CN105346615B - A kind of enclosed overhead calbe climbing robot - Google Patents
A kind of enclosed overhead calbe climbing robot Download PDFInfo
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- CN105346615B CN105346615B CN201510726413.2A CN201510726413A CN105346615B CN 105346615 B CN105346615 B CN 105346615B CN 201510726413 A CN201510726413 A CN 201510726413A CN 105346615 B CN105346615 B CN 105346615B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a kind of enclosed overhead calbe climbing robot, including three roller groups, lateral support, the device of limiting the dropping speed and obstacle induction installation, lateral support is symmetricly set on the both sides of three roller groups, by three roller groups one enclosed constructions of formation.Each roller group includes at least one roller, and each roller group could act as drive wheel group.After said structure, whole mechanism is in a kind of elastic mechanism, is not individually to carry out resilient suspension to each wheel, therefore extremely advantageous to obstacle detouring.The device of limiting the dropping speed can realize the regulation to decrease speed, when robot climbs the cable of different angle, with more actual meaning.Fluid damping, compared with mechanical type friction is braked, heat endurance is good, is adapted to for a long time, brake over long distances, brake force will not decay.The size of brake force be able to will increase with the increase of decrease speed simultaneously, and decrease speed and brake force are the processes of a dynamic equilibrium, can realize at the uniform velocity or approximate uniform descent.
Description
Technical field
Robot is detected the present invention relates to a kind of cable-stayed bridge cable, is to be related to one kind to be used for long-span cablestayed bridges specifically
Drag-line or other high-altitude classes, the robot of power transmission line class formation fault detect, particularly a kind of enclosed overhead calbe climb machine
Device people.
Background technology
In the prior art, overhead calbe climbing robot generally uses four or multiple wheels, each wheel group conduct
One individually suspension, with more preferable flexibility, there is more preferable obstacle climbing ability, its general principle be mechanism be in itself it is rigid,
The suspended portion of wheel is only made elasticity.
However, above-mentioned many wheel overhead calbe climbing robots, with following deficiency：
1st, usual pendulum spring is shorter, when wheel runs into obstacle, even if the obstacle of very little can cause spring force larger
Change, it is totally unfavorable to obstacle detouring.
2nd, all it is separate between wheel, a driving turbine needs a motor；And wheel quantum count is more,
Be substantially using driving wheel, or a small number of driving wheels, and the obstacle climbing ability of driving wheel and driven pulley be can not on the same day and
Language, therefore, actual obstacle climbing ability is generally poor.In addition, for lifting climbing ability, the malleation of increase roller and cable hold
Power, mechanism internal force is very big, during actually climbing, and wheel damage is very serious, or even climbs one wheel is just damaged back and forth,
Also very big is influenceed on climbing ability.This is also that can not produce the basic reason place of practical application.
The content of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide one kind is climbed and obstacle detouring energy
Power is strong, and mechanism internal force is small, and roller is hardly damaged, and steadily of centre of gravity, the enclosed overhead calbe climbing robot for being difficult derailing.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of enclosed overhead calbe climbing robot, including three roller groups, two symmetrically arranged lateral supports and under
Lower limit speed variator, three roller group shapes triangular in shape are arranged at three end points of lateral support；Each lateral support is wrapped
One piece of cross connecting plate and one piece of vertical connecting plate being connected with cross connecting plate middle part are included, each roller group is included at least
One roller, each roller group could act as drive wheel group.
Two pieces of vertical connecting plates are connected by crossbeam, and two pieces of vertical connecting plates and crossbeam constitute one in H types
Suspension.
Also include holddown spring, one end of holddown spring is connected with crossbeam, and the other end of holddown spring passes through connecting rod
It is connected with cross connecting plate.
Each roller is in V-shape or cylinder.
When the roller is in V-shape, each roller includes two tapers of wheel shaft and coaxial package in wheel shaft periphery
Wheel, the taper bus of each taper cone pulley is straight line or camber line.
Each roller group includes by crawler belt being connected between two rollers, two rollers.
The device of limiting the dropping speed is connected with the axle stub of any one roller, and the device of limiting the dropping speed is included outside brake
Shell, brake rotor, centrifugation spring and centrifugal-block, wherein brake rotor, centrifugation spring and centrifugal-block are arranged at brake
In shell, centrifugal-block is hinged with brake rotor, and centrifugation spring is provided between centrifugal-block and brake rotor.
The device of limiting the dropping speed is connected with the axle stub of any one roller, the device of limiting the dropping speed include stator, impeller,
Holddown spring, fixed disk and ball valve, stator and fixed disk coaxial package are in the periphery of axle stub；The one of fixed disk adjacent stator
Side is peripherally disposed several taper valve cores；Stator is disposed with the hydraulic cavities being mutually communicated, inner side from inside to outside
Blind hole and outside blind hole；The impeller being sleeved in axle stub is provided with hydraulic cavities；Ball valve is provided with the blind hole of inner side；Outside
Blind hole is provided with the taper valve opening being engaged with taper valve core adjacent to one end of fixed disk.
Also include obstacle induction installation, obstacle induction installation is fixedly installed on the top and/or bottom of climbing device, obstacle
Induction installation includes at least two inductive switches, and each inductive switch includes probe and switch body, and every probe includes one section
Arcuate probe and at least one needle-valve, one end of needle-valve are fixedly connected with arcuate probe, and the other end and the switch body of needle-valve are floated
The conducting and disconnection of on-off model in connection, needle-valve energy touch switch body；At least two sections arcuate probes are coaxially disposed, and can be enclosed
Close and form a cyclic structure.
It is coaxially arranged with several spherical point contacts, switch body and is provided with and spherical point contacts quantity on the every needle-valve
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, can touch
The conducting of on-off model in switch body.
The present invention has the advantages that using after said structure：
1. obstacle climbing ability is strong：Above three roller group, and design triangular in shape, roller group are come to suspension or lateral support
Say, be rigid, and whole mechanism is in a kind of elastic mechanism, is not that resilient suspension is individually carried out to each wheel, therefore to more
Barrier is extremely advantageous；In addition, three roller groups could act as drive wheel group, therefore to the lifting of climbing ability and obstacle climbing ability extremely
Favorably, less, the service life for raising roller is extremely advantageous for the internal force of mechanism.
2. easy for installation, load capacity is strong：Above-mentioned two lateral support, due to being arranged in due to bilateral symmetry, is not present
Torsional deflection, in the absence of Rigidity, load capacity is stronger, and deformation is symmetrical, is not in derailing or falls security incident.And
And, position of centre of gravity centering, the cable at the angle of inclination that is conducive to climbing, meanwhile, shaft strength centering is hardly damaged.When reverse peace
During dress, mechanism can realize self-locking.
3. dynamic brake declines：By to taper valve opening（Namely damping hole）The regulation of opening degree, is realized to decrease speed
Regulation, when robot climbs the cable of different angle, with more actual meaning.Fluid damping, with mechanical type friction system
Dynamic to compare, heat endurance is good, is adapted to for a long time, brake over long distances, brake force will not decay.In addition, when using the first or the
During three kinds of the device of limiting the dropping speed, the size of brake force be able to will increase with the increase of decrease speed, and decrease speed and brake force are
The process of one dynamic equilibrium, can be realized at the uniform velocity or approximate uniform descent.
4. caliber is adaptable：Different calibers is adapted to by adjusting the spacing of two rollers, in the adjustable of mechanism
In whole scope, cable keeps constant with roller center distance.Climb various outer diameter cable when, the posture of mechanism is constant, Neng Goubao
The invariable of spring force is held, this point climbs particularly important for stabilization.
5. for climbing for helix, except requiring that robot there will be very strong obstacle climbing ability, also require that robot is climbed
Rising mechanism has good dynamics.Double side support in the application, dynamics is splendid, can resist bigger
Shock loading.Therefore impact resistance is stronger.
7th, it is simple in construction, it is lightweight, be conducive to work high above the ground：Both sides fixed mount is plane stress state, therefore is only
Simple plate part, simple and compact for structure, the structure of the especially part such as fixed mount of connecting rod is simpler, and overall weight is more
Gently, the easily processing of parts, manufacturing cost is also low.
8th, above-mentioned obstacle induction installation, can cover the whole excircle of cable, can be all-round to 360 ° of cable external cylindrical surface progress
To fault detect, detect without dead angle.Meanwhile, the obstacle that inductive switch encounters any shape can be triggered delicately, production
Raw alarm switch amount signal.It is reliably, lightweight and overall structure is compact, be conducive to work high above the ground.
Brief description of the drawings
Fig. 1 shows a kind of structural representation of enclosed overhead calbe climbing robot of the invention；
Fig. 2 shows the structural representation of suspension；
Fig. 3 shows the structural representation for the enclosed overhead calbe climbing robot for adding the device of limiting the dropping speed；
Fig. 4 shows the dimensional structure diagram of the first the device of limiting the dropping speed；
Fig. 5 shows Fig. 4 longitudinal sectional view；
Fig. 6 shows the dimensional structure diagram of brake rotor in Fig. 4；
Fig. 7 shows the dimensional structure diagram of centrifugal-block in Fig. 4；
Fig. 8 shows the structural representation of second of the device of limiting the dropping speed；
Fig. 9 shows the cross-sectional view of stator in Fig. 8；
Figure 10 shows the structural representation of the third the device of limiting the dropping speed；
Figure 11 shows showing for the enclosed overhead calbe climbing robot comprising the device of limiting the dropping speed and obstacle induction installation
It is intended to；
Figure 12 shows the dimensional structure diagram of obstacle induction installation；
Figure 13 shows the dimensional structure diagram of inductive switch；
Figure 14 shows the perspective cross section structural representation of inductive switch；
Figure 15 shows structural representation when roller surface is provided with striped；
Figure 16 shows structural representation when roller is detachable V-shape；
Figure 17 shows structural representation when each roller group includes two rollers；
Figure 18 shows the structural representation that suspension, taper cone pulley, motor are connected with holddown spring；
Figure 19 shows the structural representation that cross connecting plate, taper cone pulley and motor are connected；
Figure 20 shows first step installation steps when enclosed overhead calbe climbing robot is installed；
Figure 21 shows second step installation steps when enclosed overhead calbe climbing robot is installed；
Figure 22 shows the 3rd step installation steps when enclosed overhead calbe climbing robot is installed.
Wherein have：
1. suspension；11. vertical connecting plate；12. crossbeam；
2. vertical connecting plate；
3. roller；31. crawler belt；32. wheel shaft；33. taper cone pulley；34. striped；
4. the device of limiting the dropping speed；
41. suspension；42. speed increaser；43. brake rotor；44. centrifugal-block；45. centrifuge spring；46. brake shell；
51. fixed disk；511. taper valve core；512. adjustment bolt；52. stator；521. hydraulic cavities；522. inner side blind holes；
523. outside blind holes；53. impeller；54. holddown spring；55. taper valve opening；56. ball valve；57. rotor；571. tip chute；58.
Inertial mass；581. inclined plane；
6. obstacle induction installation；
61. arcuate probe；62. needle-valve；621. arc shaped contact；63. inductive switch contiguous block；631. ball-and-socket；64. elasticity is even
Connect block；641. elastic deformation cavitys；65. support；
7. connecting rod；
8. motor；
9. holddown spring.
Embodiment
The present invention is further detailed explanation with specific better embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1, Fig. 3 and Figure 11, a kind of enclosed overhead calbe climbing robot, including three roller groups, two it is right
Claim lateral support, holddown spring 9, the device of limiting the dropping speed 4 and the obstacle induction installation 6 set.The device of limiting the dropping speed 4 and obstacle sense
Device 6 is answered to be configured according to actual needs.
Three roller group shapes triangular in shape are arranged at three end points of lateral support.
As shown in Fig. 1, Figure 18 and Figure 19, each lateral support include one piece of cross connecting plate 2 and with cross connecting plate 2
One piece of vertical connecting plate 11 that middle part is connected.
Each roller group could act as drive wheel group, and each roller group is respectively connected with a motor 8.
Each roller group includes at least one roller 3.Each roller group preferably includes two rollers 3, two rollings
The periphery of wheel 3 is coated with crawler belt 31.Certainly, each roller group can also include 3 or multiple rollers 3.
The setting of above-mentioned multiple rollers, it is smaller that obstacle climbing ability is stronger, climbing ability is stronger, single roller bears pressure, has
Beneficial to raising fatigue life.
When roller 3 is in V-shape, as shown in figure 16, each roller 3 includes wheel shaft 32 and coaxial package outside wheel shaft 32
Two taper cone pulleies 33 in week, the taper bus of each taper cone pulley 33 is straight line or camber line, and the surface of taper cone pulley 33 is preferably provided with
Striped.
Above-mentioned taper cone pulley 33 can be dismounted, namely spacing of the taper cone pulley 33 on wheel shaft 32 is preferably able to regulation.Accordingly, it is capable to
It is enough to be applicable different cable external diameters by changing the spacing of both sides taper cone pulley, while the centre-to-centre spacing of cable and roller can be ensured not
Become.The direct benefit brought is exactly：Cable external diameter only adjusts two taper cone pulley spacing when changing, mechanism posture is kept not
Become, then the thrust of holddown spring can keep constant.
As shown in Fig. 2 two pieces of vertical connecting plates 11 are connected by crossbeam 12, two pieces of vertical connecting plates 11 and the structure of crossbeam 12
Into a suspension 1 in H types.
As shown in figure 3, one end of above-mentioned holddown spring 9 is connected with crossbeam 12, the other end of holddown spring 9 passes through connection
Bar 7 is connected with cross connecting plate 2.
Above three roller group is simultaneously as driving wheel, and preferred control method is as follows during obstacle detouring：
During normal climb, only one roller group is as drive wheel group, and when running into obstacle, and drive wheel group goes out on cable
Now skid, driven wheels stop operating, by encoder feedback, now control system is according to encoder feedback, to other drive
Dynamic motor sends driving instruction, and three roller groups drive, surmounted obstacles simultaneously.After obstacle is crossed, digital control system is according to coding
Device feedback signal, then climbed using single wheel drive mode.
Moreover, when multigroup roller obstacle detouring, the change for compressing its length in mechanism is caused also accordingly to reduce half,
Spring force is also more stable.When being unlikely to obstacle detouring, spring force change is excessive.
Each above-mentioned rollers 3 can be in V-shape, or cylinder.The surface of roller 3 can be smooth surface, it is preferable that roller
3 surface is provided with striped as shown in figure 15.
Above-mentioned the device of limiting the dropping speed 4 can be connected with the axle stub of any one roller 3.
The device of limiting the dropping speed 4 has following three kinds of preferred embodiments.
Embodiment 1
As shown in Figure 4, Figure 5, Figure 6 and Figure 7, the device of limiting the dropping speed include suspension 41, speed increaser 42, brake shell 46,
Brake rotor 43, centrifugation spring 45 and centrifugal-block 44.
Wherein brake rotor, centrifugation spring and centrifugal-block are arranged in brake shell, and centrifugal-block turns with brake
Son is hinged, and centrifugation spring is provided between centrifugal-block and brake rotor.
Fixed mount setting is sleeved in axle stub in the left side of speed increaser, and the left side of axle stub and speed increaser is defeated
Enter end to be fixedly connected, the output shaft end of speed increaser is fixedly connected with brake rotor.Wherein, speed increaser can be according to actual needs
It is configured, can have.
When rotating speed is low, inertia force is smaller, under spring force, and centrifugal-block is pressed on brake rotor, and braking is not played
Effect.As rotating speed increases, inertia force increase overcomes the constraint of spring force, centrifugal-block is outwards got rid of, and is pressed on brake shell,
Rotating speed more high pressure is bigger, plays a part of dynamic speed limit.
Embodiment 2
As shown in Figure 8 and Figure 9, the device of limiting the dropping speed includes stator 52, impeller 53, holddown spring 54, fixed disk 51, ball valve
56th, speed increaser 42 and adjustment bolt 512.Speed increaser can be configured according to actual needs, can not had.
Speed increaser 42, stator 52, fixed disk 51 and adjustment bolt 512 are sequentially coaxially sleeved on the periphery of axle stub 21.
The side of the adjacent stator 52 of fixed disk 51 is peripherally disposed several taper valve cores 511, preferably 2.
As shown in Figure 10, stator 52 is disposed with the hydraulic cavities 521 being mutually communicated, the and of inner side blind hole 522 from inside to outside
Outside blind hole 523；The impeller 53 being sleeved in axle stub 21 is provided with hydraulic cavities 521.Ball is provided with inner side blind hole 522
Valve 56.Outside blind hole 523 is provided with the taper valve opening 55 being engaged with taper valve core 511 adjacent to one end of fixed disk.
By to taper valve opening 55（Namely damping hole）The regulation of opening degree, realizes the regulation to decrease speed, works as machine
People climb different angle cable when, with more actual meaning.
Embodiment 3
As shown in figure 11, the device of limiting the dropping speed is in addition to all parts in including embodiment 2, in addition to rotor 57 and used
Property block 58.Rotor 57 is sleeved in the axle stub 21 on the right side of fixed disk 51.The left side of rotor is peripherally disposed to be had
An inertial mass 58 is provided with several tip chutes 571, each tip chute 571, each inertial mass 58 is respectively provided with one
The inclined plane 581 being engaged with tip chute 571.
When fluid flows through above-mentioned damping hole, resistance is produced, the size of resistance is related to the opening degree of damping hole.During rising,
Fluid flows to left side by inner side blind hole from the right side of steel ball, and damping hole does not work.During decline, inner side blind hole is by steel ball（Bullet
The effect of spring force）Block, fluid, by damping hole, is circulated, when fluid flows through damping hole to the right by outside blind hole from left side
Produce brake drag.
In the presence of holddown spring spring force, fixed disk promotes the left side section of inertial mass, is pressed on rotor and leans on
To center, the tip chute of inclined plane and rotor on the right side of inertial mass matches.When mandrel speed is improved, inertial mass due to
The effect of centrifugal force, can outwards " getting rid of ", and due to the presence of inclined plane, inertial mass can produce the motion of both direction：1st, outwards get rid of；
2nd, slip to the left.Motion to the left balances each other holddown spring " compression ", the now horizontal component of centrifugal force with spring force, with
The increase of speed, fixed disk can diminish to left movement, and then the opening degree of damping hole, and fluid flows through resistance meeting during damping hole
Become big.Realize decline brake force with the change of decrease speed dynamic change.
During climbing, fluid is circulated by steel ball to the left through inner side blind hole from right side, and any resistance is not produced.
During decline, the reversion of mandrel impeller, from left to right, spring compression steel ball shuts inner side blind hole to fluid.
Fluid is through outside blind hole, and fluid flows through damping hole, produces resistance, and decrease speed is faster, and damping hole opening degree is smaller, and resistance is got over
Greatly.
During decline, if speed continue increase, inertial mass centrifugal force horizontal component promotion under, fixed disk continue to
Left side is moved, and damping hole is shut.
After damping hole is shut, resistance moment increased dramatically, and decrease speed reduction, inertial mass centrifugal force horizontal component subtracts
Small, fixed disk is moved to right, and damping hole opening degree increase, resistance diminishes, and decrease speed increase, inertia force separation is increased, and damping hole is opened
Mouth degree reduces once again（Shut）, move in circles, realize dynamic adjustment, be finally reached constant speed decline.
Above-mentioned obstacle induction installation 6 can be fixedly installed on the top of climbing device, may also be arranged on the bottom of climbing device
Portion, the top and bottom of climbing device can be also arranged on simultaneously.
As shown in Figure 12, Figure 13 and Figure 14, 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 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, within the protection domain of the application.
One end of above-mentioned every needle-valve is fixedly connected with arcuate probe, and preferably the top of needle-valve and the middle part of arcuate probe are consolidated
Fixed connection.
On-off model leads through and off in the other end of needle-valve and switch body floating connection, needle-valve energy touch switch body
Open.
Above-mentioned arcuate probe is coaxially disposed, and can enclose to form a cyclic structure.It is preferred that, the head and the tail phase of arcuate probe
Mutually splicing, forms an annulus.Also can be only as replacement, between the head and the tail of arcuate probe it is close to each other without splicing relation, or
The decentraction of person's arcuate probe is set, but is coaxially disposed, and has coincidence etc. between the head and the tail of arcuate probe, also in the protection of the application
Within the scope of.
Arcuate probe encloses the cyclic structure to be formed, and can cover the whole excircle of cable, and cable external cylindrical surface can be carried out
360 ° it is all-round to fault detect, detect without dead angle.
Several spherical point contacts, preferably two are coaxially arranged with every needle-valve.
Switch body includes inductive switch contiguous block and is coaxially fixedly installed on two elasticity at inductive switch contiguous block two ends
Contiguous block.Preferably elastic deformation cavity is provided with each elastic connection block.
The ball-and-socket equal with spherical point contacts quantity is coaxially arranged with 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, without with ball
Socket and spigot joint is touched.
When spherical point contacts are contacted with ball-and-socket any point, the conducting of on-off model in energy touch switch body.
Above-mentioned needle-valve is fixedly connected with elastic connection block, the elasticity branch that can be floated between needle-valve and inductive switch contiguous block
Connection is held, the motion of 6 frees degree in space can be realized under the elastic bearing effect of elastic connection block, exist this guarantees probe
When optional position touches the obstacle of arbitrary shape, spherical point contacts can be connected with any attitude with inductive switch at an arbitrary position
Ball-and-socket contact inside block, produces on-off model.
The enclosed overhead calbe climbing robot of the present invention, convenient disassembly, installation method is preferably as follows：
1st, as shown in figure 20, by cross connecting plate 2, two roller groups are fastened on cable；
2nd, as shown in figure 21, split pin etc. is conveniently inserted in the aperture of wheel shaft；
3rd, as shown in figure 22, by whole suspension top assembly（It is mounted in advance）As an entirety and step 1,
Splice 2 parts assembled（Now holddown spring is not compacted）, bearing pin is inserted into by suspension and two pieces of cross connecting plates 2
It is hinged, tightens bolt and fix connecting rod with two pieces of cross connecting plates 2, adjust hold-down bolt, thrust is applied to mechanism.
Because above-mentioned holddown spring is in advance by pretension, therefore, compaction process only needs hold-down bolt twisting seldom several circles i.e.
Enough thrusts can be provided, easy to adjust, labor intensity very little.
The preferred embodiment of the present invention described in detail above, still, the present invention are not limited in above-mentioned embodiment
Detail, in the range of the technology design of the present invention, a variety of equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
Claims (9)
1. a kind of enclosed overhead calbe climbing robot, it is characterised in that：Including three roller groups, two symmetrically arranged sides
Support, the device of limiting the dropping speed and obstacle induction installation, three roller group shapes triangular in shape are arranged on three ends of lateral support
At point；Each lateral support includes one piece of cross connecting plate and is vertically connected be connected in the middle part of cross connecting plate one piece
Plate, each roller group includes at least one roller, and each roller group could act as drive wheel group；Obstacle induction installation is fixed and set
Put at the top and/or bottom of climbing device, obstacle induction installation includes at least two inductive switches, each inductive switch is wrapped
Probe and switch body are included, every probe includes one section of arcuate probe and at least one needle-valve, and one end and the arcuate probe of needle-valve are consolidated
The conducting and disconnection of on-off model in fixed connection, the other end and the switch body floating connection of needle-valve, needle-valve energy touch switch body；
At least two sections arcuate probes are coaxially disposed, and can enclose to form a cyclic structure.
2. enclosed overhead calbe climbing robot according to claim 1, it is characterised in that：Two pieces of vertical connecting plates
It is connected by crossbeam, two pieces of vertical connecting plates and crossbeam constitute a suspension in H types.
3. enclosed overhead calbe climbing robot according to claim 2, it is characterised in that：Also include holddown spring, pressure
One end of tight spring is connected with crossbeam, and the other end of holddown spring is connected by connecting rod with cross connecting plate.
4. enclosed overhead calbe climbing robot according to claim 1, it is characterised in that：Each roller is in V words
Type or cylinder.
5. enclosed overhead calbe climbing robot according to claim 4, it is characterised in that：When the roller is in V-shape
When, each roller includes two taper cone pulleies of wheel shaft and coaxial package in wheel shaft periphery, and the taper bus of each taper cone pulley is
Straight line or camber line.
6. enclosed overhead calbe climbing robot according to claim 1, it is characterised in that：Each roller group is wrapped
Include and be connected between two rollers, two rollers by crawler belt.
7. enclosed overhead calbe climbing robot according to claim 1, it is characterised in that：The device of limiting the dropping speed with
The axle stub of any one roller is connected, the device of limiting the dropping speed include brake shell, brake rotor, centrifugation spring and
Centrifugal-block, wherein brake rotor, centrifugation spring and centrifugal-block are arranged in brake shell, centrifugal-block and brake rotor
It is hinged, centrifugation spring is provided between centrifugal-block and brake rotor.
8. enclosed overhead calbe climbing robot according to claim 1, it is characterised in that：The device of limiting the dropping speed with
The axle stub of any one roller is connected, and the device of limiting the dropping speed includes stator, impeller, holddown spring, fixed disk and ball valve,
Stator and fixed disk coaxial package are in the periphery of axle stub；The side of fixed disk adjacent stator is peripherally disposed some
Individual taper valve core；Stator is disposed with the hydraulic cavities being mutually communicated, inner side blind hole and outside blind hole from inside to outside；In hydraulic cavities
It is provided with the impeller being sleeved in axle stub；Ball valve is provided with the blind hole of inner side；Outside blind hole is set adjacent to one end of fixed disk
It is equipped with the taper valve opening being engaged with taper valve core.
9. enclosed overhead calbe climbing robot according to claim 1, it is characterised in that：It is same on the every needle-valve
Axle, which is provided with several spherical point contacts, switch body, is provided with the ball-and-socket equal with spherical point contacts quantity；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, the conducting of on-off model in energy touch switch body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510726413.2A CN105346615B (en) | 2015-10-29 | 2015-10-29 | A kind of enclosed overhead calbe climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510726413.2A CN105346615B (en) | 2015-10-29 | 2015-10-29 | A kind of enclosed overhead calbe climbing robot |
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| CN105346615B true CN105346615B (en) | 2017-08-01 |
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| CN106911199A (en) * | 2017-03-02 | 2017-06-30 | 深圳威枫豪斯新能源科技有限公司 | A kind of Portable rope-climbing device |
| CN106955802A (en) * | 2017-03-06 | 2017-07-18 | 南通中港涂装设备有限公司 | The intelligent paint robot of polynary coupling sensor |
| CN108216409B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Flexible peristaltic climbing robot |
| CN108516027B (en) * | 2018-05-17 | 2024-03-15 | 香港中文大学（深圳） | Support leading wheel structure and have cable climbing robot of this structure |
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| CN113389841A (en) * | 2021-06-03 | 2021-09-14 | 南京邮电大学 | Spring magneto-rheological coupling loading mechanism for cable-stayed bridge climbing robot and vibration reduction method |
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| CN205131420U (en) * | 2015-10-29 | 2016-04-06 | 南京邮电大学 | Be applied to robot that climbs of high altitude cable |
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Application publication date: 20160224 Assignee: Nanjing Nanyou Information Industry Technology Research Institute Co. Ltd. Assignor: Nanjing Post & Telecommunication Univ. Contract record no.: 2018320000285 Denomination of invention: Closed high-altitude cable rope climbing robot Granted publication date: 20170801 License type: Common License Record date: 20181101 |