeat them here.Further, to it will be appreciated by those skilled in the art that in the gathering sill 16 that the large end 17 of described distance rod 5 is absorbed in crossbeam 3 and slidably.Such guarantee distance rod 5 vertically can be fixed on described crossbeam 3, and can slide in gathering sill 16 due to the large end 17 of described distance rod 5, ensure that distance rod 5 can freely-movable on the direction perpendicular to described crossbeam 3, and then make described distance rod 5 can relatively be fixed on described crossbeam 3 on the direction perpendicular to described distance rod 5, can move upward in the side perpendicular to described crossbeam 3 again.
Fig. 7 illustrates according to the first embodiment of the present invention, the three-position four-way electromagnetic directional valve schematic diagram of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
Further, it will be appreciated by those skilled in the art that described three-position four-way electromagnetic directional valve is the conversion element between hydraulic control system and electrical apparatus control system, it utilizes the suction of two ends electromagnet to realize the motion of spool, thus change the break-make of oil circuit, and then realize the commutation of executive component." 3-position 4-way " can be understood as follows from literal: three refer to that the spool of reversal valve has three different operating positions, " four-way " refers to that four respectively do not communicate and can the interface that is connected of oil pipe different from system, and when can only be shifted by spool between different oil duct, the switch of valve port is linked up.Preferably, it will be appreciated by those skilled in the art that the Median Function of described three-position four-way electromagnetic directional valve 6 is preferably M type, making when normally working, described electromagnetic valve Median Function can lock described cylinder circuit.
Fig. 8 illustrates according to the first embodiment of the present invention, the hydraulic circuit diagram of a kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system.
Preferably, it will be appreciated by those skilled in the art that as shown in the figure, choke valve becomes one-way throttle valve with one way valve parallel combination, in order to the flow of hydraulic control.Further, described hydraulic circuit, carrys out the flow direction of hydraulic control by described three-position four-way electromagnetic directional valve 6, when the left position work of described three-position four-way electromagnetic directional valve 6, hydraulic circuit conducting, starts oil-feed in described two small-sized self-control hydraulic cylinders 2, further, the jacking of described cylinder core 13 is made.When the right position work of described three-position four-way electromagnetic directional valve 6, described small-sized self-control hydraulic cylinder 2 is in oil return state, and described cylinder core 13 shrinks.
Further, it will be appreciated by those skilled in the art that when described robot complete tentatively clamp on cable time, just by described small-sized hydraulic station 7 to described two small-sized self-control hydraulic cylinder 2 fuel feeding, two hydraulic cylinder synchronous jackings can be made, reach the object of clamping.The size of described pressure sensor 4 Real-time Feedback clamping pressure simultaneously, programmable logic controller (PLC) controls the duty of described three-position four-way electromagnetic directional valve 6 according to the size feeding back the clamping pressure obtained, and then realizes the clamping function of described hydraulic clip system.Preferably, utilize electromagnetic valve M type Median Function when it will be appreciated by those skilled in the art that robot normally works, reach the object of locked hydraulic cylinder.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (15)
1. a bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system, can fix on cable to make described bilateral wheeled cable surface PE layer measuring robots for clamping a bilateral wheel formula cable surface PE layer measuring robots, it is characterized in that, at least comprise:
Square wheel hub (1), at least comprises bearing installed surface (8);
Small-sized self-control hydraulic cylinder (2);
Three-position four-way electromagnetic directional valve (6);
Small-sized hydraulic station (7);
Wherein, described bearing installed surface (8) is connected with described bilateral wheeled cable surface PE layer measuring robots; Described square hub (1) is connected with described small-sized self-control hydraulic cylinder (2);
Described small-sized hydraulic station (7) forms hydraulic circuit with described three-position four-way electromagnetic directional valve (6) and described small-sized self-control hydraulic cylinder (2).
2. hydraulic clamping system according to claim 1, it is characterized in that, described square wheel hub (1) also comprises: hydraulic cylinder installed surface (9) and distance rod installed surface (10), and described square hub (1) is connected with described small-sized self-control hydraulic cylinder (2) by described hydraulic cylinder installed surface (9).
3. hydraulic clamping system according to claim 2, it is characterized in that, described hydraulic clamping system also comprises distance rod (5), and described square wheel hub (1) is connected with distance rod (5) by described distance rod installed surface (10).
4. hydraulic clamping system according to claim 3, is characterized in that, the surface of described hydraulic cylinder installed surface (9) and described distance rod installed surface (10) has two screwed holes respectively at least.
5. the hydraulic clamping system according to claim 3 or 4, it is characterized in that, described small-sized self-control hydraulic cylinder (2) at least comprises cylinder barrel (11), cylinder cap (12), cylinder core (13) and sealing ring, and described cylinder cap (12) is connected to one end of described cylinder barrel (11); Described cylinder core (13) is connected with described cylinder barrel (11) through described cylinder cap (12).
6. hydraulic clamping system according to claim 5, is characterized in that, described cylinder core (13) one end is provided with pressure sensor (4).
7. hydraulic clamping system according to claim 6, it is characterized in that, described pressure sensor (4) is electrically connected with the programmable logic controller in the PE layer measuring robots of described bilateral wheeled cable surface, and clamping pressure is fed back to described programmable logic controller, clamping pressure in described programmable logic controller is compared with given reference value, controls the duty of described three-position four-way electromagnetic directional valve (6) according to comparative result.
8. hydraulic clamping system according to claim 5, it is characterized in that, described hydraulic circuit, by the flow direction of described three-position four-way electromagnetic directional valve (6) hydraulic control, when the left position work of described three-position four-way electromagnetic directional valve (6), hydraulic circuit conducting, oil-feed is started in described small-sized self-control hydraulic cylinder (2), the jacking of described cylinder core (13), when the right position work of described three-position four-way electromagnetic directional valve (6), described small-sized self-control hydraulic cylinder (2) is in oil return state, and described cylinder core (13) is shunk.
9. hydraulic clamping system according to claim 8, is characterized in that, the Median Function of described three-position four-way electromagnetic directional valve (6) is M type, and described Median Function is used for the locking of described cylinder circuit.
10. the hydraulic clamping system according to claim 6 or 7, it is characterized in that, in the pilot hole (15) that the centre that described pressure sensor (4) is installed in a crossbeam (3) is offered, there is the counter sink (14) for being arranged in described robot at the two ends of described crossbeam (3), and the both sides of described crossbeam (3) have gathering sill (16).
11. hydraulic clamping systems according to claim 10, is characterized in that described cylinder core (13) is arranged in the pilot hole (15) of crossbeam (3).
12. hydraulic clamping systems according to claim 11, is characterized in that, in the gathering sill (16) that the large end (17) of described distance rod (5) is absorbed in crossbeam (3) and slidably.
13. hydraulic clamping systems according to claim 6 or 7 or 8 or 9 or 11 or 12, it is characterized in that, the external diameter of described cylinder barrel (11) is φ 25mm, internal diameter is φ 18mm, overall height is 43mm.
14. hydraulic clamping systems according to claim 6 or 7 or 8 or 9 or 11 or 12, it is characterized in that, described cylinder core (13) external diameter is φ 10mm, and effective travel is 26mm.
15. hydraulic clamping systems according to Claims 2 or 3 or 4 or 6 or 7 or 8 or 9 or 11 or 12, is characterized in that, the screwed hole on described hydraulic cylinder installed surface (9) and described distance rod installed surface (10) surface is M5 screwed hole.
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| CN201410022459.1A CN103741608B (en) | 2014-01-17 | 2014-01-17 | A kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system |
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| CN201410022459.1A CN103741608B (en) | 2014-01-17 | 2014-01-17 | A kind of bilateral wheeled cable surface PE layer measuring robots hydraulic clamping system |
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| JPH10237821A (en) * | 1997-02-26 | 1998-09-08 | Ishikawajima Harima Heavy Ind Co Ltd | Device for carrying and installing suspension bridge cable band |
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