CN104894957A - Regulable climbing device with deviation prevention function for detecting defect of bridge guy cable - Google Patents
Regulable climbing device with deviation prevention function for detecting defect of bridge guy cable Download PDFInfo
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- CN104894957A CN104894957A CN201410074596.XA CN201410074596A CN104894957A CN 104894957 A CN104894957 A CN 104894957A CN 201410074596 A CN201410074596 A CN 201410074596A CN 104894957 A CN104894957 A CN 104894957A
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Abstract
The invention relates to a regulable climbing device with a deviation prevention function for detecting a defect of a bridge guy cable. The regulable climbing device comprises a body frame, a regulable pressing component, a regulable deviation prevention component, a gravitational potential energy consumption component and a driving and braking component, wherein the body frame is a cuboid and consists of a fixing frame and a regulable frame, and the fixing frame and the regulable frame which are connected through bolts; the regulable pressing component comprises the regulable frame, sliding blocks, regulating screw rods, compression springs and pressing nuts; the regulable deviation prevention component comprises deviation prevention rods, deviation prevention frames, deviation prevention wheels, stretching springs and extension springs; the gravitational potential energy depletion component comprises a one-way clutch, a crank, a connecting rod and an air cylinder; the driving and braking component comprises a direct current motor, a bevel gear pair and an electromagnetic brake. The regulable climbing device disclosed by the invention can climb along the bridge guy cable and detect the defect, the regulable climbing device with the deviation prevention function can be suitable for bridge guy cables with different diameters and provide accurate information of the quality and the defects of the guy cable for maintaining a bridge, so that the safe operation of the bridge is ensured, and larger social and economic benefits can be created.
Description
Technical field
The present invention relates to a kind of device for bridge cable defects detection, be specifically related to the adjustable climbing device of the anti-bias function of a kind of band for bridge cable defects detection, belong to robotics.
Background technology
Cable stayed bridge is the novel bridge risen over nearly 40 years, because it has larger span and good economic performance, is widely used in countries in the world.Drag-line is one of main components of cable stayed bridge, and the quality problems of drag-line are related to the application life of whole cable stayed bridge and the security performance of bridge.Cable defect detecting robot can creep along drag-line automatically, and the intelligent machine device that the optional position resting on drag-line is detected the surface of drag-line and internal flaw.Safe and reliable and the climbing device with stable climbing ability is the basis of bridge cable defects detection machine people, and existing guy cable climbing mechanism exists the deficiency of following technology:
Have four-wheel-type, six wheeled climbing running gears at present, the reliability and stability in the process of climbing are poor, and four-wheel-type climbs when high-altitude, easily there is deviation phenomenon, stuck on drag-line, although have employed anti-bias wheel, but after robot deflection, cause the driving moment of robot not enough.Although six is wheeled stable slightly good, three motors are adopted to drive, because three motors are difficult to accomplish that synchronously climbing device often occurs screw, even stuck on drag-line, cannot reliably detect.
Summary of the invention
The object of the present invention is to provide a kind of 12 wheeled climbing devices of bridge cable defects detection, this climbing device can be reliable and stable be parked in drag-line optional position and detect, this device is with anti-bias mechanism, light structure, climb stable, climbing ability by force, automatically adjustable, the drag-line that can be suitable for different-diameter carries out testing, and continuous operation ability is strong.
The technical scheme solved the problems of the technologies described above is: a kind of 12 wheeled drag-line automatic climbing devices, and selects light-weighted material to manufacture the component of climbing device.This device comprises body frame, adjustablely to hold down assembly, anti-bias assembly, gravitional force consumable components, drive brake assemblies.
Described body frame is cuboid, is made up of fixed mount and adjustable frame, and four V-type wheels are upper and lower two groups of both sides being distributed in drag-line, and wherein one group is fixing, and one group is adjustable, and body frame is with bolts.
Described adjustable holding down assembly comprises adjustable frame, sliding shoe, adjusting screw(rod), Compress Spring, adjusting nut, sliding shoe is arranged in the sliding tray of adjustable frame, adjusting screw(rod) is arranged on sliding shoe, Compress Spring is enclosed within adjusting screw(rod), regulate adjusting nut can regulate arbitrarily the decrement of Compress Spring, thus ensure that the pressing force of the spring climbed required for different-diameter drag-line, when running into obstacle, Compress Spring can carry out certain compression, makes climbing device have stronger obstacle climbing ability.
Described anti-bias assembly, comprises anti-side spin, anti-bias frame, anti-biasly to take turns, extension spring.Anti-bias frame is connected by screw on body cuboid framework, anti-bias wheel is connected on anti-side spin, by regulating the extension spring be arranged between anti-side spin and anti-bias frame, ensure that anti-bias wheel can be fitted with drag-line surface when drag-line diameter changes, and the enclasping force preventing climbing device deflection from needing can be provided.
Described gravitional force consumable components, comprises one-way clutch, crank, connecting rod, cylinder.One-way clutch is connected on brake axle, and crank is connected by pin with connecting rod, and connecting rod connects cylinder rod.Be equivalent to a slider-crank mechanism, when climbing, due to the one-way function of one-way clutch, slider-crank mechanism does not move.When climbing device falls, one-way clutch rotates, and slider-crank mechanism moves, and cylinder back and forth compressed air to do work consumes gravitional force time climbing device declines.
Described dynamic braking assembly, comprises direct current generator, bevel gear to, electromagnetic brake.Direct current generator is arranged in body frame, is delivered on driving wheel by bevel gear to driving force, and electromagnetic brake is installed in body frame, and climbing device can be made to rest on optional position on drag-line and detect.
Owing to adopting said mechanism, 12 wheeled climbing devices of the present invention are compared with existing wheeled climbing device, there is the stability and reliability that improve climbing device, and automatically can be suitable for climbing of different drag-line diameter, realize step-less adjustment, the continuous operation ability in high-altitude waits following good effect by force simultaneously.
1, the employing 12 of this climbing device is wheeled, and the thrust that each wheel is provided by spring makes it to be pressed on drag-line, and have employed symmetrical expression distribution, greatly increases stability and the reliability of climbing device, and improves the load capacity of climbing device.
2, climbing device has been installed electromagnetic brake, climbing device can have been made can to rest on optional position on drag-line, and drag-line is detected.This climbing device adopts single motor to drive simultaneously, avoids and drives nonsynchronous problem; Meanwhile, power transmission only adopts bevel-gear sett, and transmission efficiency is high, power saving.
3, adjustable hold down gag be by sliding shoe at the anti-deflection device of sliding tray slide inside and adjustable angle to adapt to the drag-line of different-diameter, and can step-less adjustment be realized.
4, the way of recycling of climbing device, utilize cylinders compressing air to do work and consume the gravitional force of climbing device decline and brake, like this can disable motor, because the gravitional force of self that can utilize of climbing device reclaims, not only save electric energy, and improve the high-altitude continuous operation ability of climbing device.
Accompanying drawing explanation
Fig. 1 be climbing device of the present invention climb drag-line time top view;
Fig. 2 be climbing device of the present invention climb drag-line time left view.
Detailed description of the invention
For an anti-bias adjustable climbing device for bridge cable defects detection, as shown in Figure 1 and Figure 2, comprise body frame, adjustablely to hold down assembly, anti-bias assembly, gravitional force consumable components, drive brake assemblies.
Described body frame is cuboid (as Fig. 1), be bolted by fixed mount 1 and adjustable frame 11 and form, four V-type wheel 4(Fig. 1) both sides of drag-line are distributed in upper and lower two groups, wherein one group is fixing, one group is adjustable, anti-bias take turns 5 under the effect of extension spring 18 (Fig. 2) be fitted on drag-line 9.
Described adjustable hold down assembly (as Fig. 2) comprises adjustable frame 11(Fig. 1), sliding shoe 12, adjusting screw(rod) 13, Compress Spring 14, adjusting nut 15, sliding shoe 12 is arranged in the sliding tray of adjustable frame, adjusting screw(rod) 13 is arranged on sliding shoe 12, Compress Spring 14 is enclosed within adjusting screw(rod) 13, adjusting nut 15 can regulate arbitrarily the crush of Compress Spring 14 on adjusting screw(rod) 13, V shaped wheel 4(Fig. 1 is given by sliding shoe 12) add certain precompression, to be suitable for the detection of different-diameter drag-line.
Described adjustable deviation prevention device (as Fig. 2), comprises anti-side spin 3, anti-bias frame 10, anti-biasly takes turns 5, extension spring 18.Anti-bias frame 10 is connected by screw on body cuboid framework, and anti-side spin 3 is connected with pin with anti-bias frame 10, and the angle of anti-deflection device can be adjustable to adapt to different drag-line diameters within the specific limits.Anti-biasly take turns 5 and be arranged on anti-side spin 3, regulate the extension spring 18 be connected between anti-side spin 3 and anti-bias frame 10, the enclasping force of anti-deflection device can be provided.According to different drag-line diameters, then select suitable extension spring 18, regulate the nut in extension spring 17, obtain suitable enclasping force, prevent climbing device from the process of climbing, occurring deflection.
Described gravitional force consumer (as Fig. 1), comprises one-way clutch 7, crank 8, connecting rod, cylinder 6.One-way clutch 7 is connected on brake axle, and crank 8 is connected by pin with connecting rod, and connecting rod connects cylinder rod.Climbing device is when decline is reclaimed, and one-way clutch rotates, and drives cylinders compressing air acting.
Described power-absorption unit, comprises direct current generator 16(Fig. 2), bevel gear to 19, electromagnetic brake 2.Direct current generator 16 and electromagnetic brake 2 are arranged in body frame, are delivered on driving wheel by bevel gear to 19 driving forces, by controlling electromagnetic brake 2, robot can be made to rest on optional position on drag-line.
Claims (6)
1., for an adjustable climbing device for the anti-bias function of band of bridge cable defects detection, comprise body frame, adjustablely to hold down assembly, adjustable deviation prevention assembly, gravitional force consumable components, drive brake assemblies.Described body frame is cuboid, is made up of fixed mount and adjustable frame, and four V-type wheels are upper and lower two groups of both sides being distributed in drag-line, and wherein one group is fixing, and one group is adjustable, and body frame is with bolts; Described adjustable holding down assembly comprises adjustable frame, sliding shoe, adjusting screw(rod), Compress Spring, adjusting nut, and sliding shoe is arranged in the sliding tray of adjustable frame, and adjusting screw(rod) is arranged on sliding shoe; Described anti-bias assembly, comprises anti-side spin, anti-bias frame, anti-biasly to take turns, extension spring, and anti-bias frame is connected by screw on body cuboid framework, and anti-side spin is connected with anti-bias frame pin, and anti-bias wheel is connected on anti-side spin; Described gravitional force consumable components, comprises one-way clutch, crank, connecting rod, cylinder, and one-way clutch is connected on brake axle, and crank is connected by pin with connecting rod, and connecting rod connects cylinder rod.Described dynamic braking assembly, comprises direct current generator, bevel gear to, electromagnetic brake.Direct current generator and electromagnetic brake are arranged in body frame, and direct current generator is delivered on driving wheel driving force by bevel gear.
2. the adjustable climbing device of the anti-bias function of the band for bridge cable defects detection according to claim 1, it is characterized in that: for ensureing that climbing device can adapt to climbing of different drag-line diameter, one group of wheel of climbing device is that slip is adjustable, under the effect of Compress Spring, wheel not only can adapt to the drag-line of different-diameter and be close to drag-line surface, and can ensure the precompression that climbing device is required when climbing.
3. the adjustable climbing device of the anti-bias function of the band for bridge cable defects detection according to claim 1 and 2, it is characterized in that: in order to ensure the stability of climbing of climbing device, in the both sides up and down of climbing device main body frame, four groups of anti-bias assemblies are respectively installed, the angle of anti-side spin can be adjustable to adapt to different drag-line diameters within the specific limits, regulate the stretching extension spring of anti-bias assembly, anti-bias wheel can be made to be close to drag-line surface, to prevent from producing deflection in the process of climbing.
4. the adjustable climbing device of the anti-bias function of the band for bridge cable defects detection according to claim 1 and 2, is characterized in that: for ensureing the stability that climbing device drives, adopt single motor to drive.
5. the adjustable climbing device of the anti-bias function of the band for bridge cable defects detection according to claim 1 and 2, it is characterized in that: the optional position that can rest on drag-line for guarantee climbing device is detected, and climbing device is configured with the electromagnetic brake that 24V obtains electric braking.
6. the adjustable climbing device of the anti-bias function of the band for bridge cable defects detection according to claim 1, it is characterized in that: because drag-line detects belong to work high above the ground, in order to economize on electricity, climbing device is disable motor when declining, reclaim by device self gravitation, therefore by cylinders compressing air do work consume climbing device decline time kinetic energy, to ensure the steady recovery of climbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410074596.XA CN104894957B (en) | 2014-03-03 | 2014-03-03 | Anti-bias adjustable climbing device for bridge cable defects detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410074596.XA CN104894957B (en) | 2014-03-03 | 2014-03-03 | Anti-bias adjustable climbing device for bridge cable defects detection |
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| CN104894957A true CN104894957A (en) | 2015-09-09 |
| CN104894957B CN104894957B (en) | 2016-10-26 |
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| CN201410074596.XA Expired - Fee Related CN104894957B (en) | 2014-03-03 | 2014-03-03 | Anti-bias adjustable climbing device for bridge cable defects detection |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105908624A (en) * | 2016-06-15 | 2016-08-31 | 广西交通科学研究院 | Portable robot used for detecting cable-stayed bridge cable |
| CN107618823A (en) * | 2016-07-14 | 2018-01-23 | 电子科技大学 | A kind of timing belt pole climbing device |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN108116521A (en) * | 2017-12-15 | 2018-06-05 | 中国矿业大学 | A kind of defect in rope inspection mechanism |
| CN108532460A (en) * | 2018-05-17 | 2018-09-14 | 安徽工业大学 | A kind of catamaran type cable climbing robot |
| CN111305064A (en) * | 2020-03-25 | 2020-06-19 | 杭州瓦兴智能科技有限公司 | Bridge suspension cable ultrasonic detection robot |
| CN111365382A (en) * | 2020-03-17 | 2020-07-03 | 泉州市鑫鼎合德技术服务有限公司 | Integrative multi-functional formula rotary part middle part connecting device |
| CN111439641A (en) * | 2020-04-14 | 2020-07-24 | 张明庆 | Can save physical power's wiring arrangement for construction |
| CN112211097A (en) * | 2020-10-23 | 2021-01-12 | 上海同新机电控制技术有限公司 | Stay cable maintenance trolley |
| CN112254803A (en) * | 2020-06-24 | 2021-01-22 | 周金粮 | Suction control method for bridge inhaul cable detection robot |
| CN113618708A (en) * | 2021-09-06 | 2021-11-09 | 哈尔滨理工大学 | Similar planet rotary type maintenance robot suitable for multi-size inhaul cables |
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| DE20311395U1 (en) * | 2003-07-24 | 2003-10-30 | Boue Andreas | Remotely-controlled cable inspection platform rotates through roll plane for all-round cable inspection |
| CN200988488Y (en) * | 2006-12-12 | 2007-12-12 | 深圳市思韦尔检测科技有限公司 | Cable detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105908624A (en) * | 2016-06-15 | 2016-08-31 | 广西交通科学研究院 | Portable robot used for detecting cable-stayed bridge cable |
| 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 |
| CN107618823A (en) * | 2016-07-14 | 2018-01-23 | 电子科技大学 | A kind of timing belt pole climbing device |
| CN107618823B (en) * | 2016-07-14 | 2019-12-03 | 电子科技大学 | A kind of synchronous belt pole climbing device |
| CN108116521A (en) * | 2017-12-15 | 2018-06-05 | 中国矿业大学 | A kind of defect in rope inspection mechanism |
| CN108086150A (en) * | 2017-12-21 | 2018-05-29 | 香港中文大学（深圳） | A kind of cable detecting robot |
| CN108086150B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Cable detection robot |
| CN108532460A (en) * | 2018-05-17 | 2018-09-14 | 安徽工业大学 | A kind of catamaran type cable climbing robot |
| CN111365382A (en) * | 2020-03-17 | 2020-07-03 | 泉州市鑫鼎合德技术服务有限公司 | Integrative multi-functional formula rotary part middle part connecting device |
| CN111305064A (en) * | 2020-03-25 | 2020-06-19 | 杭州瓦兴智能科技有限公司 | Bridge suspension cable ultrasonic detection robot |
| CN111439641A (en) * | 2020-04-14 | 2020-07-24 | 张明庆 | Can save physical power's wiring arrangement for construction |
| CN111439641B (en) * | 2020-04-14 | 2021-08-20 | 华仁建设集团有限公司 | Can save physical power's wiring arrangement for construction |
| CN112254803A (en) * | 2020-06-24 | 2021-01-22 | 周金粮 | Suction control method for bridge inhaul cable detection robot |
| CN112211097A (en) * | 2020-10-23 | 2021-01-12 | 上海同新机电控制技术有限公司 | Stay cable maintenance trolley |
| CN113618708A (en) * | 2021-09-06 | 2021-11-09 | 哈尔滨理工大学 | Similar planet rotary type maintenance robot suitable for multi-size inhaul cables |
| CN113618708B (en) * | 2021-09-06 | 2023-12-22 | 哈尔滨理工大学 | Planetary-like rotary maintenance robot applicable to multi-size inhaul cables |
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