CN104153292A - Cable lifting robot - Google Patents
Cable lifting robot Download PDFInfo
- Publication number
- CN104153292A CN104153292A CN201410150836.XA CN201410150836A CN104153292A CN 104153292 A CN104153292 A CN 104153292A CN 201410150836 A CN201410150836 A CN 201410150836A CN 104153292 A CN104153292 A CN 104153292A
- Authority
- CN
- China
- Prior art keywords
- cable
- half frame
- driving
- robot
- pressure strip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000005096 rolling process Methods 0.000 claims description 25
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 229910003460 diamond Inorganic materials 0.000 claims description 11
- 239000010432 diamond Substances 0.000 claims description 11
- 235000019544 rolls Nutrition 0.000 claims description 8
- 229920006351 engineering plastic Polymers 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 43
- 238000001514 detection method Methods 0.000 abstract description 24
- 238000007689 inspection Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 14
- 239000000725 suspension Substances 0.000 description 12
- 230000000875 corresponding effect Effects 0.000 description 9
- 238000011160 research Methods 0.000 description 9
- 230000007797 corrosion Effects 0.000 description 8
- 238000005260 corrosion Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 7
- 239000004698 Polyethylene Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 229920001971 elastomer Polymers 0.000 description 4
- 206010044565 Tremor Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 210000001138 tear Anatomy 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 229920000573 polyethylene Polymers 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 229920000915 polyvinyl chloride Polymers 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The invention discloses a cable lifting robot. The cable lifting robot comprises a driving half-frame and a cable holding half-frame. Four cylindrical driving rollers which are symmetrically arranged in the vertical direction and the horizontal direction are arranged in the driving half-frame and are synchronously driven by a driving motor. A cable holding motor is arranged on the cable holding half-frame and connected with a pressing plate in the cable holding half-frame through a cable holding transmission mechanism. The face, facing towards the driving half-frame, of the pressing plate is provided with four cylindrical pressing rollers which are symmetrically arranged in the vertical direction and the horizontal direction. When a cable is held in a surrounding mode by closing the driving half-frame and the cable holding half-frame, the shadows, on the horizontal plane, of the inner sides of the roller faces of the driving rollers and the shadows, on the horizontal plane, of the inner sides of the roller faces of the pressing rollers are of a cable surrounding and holding rhombus structure. The cable lifting robot further comprises a ground remote control device. The cable lifting robot effectively solves the problems that in the prior art, an existing cable lifting robot is poor in climbing and obstacle crossing capacity and not capable of climbing cables with small diameters, meets the requirements for detection or inspection or daily maintaining work of cables, and has quite high practical value.
Description
Technical field
The present invention relates to a kind of Industrial Robot Technology field, be specifically related to a kind of cable lifting robot for cable Inspection and maintenance.
Background technology
Cable stayed bridge has the plurality of advantages such as span is large, handsome in appearance, construction is convenient, as the new model of modern bridge, is worldwide widely used.One of main bearing member of cable stayed bridge is cable, and its manufacture and installation cost account for 25% left and right of bridge investment.Due to cable for a long time in wind shake, rain shakes, in the environment of varying load and pollution, inevitably there will be wire rope corrosion, the disconnected stock market-circumstance condition of strain relaxation.For improving the application life of wire rope, drag-line manufacturer has increased corrosion protection system on wirerope.What adopt at present extensively is that first every little steel wire adopts zinc-plated and be coated with oil guard, and then many little steel wires are made and are wound around outside high-strength polyester band after wire rope and protect, and finally form sheath at the coated two-layer PE layer of outside pyrocondensation, with air insulated.But As time goes on, PE sheath will be aging, bulge, cracking.Once inner wire rope exposes to the open air and touches air, cable will very fast corrosion fracture.A lot of because cable corrosion causes the example of bridge damage.Famous Venezuela Maracaibo bridge adopts the cable of concrete parcel corrosion protection system, and after 16 years, find the serious corrosion of anchored end and change cable building up, 2 years consuming time at that time, 50,000,000 dollars of costs.Cole's Blanc moral cable stayed bridge of Hamburg, Germany, due to seriously corroded, builds up the 3rd year, has just changed all cables, and 6,000 ten thousand dollars of costs, are 4 times of former cost.U.S. Pascokenewick cable stayed bridge adopts wire rope is placed in to injected water mud in polyethylene pipe past pipe, then be wound with again the corrosion protection system of polyvinyl chloride band outward at polyethylene pipe, be 25 years former endurance expectation, and due to uviolize, only 3-5 had just all lost efficacy.Sea, China Guangzhou prints bridge and only uses 6 years half, and Jinan Yellow River highway bridge uses 13 years to be waited just because of cable corrosion, the rope of having to all change.Once there is disconnected rope in bridge, will cause not predictable serious consequence.But the fixed cycle is blindly changed rope, certainly will can bring again great social resources waste, be that bridge construction is installed several times of cables period because change the cost of a cables.Therefore be necessary to study a kind ofly can carry out accurately in-service cable, the ways and means of efficient detection.By to the making regular check on of cable, obtain more real in-service cable working condition, and then instruct the maintenance work of cable, formulate the cable replacement cycle of science, improve the safety in utilization of cable stayed bridge.This work certainly will bring significant social benefit and huge economic benefit.Although there is no at present simple, quick, reliable suspension cable detection method, the inspection that bridge owner unit still will take certain methods to be correlated with to the working condition of in-service suspension cable.The existing method that suspension cable is carried out routine examination mainly includes: the hoist engine of artificial telescope ocular estimate, the scaffold inspection technique of small-sized cable stayed bridge, large-scale cable stayed bridge pulls the manned detection method of hanging basket of Equipment Inspection method, large-scale cable stayed bridge, the physics and chemistry detection method that regularly replaces a small amount of cable, suspension cable detection special purpose robot method etc.Along with the development of Robotics, adopting small, dedicated robot to detect suspension cable be best selection, and domestic many scientific research institutions are studied this.Suspension cable detection robot mainly comprises climbs cable basic machine system, kinetic control system, detection transmission of video and receiving system, and wherein basic machine system is the core and key of technology.
Be not a lot of for the special detection robot research report of suspension cable both at home and abroad, though there is research, real practical technology does not also have, generally speaking in initial stage.The raw professor leader's of the Lv Tian of Shanghai Communications University seminar has taken the lead in carrying out the research work of this respect at home, employing driven type, two kinds of cable robot model machines of pneumatic worming are successfully developed, and carry out correlation test at Shanghai Xu Pu bridge and Nanpu Bridge, and obtained certain success of the test.Major defect is for deadweight is too heavy and need to drag cable, signal cable and gas source pipe road, and deadweight is all 200 kilograms of left and right, and Installation and Debugging inconvenience, does not have follow-up further investigation report.The two cable lifting robot prototype that University Of Chongqing proposes, all adopts two to embrace cable cross section, is provided with three rollers and carries out clamping embracing on each cross section.Difference is slightly different in frame construction and enclasping force bringing device, and each drive motors only drives a roller, can increase as required drive motors quantity.The suspension cable that Southeast China University and Shenzhen Si Weier detect company's cooperative research and development detects robot, and maximum feature is the mode that lightweight structure and bilateral arc roller are embraced cable, has realized self-powered function of climbing cable.Main shortcoming is that the circular arc of roller can not adapt to the cable of different-diameter preferably.Climb armful cable power in cable process and can not regulate control, easily occur embracing the stuck safe condition of cable.Domestic Jiamusi University in addition and Wuhan University of Technology adopt crank-link mechanism and cam mechanism to cooperatively interact and have designed the pole-climbing cable climbing mechanism of creeping motion type, the creeping motion type pole-climbing cable climbing device that utilizes conical surface locking alternately to embrace cable has been studied by Shandong University Building and Anhui University of Technology, the pipeline mobile robot of double card pawl has also studied in Shaanxi Tech Univ, its topmost feature is the claw obstacle detouring that can overturn, and Zhejiang Industry Trade Vocation and Technical College has also carried out the research of crawler type cable lifting robot.Abroad aspect relevant metal tubing climbing robot, research is slightly more.Within 2002, Teheran university has developed street lamp post cleaning robot UT-PCR, and its feature is for relying on three pairs of circumference uniform distribution roller clips to hug bar, and every pair roller is provided with a drive motors, and structure is light and handy, operate steadily, and adopts cable power supply.But the collaborative work of three drive motors is more difficult, be not suitable for working under high-altitude and high wind environment.2008, Ahmadabadi.M.N etc. proposed again a kind of three-wheel pole-climbing mechanism, adopted similar source for street light maintenance workman's climbing principle, formed by a driving wheel and two driven pulleys, driving wheel is arranged on cage plate arm, but has only proposed conceptual design, has no follow-up report.Madrid Polytechnics in 2003 develops can be along being bent into the CPR climbing robot in parallel that cylinder, square pole are creeped at any angle.Its design feature is that robot is provided with upper and lower two annulus for alternately clamping the body of rod, between two annulus, connects by many linear actuator, realizes flexible wriggling.This structure is crossed the very capable of bending obstacle, but the control of robot pose is very complicated.
The research that the research of electric power inspection robot detects robot to suspension cable also has certain reference, but there is a lot of difference in the application scenario of Liang Zhong robot, as acquiring way of the kind of cable diameter, obstacle and form, the angle of climbing, driving power etc., wherein there is a lot of technical problems.
Although practical robot capable of crawling cable is little, in published patent, the climbing robot of various structures has open, but patent is still in prototype and theoretical research stage mostly, and the model machine really with commercial value is little.Open day is on August 17th, 2011, publication number is that the patent document of CN201933407U discloses a kind of cable detecting robot, comprise active dolly and a driven dolly, initiatively between dolly and driven dolly, interconnect by bindiny mechanism, on driven dolly, be provided with four strainers, this strainer includes an adjusting screw(rod), is provided with adjusting nut and regulating spring at this adjusting screw(rod); On active dolly, be provided with a climbing device, this climbing device comprises a pair of helical gear, dc motor and the driving chain that meets at right angles and coordinate, the helical gear that direct current generator coordinates by described a pair of right angle is connected with a wherein wheel of active dolly, between this wheel and another wheel of active dolly, is connected by driving chain; Initiatively on the wheel of dolly and driven dolly, be provided with " V " font groove, the external surface of " V " font groove is processed into rough continuous camber line.Its symmetrical configuration design, adopts two rubber wheels to be combined into a dumbbell shaped roller, and four dumbbell shaped roller formation are between two to embracing a structure, and a drive motors, by driving centre wheel, is realized the active drive of two dumbbell shaped rollers and rolled.Many type of drive of this similar offroad vehicle can obtain the larger cable frictional force of climbing, but deadweight or excessive.Open day is on September 20th, 2000, publication number is that the patent document of CN2396936 discloses a kind of electrical cable-maintaining robot climbing device, this scheme in framework along uniform three travelling cars of cable circumferencial direction, be pressed on cable by clamp mechanism, variable-frequency motor drives dolly by reducer, can be for maintenance works such as the application of large-scale Character of Cable Force of Cable stayed Bridge, cleaning and detections.But, such scheme robot architecture heaviness, profile is larger, and complete machine adopts wired power supply, and the length of cable must be greater than the height of the bridge cable that robot climbs, and when work high above the ground, robot burden is very heavy, is subject to wind effect large; This robot does not design relevant lowering means in addition, but is to adopt the wire rope being connected in robot while there is fortuitous event in operation process, pulls recycling machine people from the high-altitudes of up to a hundred meters with manpower, very dangerous.Open day is on February 4th, 2009, publication number is that the patent document of CN101357637 discloses a kind of cable detecting robot, by connecting to form by connector along two uniform dollies of cable circumferencial direction, initiatively on dolly, be provided with climbing device therein, on another driven dolly, be provided with clamping device, on connector, be provided with anti-deflection device, this scheme adopts spring clamp suspension cable, need to adopt spring supporting bar to carry out mounting robot, operation inconvenience, the frictional force on driving wheel and drag-line surface is not easy to control well, be used as the mechanism work inadequate science for the treatment of method after out of control with magnetic docking facilities, and cost is high.Open day is on November 2nd, 2011, publication number is that CN201933407U discloses a kind of cable detection robot for cable-stayed bridge and is made up of upper body and lower body two parts, described upper body comprises upper body plate, through the symmetrical a pair of upper body screw rod of upper body plate front and back, respectively be fixed on the spring upper body rubber wheel parallel with a pair of left and right of being respectively fixed on every spring lower end of screw rod bottom, each upper body, described lower body comprises lower body plate, be fixed on the threephase asynchronous of lower body plate, motor gear box case and with motor gear box case phase interlock and with the upper and lower two pairs of corresponding lower body rubber wheels of upper body rubber wheel, described upper body plate and lower body plate fix by lower body screw rod.This cable detecting robot novelty simple in structure, easy for installation, is suitable for stable operation on various cables, is suitable for detection and the flaw detection of Character of Cable Force of Cable stayed Bridge.In this scheme, weight concentrates on the vertical direction of drag-line, and therefore structure is reasonable not, and the moment of flexure that is easy to produce front and back is stuck on suspension cable, and is easy to spin and rock back and forth around drag-line.Open day is on May 11st, 2011, publication number is that the patent document of CN201826256U discloses a kind of adjustable detector for cables, detecting template by least three forms, the central authorities of each detection template are provided with detection probe installing plate, the left and right sides of detection probe installing plate inspection is respectively equipped with slide plate, the upper/lower terminal of a probing installing plate is fixed with respectively chute, the upper and lower end of described slide plate embeds respectively chute and is slidably connected with chute, described at least three left and right sides that detect template interconnect successively, surround the inner space of placing cable.This robot is only suitable for the cable inspection of single diameter, and its obstacle climbing ability is very poor, easily occurs the situation of locking or landing.
Open day is on November 28th, 2012, publication number is that the patent document of CN102795273 A discloses a kind of cable lifting robot, comprise along symmetrically arranged two dollies of cable circumferencial direction and be arranged on two dollies for holding the enclasp device of cable tightly, described enclasp device comprises the guide rail being parallel to each other being separately positioned on two dolly front and rears, and guide rail and cable axis are perpendicular; On described each guide rail, be slidably provided with two rolling wheel supports, between each rolling wheel support and the car body of dolly, be provided with spring along guide rail direction; Described each rolling wheel support is provided with the roller rotating around the axis, and described axes of rotation skew setting is also perpendicular with cable axis; Described roller forms four-point supporting clamping on cable; In described roller, have at least a roller to be provided with drive unit.This robot is that the one of being researched and developed on the basis of climbing cable robot of having specialized in domestic and international prior art by the present inventor is climbed cable robot, although this structure has solved to a certain extent embracing of cable detecting robot in prior art again and has pulled poor effect, easily produce spiral and climb cable, poor stability, and climb the problem of the obstacle detouring poor effect to local disturbance in cable process, but the variable elastic power that this robot relies on spring pair roller to apply solves obstacle detouring problem, in the time encountering the suspension cable that is tied with spiral wire, due to spiral wire, to exceed cable surface more, therefore easily there is the situation of locking or damage cable clad.In addition, this robot adopts the form of structure of a roller of a driven by motor, while adopting single motor to drive, because its power transmission is subject to the restriction of spring force, spring tension affects obstacle climbing ability, spring is crossed pine can not provide the enough cable power of climbing, and cannot climb the cable that angle is larger; And while adopting multiple motors to drive, the asynchronous of driving wheel is easy to cause robot to tremble in the appearance of climbing in cable process, cause skidding and the cable clad that weares and teares, simultaneously also impact climbing performance.In addition,, because roller forms four-point supporting clamping on the same cross section of cable, not only affected the raising of robot obstacle climbing ability, and cannot climb the cable that diameter is less.
Summary of the invention
The object of the invention is for solve prior art climb cable robot climbing, obstacle climbing ability is poor, and cannot climb diameter and provides a kind of climbing, obstacle climbing ability good compared with the problem of little cable, cable diameters adapts to wide cable lifting robot.
The present invention for the concrete technical scheme that reaches above-mentioned technical purpose and adopt is: a kind of cable lifting robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving half frame and embraces cable half frame, drive half frame and embrace cable half frame be oppositely arranged can opening and closing structure, drive and in half frame, be provided with four upper and lower, to be symmetrically arranged cylindrical drive rollers, four driving rollss are synchronously driven by same drive motors, and the projection of the axis of described driving rolls on horizontal plane is inverted V-shaped, the cross section of described armful of cable half frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board both sides, embrace that be provided with in cable half frame can be with respect to the pressure strip of header board parallel sliding, embrace cable half frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is provided with four up and down towards the one side that drives half frame, the cylindrical pinch rollers being symmetrically arranged, the projection of the axis of described pinch rollers on horizontal plane is V-shaped, while driving half frame and an armful cable half frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers are dislocated in the upper and lower to be positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 60-165 millimeter, cable lifting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.The present invention arranges respectively driving rolls and pinch rollers in driving half frame and armful cable half frame, and driving rolls is substantially fixing with respect to driving half frame, is convenient to power transmission; And pinch rollers is removable with respect to embracing cable half frame, make cable lifting robot adapt to the cable of sizes; On the other hand, because driving rolls and pinch rollers shift to install, therefore the present invention only has a pair of driving rolls or pinch rollers on the same cross section of cable, in the time that pressure strip moves to cable, on the moving direction of pinch rollers, there is not driving rolls, pinch rollers on pressure strip can not interfered mutually with driving the driving rolls on half frame, and compared with the structure with the four rolling of prior art on the same cross section of cable, the present invention can use on the less cable of diameter.In addition, the present invention cable longitudinally on four bites are set, on each bite, arrange two V-shaped driving rollss or pinch rollers, this with documents cable longitudinally on arrange compared with the roller of arranging four structures that assume diamond in shape on 2 bites, the same cross section of cable, can, more effectively to utilizing the flexibility of cable itself, be conducive to improve obstacle climbing ability.The wheel face formation of driving rolls of the present invention and pinch rollers misplaces up and down and holds around the diamond structure of cable, from the varying cross-section of cable, butt compresses cable surface, angle of friction between roller and cable does not change with cable diameters, therefore it is climbed cable ability and does not change with cable diameters, this structure and bilateral, it is more reliable that three limit rollers are embraced cable, aerial statue is more stable, have than the better cable diameters compliance of arc wheel simultaneously, in addition, adopt four limit rollers to hold tightly, prevent that robot from climbing the anti-deflection ability of rotating around cable in cable process stronger, groove face tribology principle has proved that the equlvalent coefficient of friction of arc wheel folder cable mode can change with cable diameters, the equlvalent coefficient of friction of multiple cylinder roller clip cable modes does not change and keeps constant with cable diameters, therefore multiple cylinder rollers are embraced cable and are had the larger cable friction, capability of climbing.Four driving rollss of the present invention are synchronously driven by same drive motors, drive each roller of half frame one side all to there is power, form and drive structure more, greatly improve the cable ability of climbing of robot, therefore robot of the present invention not only has the enough cable power of climbing, can be for the climbing of vertical cables, and because synchronous driving avoided driving wheel asynchronous robot causing in the time working of prior art to tremble, cause skidding between roller and cable and the problem of the cable clad that weares and teares, simultaneously the also problem of impact climbing performance.In addition, between driving rolls of the present invention and pinch rollers and housing, there is not elastic construction, its armful of cable thrust regulates setting by ground control unit by embracing cable motor, only need armful cable motor one point control just can complete the cable of different-diameter is applied to the different cable power of embracing, and can adjust at any time according to the practical operation situation of robot, avoid that enclasping force is excessive to be affected obstacle climbing ability or occur locking, damage the situation of cable or the too small problem of skidding of occurring of enclasping force.Driving half frame of the present invention and embrace cable half frame be oppositely arranged can opening and closing structure, on-the-spot installation or removal are very simple, convenient and swift.The present invention is by remote control drive motors and the rotation of embracing cable motor, can in far distance, control the activity of cable lifting robot, and climb cable speed more than 5 ms/min, and in cable lifting robot, can load corresponding detection, tour or attending device, meet detection, tour or daily maintenance requirements of one's work to cable.
As preferably, drive motors is arranged on the centre position that drives upper lateral part after half frame, the power supply of drive motors is arranged on the below of drive motors, the output shaft of drive motors is connected with driven wheel, driven wheel engages with the master gear that is arranged symmetrically in its both sides, the downside of master gear and master gear are coaxially provided with driving wheel, drive the driving wheel of half frame both sides to pass through respectively driving-belt, bevel gear set is connected with the driving rolls rotating shaft transmission that drives half frame down either side, being in transmission connection by linkage between two driving rolls rotating shafts up and down of homonymy, described driving-belt and linkage are Timing Belt or chain.The present invention adopts single motor to drive, and in order to ensure power, selecting jumbo iron lithium phosphate battery is motor power supply, adopts the form of four driving wheels simultaneously, guarantees the climbing ability of robot.The driven wheel of motor is by the master gear of both sides and the driving wheel coaxial with master gear, driving-belt, bevel gear set is in transmission connection with rotating shaft one end of the below driving rolls of both sides respectively, and the other end of this driving rolls rotating shaft is in transmission connection by the driving rolls of linkage and homonymy top, thereby realize four driving wheels of a driven by motor, because the gearratio of two-way is in full accord, therefore four driving rolls Complete Synchronizations rotate, the cable lifting robot that has solved prior art trembles climbing easily occurring in cable process, cause skidding and wear and tear cable clad, also affect the problem of climbing performance simultaneously.
As preferably, embrace the setting of cable motor and embrace cable half frame outside, the described cable transmission mechanism of embracing comprises that two are set in parallel in the horizontal lead screw of embracing in cable half frame, one end of two rhizoid bars is spirally connected with the feed screw nut who is arranged on pressure strip, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable half frame, screw axis is provided with linkage gear, between two rhizoid bars, be connected by Timing Belt, wherein the screw axis end of a rhizoid bar is connected with an armful cable motor-driven, the end of another rhizoid bar is provided with handwheel, embraces cable half frame middle part and is provided with Timing Belt regulating wheel.The present invention rotates to move pressure strip by embracing cable driven by motor two rhizoid bars, embrace the rotation of cable motor by ground control unit control, can control the enclasping force of cable lifting robot to cable, climbing in cable process, in the time encountering obstruction, can embrace cable motor by rotation and reduce the dynamics of holding tightly and make the smooth obstacle detouring of cable lifting robot, avoid locking; Otherwise if to climb in cable process cable angle larger, when the dynamics of holding tightly makes cable lifting robot skid not, can embrace cable motor by rotation increases enclasping force, prevents the landing of cable lifting robot.And rotation handwheel can conveniently arrange the initial position of pressure strip.
As preferably, be positioned at the screw axis end of embracing cable half frame right side screw mandrel by bevel gear set with embrace a cable motor-driven and be connected, handwheel be located on the left of the screw axis end of screw mandrel.
As preferably, feed screw nut is arranged on the middle part of pressure strip both sides, described pressure strip both sides of the edge are provided with some directive wheels of arranging up and down, and the side plate of embracing cable half frame is provided with the horizontal elongated slot corresponding with described directive wheel, and directive wheel is embedded in horizontal elongated slot slidably.In pressure strip both sides of the edge, directive wheel is set, directive wheel is embedded in the horizontal elongated slot of side plate slidably, can ensure like this when pressure strip moves parallelly with header board, guarantees the pressure equalizing of pressure strip to its upper and lower pinch rollers.
As preferably, between feed screw nut and pressure strip, be provided with enclasping force sensor, described enclasping force sensor connects ground control unit by wireless launcher, and described ground control unit is provided with pressure display screen.Enclasping force sensor is set between feed screw nut and pressure strip, corresponding pressure display screen is set on ground control unit, like this, ground controller can grasp the enclasping force situation between cable and roller intuitively, can adjust in real time according to the situation of change of enclasping force, without the variation that judges enclasping force by the operating condition of observing cable lifting robot, control rate and precision can significantly improve, and have also significantly promoted operating efficiency simultaneously.In addition, also can preset corresponding enclasping force scope according to different cable situations, when real work when actual measurement enclasping force is while exceeding the scope of setting, automatically control and embrace cable motor by ground control unit, enclasping force is returned in the scope of setting in time, can greatly reduce like this workload of ground remote control work, increase work efficiency, in addition, also can adopt ground artificial control automatically to control with machine the control model combining, guarantee the normal work of cable lifting robot under various different operating modes.
As preferably, drive on the opposite face of half frame and pressure strip and be equipped with rolling wheel support, the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface driving on half frame, pinch rollers is arranged in the rolling wheel support cammed surface on pressure strip, the two ends of described cammed surface are provided with bearing support, and the rotating shaft of driving rolls and pinch rollers is arranged on bearing support by bearing.The present invention adopts the support of right-angled triangle wedge-like that driving rolls and pinch rollers are installed, make the driving rolls and the pinch rollers that drive half frame and compress in frame can form the diamond structure that holds around cable, conventionally right-angled triangle adopts isosceles right triangle, and the angle between inclined-plane and the installing plate of installation rolling wheel support is 45 degree.Rhombus of the present invention might not be a complete diamond shape, and hour, the opposite face outline line of driving rolls and pinch rollers can form a complete diamond shape to the area enclosing when driving rolls and pinch rollers; And the area that driving rolls and pinch rollers enclose is when larger, the opposite face outline line of driving rolls and pinch rollers is a part for rhombus.
As preferably, on driving-belt, be connected with regulating wheel, drive the both sides, upper end of half frame to be respectively provided with a regulating block, described regulating block is connected with the rolling wheel support that drives half frame top by adjustment screw, and the rolling wheel support installing hole that is positioned at driving half frame top is mounting hole.Regulating wheel is for tensioning driving-belt, and regulating block pulls open the distance of upper and lower rolling wheel support for tensioning linkage by adjustment screw, thereby avoids affecting because driving-belt and linkage are lax synchronizeing of driving wheel.
As preferably, drive the cross section of half frame to take the shape of the letter U, comprise a rear plate and be arranged on the side plate of rear plate both sides, drive a side board of half frame hinged by hinge with the respective side side plate of embracing cable half frame, drive between the opposite side side plate of half frame and the side plate of armful cable half frame respective side and be provided with locking device.Drive half frame to adopt similar structure to embracing cable half frame, can reduce production costs.
As preferably, the wheel face of pinch rollers and driving rolls adopts polyurethane material to make; Described housing and pressure strip are the engraved structure that engineering plastics are made.Polyurethane material is made pinch rollers and its wheel face of driving rolls has suitable elasticity, can under the prerequisite of guaranteeing enclasping force, reduce the damage to cable surface that may occur, especially very little to the cable damage of coated PE sheath; Housing and pressure strip adopt the engraved structure of engineering plastics making, can greatly reduce the own wt of cable lifting robot.
The present invention also can adopt technical scheme below: a kind of cable lifting robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving half frame and embraces cable half frame, drive half frame and embrace cable half frame be oppositely arranged can opening and closing structure, drive and in half frame, be provided with eight upper and lower, to be symmetrically arranged cylindrical drive rollers, eight driving rollss are synchronously driven by same drive motors, and the projection of the axis of described driving rolls on horizontal plane is inverted V-shaped, the cross section of described armful of cable half frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board both sides, embrace that be provided with in cable half frame can be with respect to the pressure strip of header board parallel sliding, embrace cable half frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is provided with eight up and down towards the one side that drives half frame, the cylindrical pinch rollers being symmetrically arranged, the projection of the axis of described pinch rollers on horizontal plane is V-shaped, while driving half frame and an armful cable half frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers are dislocated in the upper and lower to be positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 60-165 millimeter, cable lifting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.This scheme is compared with aforesaid technical scheme, its variation is that the quantity of driving wheel and contact roller is eight, be positioned between four driving wheels that drive half frame homonymy (left side or right side) and connect synchronous rotation by linkage, its operating principle is consistent with aforesaid technical scheme, it is stronger that cable ability is climbed by the robot of this structure, is applicable to need to load the occasion of more detections, tour or service equipment.
Here it should be noted that, the present invention works and carries out position statement according to cable lifting robot on vertically disposed cable, statement is only used to the convenience in those skilled in the art's understanding like this, and be not the concrete restriction to its positional structure, in fact agent structure of the present invention can be inverted, be that upper-lower position can exchange, position all around also can change because observer's position is different, does not therefore have the absolute qualified relation of position up and down or all around.
The invention has the beneficial effects as follows: it is poor that it has solved the climbing of cable lifting robot, the obstacle climbing ability of prior art effectively, and cannot climb the problem of the cable that diameter is less, the climbing of cable lifting of the present invention robot, obstacle climbing ability are good, can climb up the wide-angle cable that approaches 90 °, and the adaptation of cable diameters is wide, cable damage to coated PE sheath is little, there will not be high-altitude to embrace the situation that cable is stuck or climbing is skidded.The present invention is by remote control drive motors and the rotation of embracing cable motor, can in far distance, control the activity of cable lifting robot, and in cable lifting robot, can load corresponding detection, tour or attending device, thereby meet detection, tour or daily maintenance requirements of one's work to cable, there is very high practical value.
Brief description of the drawings
Fig. 1 is a kind of perspective view of cable lifting of the present invention robot;
Fig. 2 is the front elevation drawing of cable lifting of the present invention robot;
Fig. 3 is the right view of cable lifting of the present invention robot;
Fig. 4 is the top view of cable lifting of the present invention robot;
Fig. 5 is a kind of structural configuration schematic diagram of cable lifting of the present invention robot driving rolls;
Fig. 6 is a kind of structural configuration schematic diagram of cable lifting of the present invention robot pinch rollers;
Fig. 7 is a kind of structural configuration sketch of cable lifting of the present invention robot driving rolls;
Fig. 8 is the top view of Fig. 7.
In figure: 1. drive half frame, 2. armful cable half frame, 3. driving rolls, 4. drive motors, 5. header board, 6. side plate, 7. pressure strip, 8. armful cable motor, 9. pinch rollers, 10. cable, 11. power supplies, 12. driven wheels, 13. master gears, 14. driving wheels, 15. driving-belts, 16. bevel gear set, 17. linkages, 18. screw mandrels, 19. feed screw nuts, 20. linkage gears, 21. Timing Belts, 22. handwheels, 23. directive wheels, 24. elongated slots, 25. rolling wheel supports, 26. cammed surface, 27. bearing supports, 28. regulating wheels, 29. regulating blocks, 30. adjustment screw, 31. rear plates, 32. hinges, 33. gear frames.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings the detailed description of the invention of technical solution of the present invention is further described.
Embodiment 1
In the embodiment 1 shown in Fig. 1 Fig. 2, one cable lifting robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving half frame 1 and embraces cable half frame 2, drive half frame and embrace cable half frame be oppositely arranged can opening and closing structure, drive half frame to be with embracing cable half frame the engraved structure that engineering plastics are made, its cross section all takes the shape of the letter U, and driving half frame comprises a rear plate 31 and is arranged on the side plate 6 of rear plate both sides; Embrace the side plate that cable half frame comprises a header board 5 and is arranged on header board both sides, drive a side board of half frame hinged by hinge 32 with the side plate of embracing cable half frame respective side, drive between the opposite side side plate of half frame and the side plate of armful cable half frame respective side and be provided with locking device (not shown).Drive and in half frame, be provided with four cylindrical drive roller 3(upper and lower, that be symmetrically arranged and see Fig. 5, Fig. 7), driving rolls is arranged on rear plate, four driving rollss are synchronously driven by same drive motors 4, drive motors is stepper motor, and the projection of the axis of described driving rolls on horizontal plane is inverted V-shaped (see figure 4).Embrace in cable half frame and be provided with and can see Fig. 6 with respect to the pressure strip 7(of header board parallel sliding), embrace cable half frame and be provided with an armful cable motor 8, embracing cable motor is stepper motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is respectively provided with four up and down with the opposite face both sides that drive half frame, the cylindrical pinch rollers 9 being symmetrically arranged, the projection of the axis of described pinch rollers on horizontal plane is V-shaped, while driving half frame and an armful cable half frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable 10, driving rolls and pinch rollers are dislocated in the upper and lower to be positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 60-165 millimeter, cable lifting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, receiving system is arranged on housing, drive motors and armful cable motor connect receiving system.
Drive motors is arranged on the centre position that drives upper lateral part after half frame, the power supply 11 of drive motors is arranged on the below of drive motors, power supply adopts jumbo iron lithium phosphate battery, the output shaft of drive motors is connected with driven wheel 12, driven wheel engages (see figure 7) with the master gear 13 that is arranged symmetrically in its both sides, the downside of master gear and master gear are coaxially provided with driving wheel 14, drive the driving wheel of half frame both sides to be connected with the driving rolls rotating shaft transmission that drives half frame down either side by driving-belt 15, bevel gear set 16 respectively; Being in transmission connection by linkage 17 between two driving rolls rotating shafts up and down of the same side.Described driving-belt and linkage are Timing Belt, are connected with regulating wheel 28 on driving-belt, and regulating wheel is arranged on gear frame 33.Rear plate 31 both sides, upper end are respectively provided with a regulating block 29, and described regulating block is connected with the rolling wheel support that drives half frame top by adjustment screw 30, and the rolling wheel support installing hole that is positioned at driving half frame top is mounting hole.
Embrace the setting of cable motor and embrace lower right outside cable half frame header board, the described cable transmission mechanism of embracing comprises that two are set in parallel in the horizontal lead screw 18 of embracing in cable half frame, one end of two rhizoid bars is spirally connected with the feed screw nut 19 who is arranged on pressure strip, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable half frame, screw axis is provided with linkage gear 20, between two rhizoid bars, be connected by Timing Belt 21, the screw axis end that is positioned at armful cable half frame right side screw mandrel is connected with an armful cable motor-driven by bevel gear set 16, the screw axis end of left side screw mandrel is provided with handwheel 22, embrace cable half frame middle part and be provided with Timing Belt regulating wheel 28.
Feed screw nut is arranged on the middle part (seeing Fig. 3, Fig. 6) of pressure strip both sides, described pressure strip is the engraved structure that engineering plastics are made, four directive wheels 23 that its both sides of the edge are provided with up and down, are symmetrically arranged, every side board of embracing cable half frame is provided with two the horizontal elongated slots 24 corresponding with described directive wheel, and directive wheel is embedded in (see figure 3) in horizontal elongated slot slidably.
Drive on the opposite face of half frame and pressure strip and be equipped with rolling wheel support 25, the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface 26 driving on half frame, pinch rollers is arranged in the rolling wheel support cammed surface on pressure strip, driving rolls and the cross-shaped corresponding layout of pinch rollers, the two ends of described cammed surface are provided with bearing support 27, the rotating shaft of driving rolls and pinch rollers is arranged on bearing support by bearing, and the wheel face of pinch rollers and driving rolls adopts polyurethane material to make.
Embodiment 2
In embodiment 2, between feed screw nut and pressure strip, be provided with enclasping force sensor, described enclasping force sensor connects ground control unit by wireless launcher, and described ground control unit is provided with pressure display screen, and all the other are identical with embodiment 1.
Embodiment 3
In embodiment 3, cable lifting robot comprises housing and is arranged on the roller devices in housing, described housing comprises driving half frame and embraces cable half frame, drive half frame and embrace cable half frame be oppositely arranged can opening and closing structure, drive and in half frame, be provided with eight upper and lower, to be symmetrically arranged cylindrical drive rollers, eight driving rollss are synchronously driven by same drive motors, and the projection of the axis of described driving rolls on horizontal plane is inverted V-shaped, the cross section of described armful of cable half frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board both sides, embrace that be provided with in cable half frame can be with respect to the pressure strip of header board parallel sliding, embrace cable half frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is provided with eight up and down towards the one side that drives half frame, the cylindrical pinch rollers being symmetrically arranged, the projection of the axis of described pinch rollers on horizontal plane is V-shaped, while driving half frame and an armful cable half frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers are dislocated in the upper and lower to be positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 60-165 millimeter, cable lifting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system, all the other are identical with embodiment 1 or embodiment 2.Compared with the technical scheme of this scheme and embodiment 1 or embodiment 2, its variation is that the quantity of driving wheel and contact roller is eight, be positioned between four driving wheels that drive half frame homonymy (left side or right side) and connect synchronous rotation by linkage, its operating principle is consistent with aforesaid technical scheme, it is stronger that cable ability is climbed by the robot of this structure, is applicable to need to load the occasion of more detections, tour or service equipment.
When cable lifting of the present invention robot uses, driving half frame and armful cable half frame are held around on cable and locking, rotate handwheel, make driving rolls and pinch rollers conflict cable, elasticity between roller and cable taking cable lifting robot can be on cable not landing as benchmark, the lifting of cable lifting robot completes by ground control unit control drive motors, and an artificial or automatic control armful cable motor can change the elasticity between roller and cable, cable lifting robot is surmounted obstacles smoothly, on the scroll cable with anti-exciting function, also can normally work.The present invention is by remote control drive motors and the rotation of embracing cable motor, can in far distance, control the activity of cable lifting robot, and climb cable speed more than 5 ms/min, and in cable lifting robot, can load corresponding detection, tour or attending device, meet detection, tour or daily maintenance requirements of one's work to cable.
Claims (10)
1. a cable lifting robot, comprise housing and be arranged on the roller devices in housing, it is characterized in that, described housing comprises driving half frame (1) and embraces cable half frame (2), drive half frame and embrace cable half frame be oppositely arranged can opening and closing structure, drive in half frame and be provided with four upper and lower, to be symmetrically arranged cylindrical drive rollers (3), four driving rollss are synchronously driven by same drive motors (4), and the projection of the axis of described driving rolls on horizontal plane is inverted V-shaped, the cross section of described armful of cable half frame takes the shape of the letter U, comprise a header board (5) and be arranged on the side plate (6) of header board both sides, embrace that be provided with in cable half frame can be with respect to the pressure strip of header board parallel sliding (7), embrace cable half frame and be provided with an armful cable motor (8), embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is provided with four up and down towards the one side that drives half frame, the cylindrical pinch rollers (9) being symmetrically arranged, the projection of the axis of described pinch rollers on horizontal plane is V-shaped, while driving half frame and an armful cable half frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable (10), driving rolls and pinch rollers are dislocated in the upper and lower to be positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 60-165 millimeter, cable lifting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.
2. cable lifting according to claim 1 robot, it is characterized in that: described drive motors is arranged on the centre position that drives upper lateral part after half frame, the power supply (11) of drive motors is arranged on the below of drive motors, the output shaft of drive motors is connected with driven wheel (12), driven wheel engages with the master gear (13) that is arranged symmetrically in its both sides, the downside of master gear is coaxially provided with driving wheel (14), drive the driving wheel of half frame both sides respectively by driving-belt (15), bevel gear set (16) is connected with the driving rolls rotating shaft transmission that drives half frame down either side, being in transmission connection by linkage (17) between two driving rolls rotating shafts up and down of homonymy, described driving-belt and linkage are Timing Belt or chain.
3. cable lifting according to claim 1 robot, it is characterized in that: cable half frame outside is embraced in the described cable motor setting of embracing, the described cable transmission mechanism of embracing comprises that two are set in parallel in the horizontal lead screw (18) of embracing in cable half frame, one end of two rhizoid bars is spirally connected with the feed screw nut (19) who is arranged on pressure strip, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable half frame, screw axis is provided with linkage gear (20), between two rhizoid bars, be connected by Timing Belt (21), wherein the screw axis end of a rhizoid bar is connected with an armful cable motor-driven, the end of another rhizoid bar is provided with handwheel (22), embrace cable half frame middle part and be provided with Timing Belt regulating wheel.
4. cable lifting according to claim 3 robot, it is characterized in that: described feed screw nut is arranged on the middle part of pressure strip both sides, described pressure strip both sides of the edge are provided with some directive wheels (23) of arranging up and down, the side plate of embracing cable half frame is provided with the horizontal elongated slot (24) corresponding with described directive wheel, and directive wheel is embedded in horizontal elongated slot slidably.
5. cable lifting according to claim 3 robot, it is characterized in that: between feed screw nut and pressure strip, be provided with enclasping force sensor, described enclasping force sensor connects ground control unit by wireless launcher, and described ground control unit is provided with pressure display screen.
6. cable lifting according to claim 1 robot, it is characterized in that: on described driving half frame and the opposite face of pressure strip, be equipped with rolling wheel support (25), the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface (26) driving on half frame, pinch rollers is arranged in the rolling wheel support cammed surface on pressure strip, the two ends of described cammed surface are provided with bearing support (27), and the rotating shaft of driving rolls and pinch rollers is arranged on bearing support by bearing.
7. cable lifting according to claim 2 robot, it is characterized in that: on described driving-belt, be connected with regulating wheel (28), drive the both sides, upper end of half frame to be respectively provided with a regulating block (29), described regulating block is connected with the rolling wheel support that drives half frame top by adjustment screw (30), and the rolling wheel support installing hole that is positioned at driving half frame top is mounting hole.
8. according to the cable lifting robot described in claim 1-7 any one, it is characterized in that: the wheel face of pinch rollers and driving rolls adopts polyurethane material to make; Described housing and pressure strip are the engraved structure that engineering plastics are made.
9. according to the cable lifting robot described in claim 1-7 any one, it is characterized in that: the cross section of described driving half frame takes the shape of the letter U, comprise a rear plate (31) and be arranged on the side plate (6) of rear plate both sides, drive a side board of half frame hinged by hinge (32) with the respective side side plate of embracing cable half frame, drive between the side plate of half frame opposite side and the side plate of armful cable half frame respective side and be provided with locking device.
10. a cable lifting robot, comprise housing and be arranged on the roller devices in housing, it is characterized in that, described housing comprises driving half frame and embraces cable half frame, drive half frame and embrace cable half frame be oppositely arranged can opening and closing structure, drive in half frame and be provided with eight upper and lower, to be symmetrically arranged cylindrical drive rollers, eight driving rollss are synchronously driven by same drive motors, and the projection of the axis of described driving rolls on horizontal plane is inverted V-shaped, the cross section of described armful of cable half frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board both sides, embrace that be provided with in cable half frame can be with respect to the pressure strip of header board parallel sliding, embrace cable half frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip is provided with eight up and down towards the one side that drives half frame, the cylindrical pinch rollers being symmetrically arranged, the projection of the axis of described pinch rollers on horizontal plane is V-shaped, when driving half frame and embracing cable half frame closure, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal plane is the diamond structure that holds around cable, driving rolls and pinch rollers are dislocated in the upper and lower to be positioned at the both sides of cable, the inscribed circle diameter excursion of described rhombus is 60-165 millimeter, cable lifting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, drive motors and armful cable motor connect receiving system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410150836.XA CN104153292B (en) | 2014-04-15 | 2014-04-15 | Cable hoisting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410150836.XA CN104153292B (en) | 2014-04-15 | 2014-04-15 | Cable hoisting machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104153292A true CN104153292A (en) | 2014-11-19 |
| CN104153292B CN104153292B (en) | 2016-01-06 |
Family
ID=51878908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410150836.XA Active CN104153292B (en) | 2014-04-15 | 2014-04-15 | Cable hoisting machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104153292B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927063A (en) * | 2019-12-19 | 2020-03-27 | 长沙理工大学 | Working method of rope climbing robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2396936Y (en) * | 1999-12-10 | 2000-09-20 | 上海交通大学 | Electric power driven cable service robot climbing device |
| JP3392814B2 (en) * | 2000-07-27 | 2003-03-31 | 鹿島建設株式会社 | Self-propelled cable snow removal 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 |
| CN101538830A (en) * | 2009-04-14 | 2009-09-23 | 重庆交通大学 | Bridge cable health detection robot |
| CN201933407U (en) * | 2011-01-11 | 2011-08-17 | 江苏法尔胜材料分析测试有限公司 | Cable detecting robot |
| CN102605713A (en) * | 2011-12-26 | 2012-07-25 | 重庆大学 | Bionic robot climbing on bridge inhaul cable |
| KR101304175B1 (en) * | 2011-09-22 | 2013-09-09 | 성균관대학교산학협력단 | Apparatus for generating fixing force for robot for inspecting cable |
-
2014
- 2014-04-15 CN CN201410150836.XA patent/CN104153292B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2396936Y (en) * | 1999-12-10 | 2000-09-20 | 上海交通大学 | Electric power driven cable service robot climbing device |
| JP3392814B2 (en) * | 2000-07-27 | 2003-03-31 | 鹿島建設株式会社 | Self-propelled cable snow removal 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 |
| CN101538830A (en) * | 2009-04-14 | 2009-09-23 | 重庆交通大学 | Bridge cable health detection robot |
| CN201933407U (en) * | 2011-01-11 | 2011-08-17 | 江苏法尔胜材料分析测试有限公司 | Cable detecting robot |
| KR101304175B1 (en) * | 2011-09-22 | 2013-09-09 | 성균관대학교산학협력단 | Apparatus for generating fixing force for robot for inspecting cable |
| CN102605713A (en) * | 2011-12-26 | 2012-07-25 | 重庆大学 | Bionic robot climbing on bridge inhaul cable |
Non-Patent Citations (2)
| Title |
|---|
| 彭立明: ""一种抱缆力可调的斜拉索检测机器人设计"", 《机械设计与研究》 * |
| 彭立明: ""面向快速制造的一种爬缆机器人结构设计"", 《宁波职业技术学院学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927063A (en) * | 2019-12-19 | 2020-03-27 | 长沙理工大学 | Working method of rope climbing robot |
| CN110927063B (en) * | 2019-12-19 | 2021-12-24 | 长沙理工大学 | Working method of rope climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104153292B (en) | 2016-01-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104153293B (en) | Cable inspection machine people | |
| CN104153290B (en) | Cable maintains machinery people | |
| CN104153294B (en) | Climb cable robot | |
| CN104153291B (en) | Cable inspecting robot | |
| CN103194967B (en) | Detecting system of bridge cable | |
| CN104372737B (en) | A kind of cable-stayed bridge cable measuring robots | |
| CN106121234B (en) | A kind of mounting tool and installation method of roof large span large-diameter pipeline | |
| CN104153301B (en) | Cable-maintaining robot | |
| CN207361607U (en) | A kind of natural gas line installation pipe clamping device | |
| CN104153292B (en) | Cable hoisting machine people | |
| CN105048336A (en) | Automatic up-and-down device of line patrol robot of strain tower | |
| CN204224986U (en) | A kind of cable-stayed bridge cable measuring robots | |
| CN102808521A (en) | High-altitude butting method and high-altitude butting device for heavy structures | |
| CN201118145Y (en) | Powerline aerial spanning device | |
| CN102587270B (en) | Climbing device for cables of cable-stayed bridge | |
| CN203923896U (en) | Cable inspecting robot | |
| CN105926458A (en) | Double-drive device and method automatic in rubber rod penetrating | |
| CN202967922U (en) | Simple hoisting device for mounting steel structural bridge | |
| CN111945560B (en) | Robot for detecting FAST cable | |
| CN106081940A (en) | A kind of weight crane for roof | |
| CN203923895U (en) | Cable inspection machine people | |
| CN203920962U (en) | Cable-maintaining robot | |
| CN201191731Y (en) | Electric tackle | |
| CN105862604A (en) | Dual-drive automatic tube penetrating machine and method | |
| CN203923897U (en) | Cable lifting robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181119 Address after: 313000 room 1020, science and Technology Pioneer Park, 666 Chaoyang Road, Nanxun Town, Nanxun District, Huzhou, Zhejiang. Patentee after: Huzhou You Yan Intellectual Property Service Co.,Ltd. Address before: 315800 No. 1069 Xinda Road, Beilun District, Ningbo City, Zhejiang Province Patentee before: Ningbo Polytechnic |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190402 Address after: 233316 Jinhuai Road, Mohekou Industrial Park, Huaishang District, Bengbu City, Anhui Province Patentee after: BENGBU JIANGNAN CONSTRUCTION MACHINERY Co.,Ltd. Address before: 313000 room 1020, science and Technology Pioneer Park, 666 Chaoyang Road, Nanxun Town, Nanxun District, Huzhou, Zhejiang. Patentee before: Huzhou You Yan Intellectual Property Service Co.,Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Cable lifting robot Effective date of registration: 20190919 Granted publication date: 20160106 Pledgee: Bengbu financing guarantee Group Co.,Ltd. Pledgor: BENGBU JIANGNAN CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2019340000072 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200915 Granted publication date: 20160106 Pledgee: Bengbu financing guarantee Group Co.,Ltd. Pledgor: BENGBU JIANGNAN CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2019340000072 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Cable lifting robot Effective date of registration: 20200915 Granted publication date: 20160106 Pledgee: Bengbu financing guarantee Group Co.,Ltd. Pledgor: BENGBU JIANGNAN CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2020990001115 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220517 Granted publication date: 20160106 Pledgee: Bengbu financing guarantee Group Co.,Ltd. Pledgor: BENGBU JIANGNAN CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2020990001115 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Cable lift robot Effective date of registration: 20220905 Granted publication date: 20160106 Pledgee: Bengbu financing guarantee Group Co.,Ltd. Pledgor: BENGBU JIANGNAN CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2022980014450 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230817 Granted publication date: 20160106 Pledgee: Bengbu financing guarantee Group Co.,Ltd. Pledgor: BENGBU JIANGNAN CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2022980014450 |