CN104674654B - A kind of robot capable of crawling cable - Google Patents
A kind of robot capable of crawling cable Download PDFInfo
- Publication number
- CN104674654B CN104674654B CN201510089076.0A CN201510089076A CN104674654B CN 104674654 B CN104674654 B CN 104674654B CN 201510089076 A CN201510089076 A CN 201510089076A CN 104674654 B CN104674654 B CN 104674654B
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- outside framework
- screw
- clamping
- ball
- pad
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
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Abstract
A kind of robot capable of crawling cable, comprises the clamping mechanism on outside framework, outside framework and climbing mechanism, wherein: outside framework is cube frame; Each limit of its upper and lower surface is all connected with interior frame side by radial shelf, and each side all has a clamping mechanism and climbing mechanism; Clamping mechanism composition is: connect the ball-screw that both sides rotation direction is contrary between the vertical rod of outside framework side, the two equal articulated linkage of feed screw nut of ball-screw, the two connecting rod the other ends are articulated with the clamping back up pad back that upper and lower ends all installs the roller coordinated with radial shelf jointly; Climbing mechanism composition is: the tail rod of the hinged installation guide deflection sheave in one end inside clamping back up pad, and the other end installs guide rod; Guide rod and balance beam are hinged, fit pressure transmitter and compression spring on guide rod; Balance beam upper and lower ends is separately installed with the follow-up pulley and motion-work wheel that connect by synchronous band. This robot can be used for the big cable of diameter difference, and clamping force is good, climbs cable ability and obstacle detouring ability strong, can avoid stuck and skid.
Description
Technical field
The present invention relates to a kind of robot, it is specifically related to a kind of inspection by cable and the robot capable of crawling cable of operation.
Background technology
Along with the fast development of bridge building industry, the scale of cable-stayed bridge is increasing, at present, and the cable-stayed bridge of main span more than 200 meters nearly more than 200 seats in the world. The detection being increased to bridge of cable-stayed bridge number size brings more challenge. Cable is the main load-bearing component of cable-stayed bridge, and in being chronically exposed to and exposing to the weather, it is easy to damaged situation about even rupturing occurs, it is necessary to it is whether complete that timing detects its surface. Cable is suspended on the both sides of cable-stayed bridge, it is possible to up to hundred meters, and general hand inspection method takes time and effort, and can not ensure personal safety, although utilizing windlass detection cable to ensure that personal security to a certain extent, but still there is the problem of inefficiency. Under this background, robot capable of crawling cable technology is suggested. This kind of technology is exactly utilize the industrial robot designed and produced especially to carry detection system to be detected by cable and operation. Existing robot capable of crawling cable mainly contains pneumatic worming, electronic continous way and spiral climbing formula. Compare, electronic continous way robot capable of crawling cable have motion continuously reliable, volume is less, can wireless remote control and the advantage such as bearing capacity is better, become the direction that robot capable of crawling cable mainly develops.
Cable surface is coated with one layer of hank knotting usually, it is bigger raised or sunken that hank knotting can produce some in life-time service, sometimes also installing some small detector elements or ornament on cable, robot capable of crawling cable is in working process, it is necessary to cross these obstacles. Consult the domestic up-to-date robot capable of crawling cable of several moneys, such as China Patent Publication No. CN201437247, publication date is on April 14th, 2010, the name of practical novel creation is called robot capable of crawling cable, that application discloses a kind of robot capable of crawling cable, connecting what three dollies were formed by three connecting rod racks, three apex upper push-rod chain connection lower push-rods of tripod, upper lower push-rod is equipped with a driving wheel and a follow-up pulley respectively.Upper push-rod and lower push-rod all produce contact force by oblique pull spring and cable, and whole robot becomes equilateral triangle structure. The novel cable robot of this practicality has following deficiency. The first, designed triangular frame structure is fixed, so can not be applied on the excessive cable of diameter difference. 2nd, it may also be useful to although oblique pull spring has certain obstacle detouring ability, but when roller passes through bigger obstacle, still there is the stuck problem of possibility. 3rd, due to structural limitations, working process cannot change robot to the enclasping force of cable, when robot stuck in the air or skidding at height, the uncontrollable robot in ground reclaims. Above problem generally exists in the electronic continous way robot capable of crawling cable of existing kind.
Summary of the invention
It is an object of the invention to provide a kind of for the robot capable of crawling cable to cable inspection and operation. This robot can be used for the big cable of diameter difference, and the clamping force of cable is good, climbs cable ability and obstacle detouring ability strong, and can avoid stuck and skid.
The present invention realizes the technical scheme that its goal of the invention takes to be: a kind of robot capable of crawling cable, comprises the clamping mechanism on outside framework, outside framework and climbing mechanism, and its constructional feature is:
Described outside framework is cube frame; The upper surface of outside framework is all connected with interior frame side by radial shelf with each limit of lower surface, and each side of outside framework all has a clamping mechanism and climbing mechanism;
The concrete composition of each clamping mechanism is: between the vertical rod of outside framework side, the contrary ball-screw of both sides rotation direction is connected by bearing, feed screw nut on ball-screw both sides is all hinged with connecting rod, the other end of two connecting rods be jointly articulated with erect to clamping back up pad back hinge on, ball-screw all installs, by the driving stepper motor being fixed on outside framework, the upper and lower ends of clamping back up pad, the roller that the radial shelf corresponding with on outside framework coordinates;
The concrete composition of each climbing mechanism is: the hinged tail rod in one end inside the clamping back up pad on outside framework, the other end of tail rod installs guide deflection sheave, being connected with extension spring between tail rod and clamping back up pad, the other end of clamping back up pad is provided with guide rod by linear bearings; One end that guide rod inwardly stretches out and balance beam are hinged, and the position of guide rod between balance beam and clamping back up pad is sheathed with pressure transmitter and compression spring; The upper and lower ends of balance beam is separately installed with follow-up pulley and motion-work wheel, is connected with synchronous band between follow-up pulley and motion-work wheel, and motion-work wheel is connected with the drive-motor being fixed on balance beam.
The principle of work of the clamping mechanism of the present invention is: driving stepper motor ball-screw rotates, thus the one end driving the feed screw nut on ball-screw and the hinged connecting rod of feed screw nut thereof does relative motion, the connecting rod the other end promotes clamping back up pad, the roller of the upper and lower ends of clamping back up pad, along the radial shelf on outside framework to cable movement, makes guide deflection sheave, motion-work wheel and follow-up pulley compress cable; Reverse motions is done in the one end of the connecting rod that motor reversal, feed screw nut and feed screw nut thereof are hinged, and now, connecting rod pulls clamping back up pad away from cable, thus makes guide deflection sheave, motion-work wheel and follow-up pulley leave cable.
The principle of work of the climbing mechanism of the present invention is: drive-motor drives motion-work wheel to rotate by speed reduction unit, synchronous band successively, and motion-work wheel drives follow-up pulley to rotate together by synchronous band, thus realizes robot capable of crawling cable creeping on cable. By the direction of creeping of the rotating of drive-motor control robot capable of crawling cable.
Compared with prior art, the invention has the beneficial effects as follows:
One, by two, from four direction, relative clamping mechanism and climbing mechanism being clamped cable, its clamping force is big, and clamping firmly, climbs cable ability strong.
Two, the clamping mechanism of all directions is by different step motor control, and the distance between the clamping back up pad in each direction and cable can be different, thus can adapt to the cable of flats, adapt to simultaneously the diameter range of cable big.
Three, the clamping in each ball-screw control robot capable of crawling cable direction, when running into obstacle, it is possible to by unclamping one of them clamping mechanism, avoid cable side smoothly, or the various component that relative both sides are installed, its obstacle detouring ability is strong, good by property.
Four, can conveniently by the control to stepper-motor, it is achieved cable clamping force is controlled, can either ensure that clamping is firmly, avoid skidding, can avoid again stuck simultaneously, good by property.
Five, clamp in back up pad and guide deflection sheave, motion-work wheel and follow-up pulley are installed, a balladeur train and cable have three point of contact, ensure that with the contact of cable firm, clamping force is good, is connected by balance beam between motion-work wheel and follow-up pulley simultaneously, and the middle part of balance beam is connected with clamping back up pad by compression spring and linear bearings, motion-work wheel (follow-up pulley) can be rotated around the hinge of balance beam, and the retrogressing of whole balance beam and resilience so that its obstacle detouring ability is strong, and clamping force is good simultaneously.
Further, being fixed with line slideway between the vertical rod of outside framework side of the present invention, line slideway is positioned at the outside of ball-screw, and the two of line slideway slide blocks are fixedly connected with two feed screw nuts respectively.
Like this, line slideway can share feed screw nut to the reactive force of the vertical direction that leading screw produces, and avoids ball-screw to be subject to excessive moment of flexure effect for a long time and be out of shape inefficacy.
Further, ball-screw of the present invention by the concrete mode of the driving stepper motor being fixed on outside framework is: two ball-screws that a driving stepper motor being fixed on outside framework is relative: described stepper-motor is connected with a ball-screw by speed reduction unit, and described ball-screw is connected by synchronous band with another ball-screw.
Like this, meeting robot capable of crawling cable under the prerequisite of the adaptability of flats cable and obstacle detouring ability, by simple mode, it is achieved the clamping mechanism clamping relative by step motor control or unclamp cable, reduce cost and the weight of whole robot capable of crawling cable.
Further, a upper end that the tail rod of climbing mechanism and the guide deflection sheave of installation thereof be positioned at clamping back up pad relatively of the present invention, the guide deflection sheave of the tail rod of climbing mechanism and installation thereof is positioned at the lower end of clamping back up pad by another.
Like this, the adjacent guide deflection sheave in clamping back up pad is one on the other, motion-work wheel and follow-up pulley are also one on the other, make cable bearing up-down force even, and the uplink and downlink Shi Junyou that creeps creeps the strong motion-work wheel of ability and follow-up pulley front, the good guide deflection sheave of guidance capability is rear so that all have good ability of creeping and guidance capability during its uplink and downlink.
Further, the concrete structure that described motion-work wheel is connected with the drive-motor being fixed on balance beam is: drive-motor is by being connected with motion-work wheel by speed reduction unit, synchronous band successively.
Like this, by synchronously with connection, the control rotating of drive-motor and velocity of rotation, can manipulate robot crawling direction and speed of creeping.
Further, drive-motor of the present invention is brshless DC motor.
This kind motor weight is light and volume is little, and the linear lag of mechanical characteristics and control characteristic is good, and speed adjustable range is wide, and the life-span is long, easy to maintenance, and noise is little.
Further, outside framework of the present invention is that the dismountable framework in side, one of them lateral frame and other sides are connected by pin.
Like this, convenient disassembly, it is to increase working efficiency.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 be the embodiment of the present invention face structural representation.
Fig. 2 is the A-A diagrammatic cross-section of Fig. 1.
Fig. 3 is the C-C cross-sectional schematic of Fig. 1.
Fig. 4 is the side-looking structural representation of the embodiment of the present invention.
Fig. 5 is the plan structure schematic diagram of the embodiment of the present invention.
Embodiment
Embodiment
Fig. 1-5 illustrates, a kind of embodiment of the present invention is: a kind of robot capable of crawling cable, comprises the clamping mechanism on outside framework 100, outside framework 100 and climbing mechanism, and its constructional feature is:
Described outside framework 100 is cube frame; The upper surface of outside framework 100 is all connected with interior frame side 102 by radial shelf 101 with each limit of lower surface, and each side of outside framework 100 all has a clamping mechanism and climbing mechanism;
The concrete composition of each clamping mechanism is: between the vertical rod of outside framework 100 side, the contrary ball-screw 201 of both sides rotation direction is connected by bearing, feed screw nut 202 on ball-screw 201 both sides is all hinged with connecting rod 203, the other end of two connecting rods 203 be jointly articulated with erect to clamping back up pad 204 back hinge on, ball-screw 201 is driven by the stepper-motor 205 being fixed on outside framework 100, and the upper and lower ends of clamping back up pad 204 all installs the roller 207 that the radial shelf 101 corresponding with on outside framework 100 coordinates;
The concrete composition of each climbing mechanism is: the hinged tail rod 301 in the one end inside clamping back up pad 204 on outside framework, the other end of tail rod 301 installs guide deflection sheave 302, being connected with extension spring 303 between tail rod 301 and clamping back up pad 204, the other end of clamping back up pad 204 is provided with guide rod 304 by linear bearings; One end that guide rod 304 inwardly stretches out and balance beam 305 are hinged, and the position of guide rod 304 between balance beam 305 and clamping back up pad 204 is sheathed with pressure transmitter 306 and compression spring 307; The upper and lower ends of balance beam 305 is separately installed with follow-up pulley 308 and motion-work wheel 309, is connected with synchronous band between follow-up pulley 308 and motion-work wheel 309, and motion-work wheel 309 is connected with the drive-motor 310 being fixed on balance beam 305.
Being fixed with line slideway 208 between the vertical rod of outside framework 100 side described in this example, line slideway 208 is positioned at the outside of ball-screw 201, and the two of line slideway 208 slide blocks are fixedly connected with two feed screw nuts 202 respectively.
The concrete mode that ball-screw 201 described in this example is driven by the stepper-motor 205 being fixed on outside framework 100 is: a stepper-motor 205 being fixed on outside framework 100 drives relative two ball-screw 201: described stepper-motor 205 is connected with a ball-screw 201 by speed reduction unit, and described ball-screw 201 is connected by synchronous band with another ball-screw 201.
Described in this example, the tail rod 301 of climbing mechanism and the guide deflection sheave 302 installed thereof are positioned at the upper end of clamping back up pad 204 by relative one, and the tail rod 301 of climbing mechanism and the guide deflection sheave 302 installed thereof are positioned at the lower end of clamping back up pad 204 by another.
The concrete structure that motion-work wheel 309 described in this example is connected with the drive-motor 310 being fixed on balance beam 305 is: drive-motor 310 is connected with motion-work wheel 309 by speed reduction unit, synchronous band successively.
Drive-motor 310 described in this example is brshless DC motor.
Outside framework 100 described in this example is that the dismountable framework in side, one of them lateral frame and other sides are connected by pin.
Claims (7)
1. a robot capable of crawling cable, comprises the clamping mechanism on outside framework (100), outside framework (100) and climbing mechanism, it is characterised in that:
Described outside framework (100) is cube frame; The upper surface of outside framework (100) is all connected with interior frame side (102) by radial shelf (101) with each limit of lower surface, and outside framework (100) each side all has a clamping mechanism and climbing mechanism;
The concrete composition of each clamping mechanism is: between the vertical rod of outside framework (100) side, the contrary ball-screw (201) of both sides rotation direction is connected by bearing, feed screw nut (202) on ball-screw (201) both sides is all hinged with connecting rod (203), the other end of two connecting rods (203) be jointly articulated with erect to clamping back up pad (204) back hinge on, ball-screw (201) is driven by the stepper-motor (205) being fixed on outside framework (100), the roller (207) that upper and lower ends is all installed with the corresponding radial shelf (101) on outside framework (100) coordinates of clamping back up pad (204),
The concrete composition of each climbing mechanism is: the hinged tail rod in one end (301) of clamping back up pad (204) inner side on outside framework, the other end of tail rod (301) installs guide deflection sheave (302), being connected with extension spring (303) between tail rod (301) and clamping back up pad (204), the other end of clamping back up pad (204) is provided with guide rod (304) by linear bearings; One end that guide rod (304) inwardly stretches out and balance beam (305) are hinged, and the position of guide rod (304) between balance beam (305) and clamping back up pad (204) is sheathed with pressure transmitter (306) and compression spring (307); The upper and lower ends of balance beam (305) is separately installed with follow-up pulley (308) and motion-work wheel (309), being connected with synchronous band between follow-up pulley (308) and motion-work wheel (309), motion-work wheel (309) is connected with the drive-motor (310) being fixed on balance beam (305).
2. described a kind of robot capable of crawling cable according to claim 1, it is characterized in that: between the vertical rod of described outside framework (100) side, be fixed with line slideway (208), line slideway (208) is positioned at the outside of ball-screw (201), and two slide blocks of line slideway (208) are fixedly connected with two feed screw nuts (202) respectively.
3. described a kind of robot capable of crawling cable according to claim 1, it is characterized in that: the concrete mode that described ball-screw (201) is driven by the stepper-motor (205) being fixed on outside framework (100) is: a stepper-motor (205) being fixed on outside framework (100) drives relative two ball-screw (201): described stepper-motor (205) is connected with a ball-screw by speed reduction unit, described ball-screw is connected by synchronous band with another ball-screw.
4. a kind of robot capable of crawling cable according to claim 1, it is characterized in that: the tail rod of the described climbing mechanism of a relative couple and the guide deflection sheave of installation thereof are positioned at the upper end of clamping back up pad, the guide deflection sheave of the tail rod of climbing mechanism and installation thereof is positioned at the lower end of clamping back up pad by another.
5. a kind of robot capable of crawling cable according to claim 1, it is characterised in that: the concrete structure that described motion-work wheel (309) is connected with the drive-motor (310) being fixed on balance beam (305) is: drive-motor (310) is connected with motion-work wheel (309) by speed reduction unit, synchronous band successively.
6. a kind of robot capable of crawling cable according to claim 1, it is characterised in that: described drive-motor (310) is brshless DC motor.
7. a kind of robot capable of crawling cable according to claim 1, it is characterised in that: described outside framework (100) is connected by pin for the dismountable framework in side, one of them lateral frame and other sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510089076.0A CN104674654B (en) | 2015-02-27 | 2015-02-27 | A kind of robot capable of crawling cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510089076.0A CN104674654B (en) | 2015-02-27 | 2015-02-27 | A kind of robot capable of crawling cable |
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| Publication Number | Publication Date |
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| CN104674654A CN104674654A (en) | 2015-06-03 |
| CN104674654B true CN104674654B (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510089076.0A Expired - Fee Related CN104674654B (en) | 2015-02-27 | 2015-02-27 | A kind of robot capable of crawling cable |
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| CN (1) | CN104674654B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752894B (en) * | 2016-03-23 | 2018-05-22 | 姚超 | Suspension bridge main cable self-climbing maintenance platform trolley |
| CN105908624B (en) * | 2016-06-15 | 2018-01-09 | 广西交通科学研究院 | A kind of portable robot for being used to detect Character of Cable Force of Cable stayed Bridge |
| CN106223198B (en) * | 2016-08-31 | 2018-02-06 | 天津大学 | A kind of full visual angle detection means of bridge superstructure |
| CN106937856A (en) * | 2017-04-01 | 2017-07-11 | 王济龙 | A kind of band plugs in the robot of address card |
| CN108086150B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Cable detection robot |
| CN108438074A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism that chops at a tree of working at height |
| CN112982154A (en) * | 2021-02-03 | 2021-06-18 | 中铁大桥局集团有限公司 | Stay cable detection robot |
| CN113529572B (en) * | 2021-07-12 | 2022-04-05 | 长沙理工大学 | Cable crawling equipment and cable clamp position marking device constructed by same |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10118964A (en) * | 1996-10-16 | 1998-05-12 | Kajima Corp | Maintenance robot |
| CN101906752B (en) * | 2009-06-03 | 2012-11-21 | 柳州欧维姆机械股份有限公司 | Automatic climbing mechanism for track inhaul cable and control system thereof |
| CN201901846U (en) * | 2010-11-03 | 2011-07-20 | 江苏法尔胜材料分析测试有限公司 | Rope climbing robot |
| CN202543797U (en) * | 2012-04-01 | 2012-11-21 | 宁波市公路管理局 | Cable climbing robot |
| CN103692436B (en) * | 2013-12-20 | 2016-05-04 | 马鞍山市力翔机械自动化科技有限公司 | Climb cable robot |
| CN104153294B (en) * | 2014-04-15 | 2016-01-06 | 宁波职业技术学院 | Climb cable robot |
| CN204530472U (en) * | 2015-02-27 | 2015-08-05 | 西南交通大学 | Robot capable of crawling cable |
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2015
- 2015-02-27 CN CN201510089076.0A patent/CN104674654B/en not_active Expired - Fee Related
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| CN104674654A (en) | 2015-06-03 |
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