CN105297623B - Rotation-controlled high altitude cable robot climbing mechanism - Google Patents
Rotation-controlled high altitude cable robot climbing mechanism Download PDFInfo
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- CN105297623B CN105297623B CN201510726052.1A CN201510726052A CN105297623B CN 105297623 B CN105297623 B CN 105297623B CN 201510726052 A CN201510726052 A CN 201510726052A CN 105297623 B CN105297623 B CN 105297623B
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- roller
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- climbing device
- robot climbing
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Abstract
The invention discloses a rotation-controlled high altitude cable robot climbing mechanism. The rotation-controlled high altitude cable robot climbing mechanism comprises three driving components and obstacle sensing devices, wherein the obstacle sensing devices are fixedly arranged at the tops and/or bottoms of the three driving components; each driving component comprises two rollers; the two rollers in each driving component are driving wheels; each roller is conical; one side, in contact with a cable, of each roller, is provided with a roller frame; and a plurality of rolling columns are uniformly arranged in a circumferential direction of each roller frame. After the structure is adopted, a robot climbs when rotating in the same direction; the robot does not climb and rotates around the center of the cable at an angular velocity in a controllable way when rotating in a reverse direction. In addition, during climbing cables with different outer diameters, the posture of the mechanism is invariable, can keep constant spring force, can adapt to different cable diameters and shows strong obstacle crossing capacity. Meanwhile, the rotation-controlled high altitude cable robot climbing mechanism disclosed by the invention has the advantages of small part number, compact structure, light weight and convenient control and mounting.
Description
Technical field
The present invention relates to a kind of cable-stayed bridge cable detects robot, specifically, it is to be related to one kind to be used for long-span cablestayed bridges
Drag-line or other high-altitude class, the robot of power transmission line class formation fault detect, particularly a kind of overhead calbe of rotary steerable
Robot climbing device.
Background technology
The robot of prior art is all that rotary freedom is uncontrollable, therefore can not complete whole external cylindrical surface detection.
In addition, existing robot mostly complex structure, greatly, climbing ability is not strong, and obstacle climbing ability is not also strong for weight；Adapt to not
With adjustment trouble during caliber, such as when caliber is different, the attitude of mechanism is different, and the extended length of spring is different, for ensureing roller
Thrust is constant, needs often to change spring, and adjustment is fairly cumbersome.
In addition, cable is due to life-time service, bad environments, often breakage in surface protecting layer, leads to inner wire to break
Open and stick up.Climbing robot is easily tangled when through these obstacles, is forced to rest on overhead calbe it is impossible to success
Return to ground.And climbing robot rests on overhead calbe, inherently danger close.
Content of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, and provides a kind of compact conformation, weight
Amount is light, controls easy for installation, and load capacity is strong, and caliber adaptability is good, the overhead calbe machine of the strong rotary steerable of obstacle climbing ability
People's climbing device.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of overhead calbe robot climbing device of rotary steerable, including three drive components of setting triangular in shape,
Three drive components are respectively as follows: the first drive component, the second drive component and the 3rd drive component；Each drive component all includes
Two rollers, each roller all can be with cable surface compression fit；Two rollers in each drive component are driving wheel, energy
In the same direction or rotate backward；Each roller is all tapered, and the side that each roller is contacted with cable is provided with turning rolls, each
Turning rolls is along the circumferential direction evenly arranged with several rollers.
Two rollers in described first drive component are separately positioned on two blocks of vertical supporting plates；Second drive component and
Two rollers being located at homonymy in 3rd drive component are separately positioned on one block of cross-brace plate；The bottom of every block of vertical supporting plate
Portion is hinged with the middle part of cross-brace plate.
Two blocks of described cross-brace plates are parallel to each other, and are connected by least support bar.
Two blocks of described vertical supporting plates are arranged in parallel, and are connected by least support bar.
The taper bus of roller is straight line or camber line.
Roller yawing moment on roller described in both sides is contrary.
Also include obstacle induction installation, obstacle induction installation is fixedly installed on top and/or the bottom of three drive components.
Described obstacle induction installation includes at least two inductive switches, and each inductive switch all includes probe and switch body,
Every probe includes one section of arcuate probe and at least one needle-valve, and one end of needle-valve is fixedly connected with arcuate probe, needle-valve another
One end and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection；At least two sections arcs are visited
Head is coaxially disposed, and can enclose one circulus of formation.
Several spherical point contacts are all coaxially arranged with every described needle-valve, switch is provided with and spherical point contacts quantity in vivo
Equal ball-and-socket；The volume of ball-and-socket is more than the volume of spherical point contacts, when spherical point contacts are contacted with ball-and-socket any point, all can touch
The conducting of switch body breaker in middle amount signal.
Described switch body includes inductive switch contiguous block and is coaxially fixedly installed on two of inductive switch contiguous block two ends
Elastic connection block, ball-and-socket is co-axially located in inductive switch contiguous block, and needle-valve is fixedly connected with elastic connection block, and each elasticity is even
Connect and in block, be provided with elastic deformation cavity.
After the present invention adopts said structure, there are following Advantageous Effects:
1. two rollers in each drive component above-mentioned are driving wheel, can in the same direction or rotate backward.Therefore, when in the same direction
During rotation, robot climbs；When turned reversely, robot does not climb, and around the rotation of cable center angular velocity, rotary steerable, leads to
Crossing to two side wheel rotating speeds and the control turning to change, thus realizing two superpositions moved climbed and rotate, and then realizing
The detection of whole external cylindrical surface, detection is more complete and comprehensive, has great importance.Meanwhile, number of parts is few, compact conformation,
Lightweight, control easy for installation.
2. to be suitable for ability strong for caliber: adapts to different pipes by the spacing adjusting two rollers in each drive component
Footpath, in the adjustable range of mechanism, cable and roller center distance keep constant.Climb various outer diameter cable when, mechanism
Attitude is constant, can keep the invariable of spring force, and this point is particularly important for stably climbing.
3. obstacle climbing ability is strong: when cable surface protecting layer occurs damaged, such as inner wire disconnects when tilting it is easy to by machine
Device people tangles so as to rest on high-altitude can not return to ground.In the application, in each drive component, two rollers are provided separately,
Centre is not directly connected to, reserve very big space between two corresponding rollers, and this space is beneficial to across sticking up
Steel wire, and the obstacle such as the steel wire that sticks up of pair of rollers, also have rolling effect, will not be tangled, can smoothly return to ground.
4. the setting of above-mentioned obstacle induction installation, can cover the whole excircle of cable, and cable external cylindrical surface can be carried out
360 ° all-round to fault detect, detection no dead angle.Meanwhile, inductive switch encounter the obstacle of any shape all can be by delicately
Triggering, produces alarm switch amount signal.And overall structure is compact, reliable, lightweight, be conducive to work high above the ground.
Brief description
Fig. 1 shows a kind of structural representation of the overhead calbe robot climbing device of rotary steerable of the present invention；
Fig. 2 shows the structural representation of two blocks of cross-brace plates and its annexation；
Fig. 3 shows the structural representation of two blocks of vertical supporting plates and its annexation；
Fig. 4 shows the structural representation of roller；
Fig. 5 shows the structural representation of the turning rolls being provided with roller；
Fig. 6 shows the hinged structural representation of roller and turning rolls；
Fig. 7 shows structural representation during roller obstacle detouring；
Fig. 8 shows overhead calbe robot of the present invention climbing device obstacle climbing ability analysis schematic diagram；
Fig. 9 shows the structural representation of the overhead calbe robot climbing device being provided with obstacle induction installation；
Figure 10 shows the structural representation of obstacle induction installation；
Figure 11 shows the structural representation of inductive switch；
Figure 12 shows the cross-sectional view of inductive switch；
Structural representation when Figure 13 shows that two side wheel rotating in same directions climb；
Figure 14 shows that two side wheels rotate backward structural representation during rotation；
Figure 15 shows structural representation during cable face of cylinder detection in prior art；
Figure 16 shows structural representation during cable periphery detection in the application.
Wherein have:
1. the first drive component；11. vertical supporting plates；
2. the second drive component；21. cross-brace plates；
3. the 3rd drive component；
4. roller；41. turning rolls；42. rollers；
5. support bar；
6. obstacle induction installation；
61. arcuate probe；62. needle-valves；621. arc shaped contact；63. inductive switch contiguous blocks；631. ball-and-socket；64. elasticity are even
Connect block；641. elastic deformation cavitys；65. supports；
7. tilt steel wire.
Specific embodiment
The present invention is further detailed explanation with concrete better embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1 and Fig. 9, a kind of overhead calbe robot climbing device of rotary steerable, including three drive components
With obstacle induction installation 6, also dependent on being actually needed, it is not provided with obstacle induction installation 6.
The setting triangular in shape of three drive components, three drive components are respectively as follows: the first drive component 1, the second driving group
Part 2 and the 3rd drive component 3.
Each drive component all includes two rollers 4, and each roller 4 all can be with cable surface compression fit.Preferably, pass through
Spring makes roller compression on cable surface, and spring provides the internal force of whole climbing device.
Two rollers 4 in above-mentioned first drive component 1 are separately positioned on two blocks of vertical supporting plates 11.As shown in figure 3,
Two blocks of vertical supporting plates 11 are preferably parallel to each other setting, and are connected by least one support bar 5.
Two rollers 4 being located at homonymy in second drive component 2 and the 3rd drive component 3 are separately positioned on one piece horizontal
On fagging 21.As shown in Fig. 2 arranged in parallel between two blocks of cross-brace plates 21, and it is connected by least one support bar 5
Connect, preferably two.
The two ends of above-mentioned every support bar 5 can be hinged or solid with vertical supporting plate 11 or cross-brace plate 2
Fixed connection.
The bottom of every block of vertical supporting plate 11 is hinged with the middle part of corresponding cross-brace plate 21, certainly, also can the company of fixation
Connect.
In addition, the support bar 5 in each drive component all can be coaxially disposed with two rollers.Now, every support bar 5
Two ends be hinged with corresponding roller 4 respectively.That is, support bar 5 do not affect two rollers in drive component in the same direction or instead
To rotation.
Further, each roller 4 is all preferably tapered, and the taper bus of roller is straight line or camber line.
As shown in Figure 4, Figure 5 and Figure 6, the side that each roller 4 is contacted with cable is provided with turning rolls 41, each rolling
Wheel carrier 41 is along the circumferential direction evenly arranged with several rollers 42.Each roller 42 is preferably hinged with turning rolls 41.
In addition, in Fig. 4 and Fig. 5, a is the angle of two rollers 42 on diagram perspective plane, the folder that b by the roller conical surface is in
Angle, c is the angle on diagram perspective plane between roller 42 and turning rolls radial direction.
Roller yawing moment on two side wheels is contrary, and deflection angle can be the same or different.
Two rollers 4 in each drive component are driving wheel, can in the same direction or rotate backward.
As shown in figure 13, two side wheels drive in the same direction at the same speed, and roller counter roller frame now is static, then robot realizes
Speed v is climbed.
As shown in figure 14, the reverse constant speed of two side wheels, now left and right sides roller counter roller frame angular velocity rotation, machine
People does not climb, around the rotation of cable center angular velocity.
In figure, ω 0 is the velocity of rotation that robot is with respect to cable, and ω 1 is the rotating speed of turning rolls, and ω 2 is that roller is relative
In the rotating speed of turning rolls, v is climbing speed.
As shown in figure 15, prior art (even if joining multiple probes), uncontrollable due to rotating, therefore only enable straight line
Detection.
As shown in figure 16, and the present invention, due to rotary steerable, is capable of the detection of whole external cylindrical surface.Sidewinder by two
Wheel speed, with the change turning to, it is possible to achieve the superposition of two motions climbed and rotate, and then realizes whole external cylindrical surface
Detection, detection is more complete and comprehensive, has great importance.
In addition, cable surface protecting layer occurs damaged, having inner wire when serious can disconnect, and stick up it is easy to
Robot is tangled so as to rest on high-altitude can not return to ground.
In the application, left and right sides roller is provided separately, and middle nothing is connected with each other, and reserves very big sky between two rollers
Between, this space can be used for passing through of obstacle.
As shown in Figure 7 and Figure 8, in addition to 4 points with roller contact, there is distance apart from frame and be in above-below direction with cable
The space of " h ", there is the space for " w " for the distance in left and right directions and frame, be easy to across tilting steel wire 7, and roller encounters tilting
During steel wire 7 grade obstacle, then there is rolling effect, typically will not be tangled, so this case technical scheme is not in be tilted steel wire
The problem tangling, can smoothly return to ground.
Above-mentioned obstacle induction installation 6 can be fixedly installed on the top of three drive components, may also be arranged on three drivings
The bottom of assembly, also can be simultaneously located at top and the bottom of three drive components.
As shown in Figure 10, Figure 11 and Figure 12, obstacle induction installation 6 includes at least two inductive switches and a support, sense
The quantity of inductive switch is preferably three.
Support includes annulus and several connectors along the circumferentially fixed setting of annulus, and inductive switch is preferably fixed to annulus
On.The other end of connector is fixed on climbing robot.
Each inductive switch all includes probe and switch body.
Probe has the following two kinds preferred embodiment.
Embodiment 1: every probe includes one section of arcuate probe and a needle-valve.
Embodiment 2: every probe includes one section of arcuate probe and two needle-valves arranged in parallel.
As replacement, the quantity of needle-valve can also be 3 or more than 3, all within the protection domain of the application.
One end of above-mentioned every needle-valve is fixedly connected with arcuate probe, and the preferably top of needle-valve is solid with the middle part of arcuate probe
Fixed connection.
The other end of needle-valve and switch body floating connection, needle-valve energy touch switch body breaker in middle amount signal lead through and off
Open.
Above-mentioned arcuate probe is all coaxially disposed, and can enclose one circulus of formation.Preferably, the head and the tail phase of arcuate probe
Mutually splice, form an annulus.As replacement, between the head and the tail of arcuate probe, also can be only no splicing relation close to each other, or
Person's arcuate probe decentraction is arranged, but is coaxially disposed, and has coincidence etc., also all in the protection of the application between the head and the tail of arcuate probe
Within the scope of.
Arcuate probe encloses the circulus of formation, can cover the whole excircle of cable, and cable external cylindrical surface can be carried out
360 ° all-round to fault detect, detection no dead angle.
Several spherical point contacts are all coaxially arranged with every needle-valve, preferably two.
Switch body includes inductive switch contiguous block and two elasticity being coaxially fixedly installed on inductive switch contiguous block two ends
Contiguous block.Preferably it is provided with elastic deformation cavity in each elastic connection block.
It is coaxially arranged with the ball-and-socket equal with spherical point contacts quantity in inductive switch contiguous block；The volume of ball-and-socket is more than spherical
The volume of contact.Therefore, when inductive switch does not touch obstacle, spherical point contacts can be located at ball-and-socket center, and not with ball
Socket and spigot joint touches.
When spherical point contacts are contacted with ball-and-socket any point, the conducting of equal energy touch switch body breaker in middle amount signal.
Above-mentioned needle-valve is fixedly connected with elastic connection block, and the elasticity that can be floated between needle-valve and inductive switch contiguous block is propped up
Hold connection, enable the motion of 6 degree of freedom in space under the elastic bearing effect of elastic connection block, this guarantees probe and exist
When optional position touches the obstacle of arbitrary shape, spherical point contacts can be connected with inductive switch with any attitude at an arbitrary position
Ball-and-socket contact within block, produces on-off model.
The preferred embodiment of the present invention described in detail above, but, the present invention is not limited in above-mentioned embodiment
Detail, in the range of the technology design of the present invention, multiple equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
Claims (10)
1. the overhead calbe robot climbing device of a kind of rotary steerable, including three drive components of setting triangular in shape, three
Individual drive component is respectively as follows: the first drive component, the second drive component and the 3rd drive component；Each drive component all includes two
Individual roller, each roller all can be with cable surface compression fit；It is characterized in that: two rollers in each drive component are
Driving wheel, can in the same direction or rotate backward；Each roller is all tapered, and the side that each roller is contacted with cable is provided with rolling
Wheel carrier, each turning rolls is along the circumferential direction evenly arranged with several rollers.
2. rotary steerable according to claim 1 overhead calbe robot climbing device it is characterised in that: described first
Two rollers in drive component are separately positioned on two blocks of vertical supporting plates；Second drive component and the 3rd drive component middle position
Two rollers in homonymy are separately positioned on one block of cross-brace plate；The bottom of every block of vertical supporting plate and cross-brace plate
Middle part is hinged.
3. rotary steerable according to claim 2 overhead calbe robot climbing device it is characterised in that: described in two pieces
Cross-brace plate is parallel to each other, and is connected by least support bar.
4. rotary steerable according to claim 2 overhead calbe robot climbing device it is characterised in that: described in two pieces
Vertical supporting plate is arranged in parallel, and is connected by least support bar.
5. rotary steerable according to claim 1 overhead calbe robot climbing device it is characterised in that: described in each
The taper bus of roller is straight line or camber line.
6. rotary steerable according to claim 1 overhead calbe robot climbing device it is characterised in that: described in both sides
Roller yawing moment on roller is contrary.
7. rotary steerable according to claim 1 overhead calbe robot climbing device it is characterised in that: also include hinder
Hinder induction installation, obstacle induction installation is fixedly installed on top and/or the bottom of three drive components.
8. rotary steerable according to claim 7 overhead calbe robot climbing device it is characterised in that: described obstacle
Induction installation includes at least two inductive switches, and each inductive switch all includes probe and switch body, and every probe includes one section
Arcuate probe and at least one needle-valve, one end of needle-valve is fixedly connected with arcuate probe, and the other end of needle-valve is floated with switch body
Connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection；At least two sections arcuate probe are coaxially disposed, and can enclose
Close and form a circulus.
9. rotary steerable according to claim 8 overhead calbe robot climbing device it is characterised in that: described in every
Several spherical point contacts are all coaxially arranged with needle-valve, switch is provided with the ball-and-socket equal with spherical point contacts quantity in vivo；Ball-and-socket
Volume be more than the volume of spherical point contacts, when spherical point contacts contacts with ball-and-socket any point, equal energy touch switch body breaker in middle amount
The conducting of signal.
10. rotary steerable according to claim 9 overhead calbe robot climbing device it is characterised in that: described open
Close body and include inductive switch contiguous block and two elastic connection blocks being coaxially fixedly installed on inductive switch contiguous block two ends, ball-and-socket
It is co-axially located in inductive switch contiguous block, needle-valve is fixedly connected with elastic connection block, be provided with each elastic connection block
Elastic deformation cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510726052.1A CN105297623B (en) | 2015-10-29 | 2015-10-29 | Rotation-controlled high altitude cable robot climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510726052.1A CN105297623B (en) | 2015-10-29 | 2015-10-29 | Rotation-controlled high altitude cable robot climbing mechanism |
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| Publication Number | Publication Date |
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| CN105297623A CN105297623A (en) | 2016-02-03 |
| CN105297623B true CN105297623B (en) | 2017-02-01 |
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| CN201510726052.1A Active CN105297623B (en) | 2015-10-29 | 2015-10-29 | Rotation-controlled high altitude cable robot climbing mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106930185B (en) * | 2017-03-30 | 2019-10-01 | 同济大学 | A kind of robot creeped for Character of Cable Force of Cable stayed Bridge |
| CN108086150B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Cable detection robot |
| CN109629414B (en) * | 2019-01-31 | 2020-10-09 | 李咏琪 | Bridge sling crawling device |
| CN113665697B (en) * | 2021-08-23 | 2022-07-26 | 上海建冶科技股份有限公司 | Automatic climbing detection device for cable |
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|---|---|---|---|---|
| JP2002038417A (en) * | 2000-07-27 | 2002-02-06 | Kajima Corp | Self-propelled cable snow removal robot |
| CN201648963U (en) * | 2010-03-18 | 2010-11-24 | 袁柯铭 | Continuous mobile cable robot creeping device |
| CN102621159A (en) * | 2012-04-24 | 2012-08-01 | 重庆大学 | Cable sheath breakage detection device and integrated detection system |
| CN104372737A (en) * | 2014-11-10 | 2015-02-25 | 南京邮电大学 | Detecting robot for cables of cable-stayed bridges |
| KR20150061262A (en) * | 2013-11-27 | 2015-06-04 | 세종대학교산학협력단 | Apparatus for Defect Detection in Cable of Bridges |
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2015
- 2015-10-29 CN CN201510726052.1A patent/CN105297623B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002038417A (en) * | 2000-07-27 | 2002-02-06 | Kajima Corp | Self-propelled cable snow removal robot |
| CN201648963U (en) * | 2010-03-18 | 2010-11-24 | 袁柯铭 | Continuous mobile cable robot creeping device |
| CN102621159A (en) * | 2012-04-24 | 2012-08-01 | 重庆大学 | Cable sheath breakage detection device and integrated detection system |
| KR20150061262A (en) * | 2013-11-27 | 2015-06-04 | 세종대학교산학협력단 | Apparatus for Defect Detection in Cable of Bridges |
| CN104372737A (en) * | 2014-11-10 | 2015-02-25 | 南京邮电大学 | Detecting robot for cables of cable-stayed bridges |
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