CN105350450B - High-altitude cable rope climbing mechanism and robot based on elastic frame - Google Patents
High-altitude cable rope climbing mechanism and robot based on elastic frame Download PDFInfo
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- CN105350450B CN105350450B CN201510728718.7A CN201510728718A CN105350450B CN 105350450 B CN105350450 B CN 105350450B CN 201510728718 A CN201510728718 A CN 201510728718A CN 105350450 B CN105350450 B CN 105350450B
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Abstract
The invention discloses a high-altitude cable rope climbing mechanism and robot based on an elastic frame. The high-altitude cable rope climbing mechanism comprises three drive wheel sets, a connecting device, a descent speed limiting device and obstacle induction devices. The connecting device comprises three parallel connecting rods. Each idler wheel can serve as a drive wheel and is conic. The side, making contact with a cable rope, of each idler wheel is provided with stripes. The deviation directions of the stripes on the two idler wheels in each drive wheel set are opposite. By the adoption of the structure, when the idler wheels rotate in the same direction, the robot climbs upwards; and when the idler wheels rotate in the opposite directions, the robot does not perform climbing operation and rotates around the center of the cable rope at the angular speed, and therefore the whole outer cylindrical face is detected. In addition, the braking force is increased along with the increase of the descending speed, the descending speed and the braking force are in a dynamic balanced process, and the robot can descend at a constant speed or nearly a constant speed. Meanwhile, the outer cylindrical face of the cable rope can be subjected to circumferential fault detection at 360 degrees, and no detection dead angle exists.
Description
Technical field
The present invention relates to a kind of for long-span cablestayed bridges drag-line or other high-altitude classes, power transmission line class formation fault detect
Robot, particularly a kind of overhead calbe climbing device based on elastic frame.
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, is to ensure roller
Thrust is constant, needs Jing often to change spring, adjusts fairly cumbersome.
In addition, cable breakage often occurs due to Long-Time Service, bad environments, surface protecting layer Jing, inner wire is caused 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 is rested on overhead calbe, inherently danger close.
The content of the invention
The technical problem to be solved in the present invention is to be directed to above-mentioned the deficiencies in the prior art, and provides a kind of lightweight, control
Easy for installation, load capacity is strong, and caliber adaptability is good, the strong overhead calbe climbing device based on elastic frame of obstacle climbing ability and
Robot.
To solve above-mentioned technical problem, the technical solution used in the present invention is：
A kind of overhead calbe climbing device based on elastic frame, including left half driver part, right half driver part and
The attachment means that left half driver part is connected with right half driver part, left half driver part and right half driver part include
Three rollers and spring, three rollers on left half driver part and right half driver part are connected by spring, V-shaped
Cantilever-type supporting structure；Three rollers on left half driver part and right half driver part correspond setting, form three
Individual drive wheel group；Each roller can be driving wheel, and two in each drive wheel group roller can be in the same direction or be rotated backward；Each
Roller is tapered, and the side that each roller contacts with cable is provided with striped.
The attachment means are some connecting rods.
The connecting rod has three, and three connecting rods are parallel to each other, and a connecting rod is included in each drive wheel group,
Connecting rod in each drive wheel group is coaxially disposed with two rollers, and is connected with two rollers rotations.
Striped yawing moment in each described drive wheel group on two rollers is contrary.
Also include the device of limiting the dropping speed, the device of limiting the dropping speed is connected with the axle stub of any one roller.
The device of limiting the dropping speed includes brake shell, brake rotor, centrifugation spring and centrifugal-block, wherein brake
Rotor, centrifugation spring and centrifugal-block be arranged in brake shell, centrifugal-block is hinged with brake rotor, centrifugal-block with make
Centrifugation spring is provided between dynamic device rotor.
The device of limiting the dropping speed include stator, impeller, holddown spring, fixed disk and ball valve, stator and fixed disk it is coaxial
It is sleeved on the periphery of axle stub；The side of fixed disk adjacent stator is peripherally disposed several taper valve cores；Stator
From inside to outside it is disposed with hydraulic cavities, inner side blind hole and the outside blind hole being mutually communicated；It is provided with hydraulic cavities and is sleeved on wheel
Impeller on axle shaft end；Ball valve is provided with the blind hole of inner side；Outside blind hole is provided with and taper valve core adjacent to one end of fixed disk
The taper valve opening being engaged.
The device of limiting the dropping speed also includes speed increaser of the coaxial package in axle stub.
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 is fixedly connected with arcuate probe, and the other end and the switch body of needle-valve are floated
Connection, conducting and the disconnection of needle-valve energy touch switch body breaker in middle amount signal；At least two sections arcuate probes are coaxially disposed, and can enclose
Close and form a circulus.
Several spherical point contacts are coaxially arranged with per needle-valve described in root, switch is provided with vivo and spherical point contacts quantity
Equal ball-and-socket；The volume of ball-and-socket, when spherical point contacts are contacted with ball-and-socket any point, can touch more than the volume of spherical point contacts
The conducting of switch body breaker in middle amount signal.
The present invention has the advantages that using after said structure：
1. above-mentioned each roller can be driving wheel, and two in each roller group roller can be in the same direction or be rotated backward.Cause
This, when rotating in same direction, robot climbs；When turned reversely, robot does not climb, and around the rotation of cable center angular speed, leads to
Cross to two side wheel rotating speeds and the control for turning to change, so as to realize the superposition of two motions climbed and rotate, and then realize
The detection of whole external cylindrical surface, detects more complete and comprehensive, has great importance.
2. facility is installed：Left half driver part or right half driver part are connected as into an entirety with connecting rod, and are placed
In the side of cable；Then assembly is being carried out with second half driver part, is making roller compression exist by then tightening hold-down bolt
It is easy for installation so as to control on cable.
3. parts are few, lightweight, can drive for many rollers, and load capacity is strong.Furthermore it is possible to by setting on roller
Striped is put, increases roller and cable hold frictional force, further lift load capacity.
4. the applicable ability of caliber is strong：The spacing of two rollers is adapting to different pipes in by adjusting each drive component
Footpath, in the adjustable range of mechanism, cable keeps constant with roller center distance.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.
5. dynamic brake declines：By to taper valve opening（Namely damping hole）The regulation of opening degree, realizes to decrease speed
Regulation, when robot climb different angle cable when, with more actual meaning.Fluid damping, with mechanical type friction system
Dynamic to compare, heat endurance is good, is adapted to long-time, brakes over long distances, and 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 realize at the uniform velocity or approximate uniform descent.
6. obstacle climbing ability is strong：When breakage occurs in cable surface protecting layer, when such as inner wire disconnects and tilting, it is easy to by machine
Device people tangle so as to which resting on high-altitude can not return to ground.In the application, two rollers are provided separately in each drive component,
Centre is not directly connected to, and between two correspondence rollers very big space is reserved, 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 with rolling effect, will not be tangled, and can smoothly return to ground.
7. 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 ° it is all-round to fault detect, detect without dead angle.Meanwhile, inductive switch encounters the obstacle of any shape can be by delicately
Triggering, produces alarm switch amount signal.It is reliable and overall structure is compact, it is lightweight, be conducive to work high above the ground.
Description of the drawings
Fig. 1 shows a kind of structural representation of the overhead calbe climbing device based on elastic frame of the present invention；
Fig. 2 shows the structural representation of left half driver part；
Fig. 3 shows the structural representation of overhead calbe climbing device another kind embodiment of the present invention；
Fig. 4 shows the structural representation of overhead calbe robot of the present invention；
Fig. 5 shows the dimensional structure diagram of the first the device of limiting the dropping speed；
Fig. 6 shows the longitudinal sectional view of Fig. 5；
Fig. 7 shows the dimensional structure diagram of brake rotor in Fig. 5；
Fig. 8 shows the dimensional structure diagram of centrifugal-block in Fig. 5；
Fig. 9 shows the structural representation of second the device of limiting the dropping speed；
Figure 10 shows the cross-sectional view of stator in Fig. 9；
Figure 11 shows the structural representation of the third the device of limiting the dropping speed；
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 the mounting structure schematic diagram of right half driver part and cable；
Figure 16 shows the structural representation that left half driver part is installed with cable in Figure 15；
Figure 17 is shown in Figure 16 by adjusting the structural representation that hold-down bolt makes roller compress with cable surface；
Figure 18 shows structural representation during V-shape roller obstacle detouring in prior art；
Figure 19 shows structural representation during roller obstacle detouring in the present invention；
Figure 20 shows overhead calbe climbing device obstacle climbing ability analysis schematic diagram of the present invention；
Figure 21 shows structural representation during two side wheel rotating in same direction；
Figure 22 shows the side view of roller；
Structural representation when Figure 23 shows that two side wheels are rotated backward.
Wherein have：
1. connecting rod；
2. roller；21. axle stubs；22. stripeds；
3. spring；
4. the device of limiting the dropping speed；
41. suspensions；42. speed increasers；43. brake rotors；44. centrifugal-blocks；45. centrifugation springs；46. brake shells；
51. fixed disks；511. taper valve core；512. adjustment bolt；52. stators；521. hydraulic cavities；522. inner side blind holes；
523. outside blind holes；53. impellers；54. holddown springs；55. taper valve openings；56. ball valves；57. rotors；571. tip chute；58.
Inertial mass；581. inclined plane；
6. obstacle induction installation；
61. arcuate probes；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. steel wire is tilted；
8. hold-down bolt；
9. left half driver part；
10. right half driver part.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is further detailed explanation with concrete better embodiment.
As shown in figure 1, a kind of overhead calbe climbing device based on elastic frame, including left half driver part 9, right half drive
Dynamic component 10, the attachment means that left half driver part 9 is connected with right half driver part 10.
As shown in figure 4, a kind of overhead calbe robot based on elastic frame includes above-mentioned climbing device, declines speed limit dress
Put 4 and obstacle induction installation 6.Wherein, obstacle induction installation 6 can be configured according to actual needs.
As shown in Fig. 2 left half driver part 9 and right half driver part 10 include three rollers 2 and spring 3.
Three rollers 2 on left half driver part 9 and right half driver part 10 are connected by spring 3, V-shaped
Cantilever-type supporting structure.
Three rollers 2 on left half driver part 9 and right half driver part 10 correspond setting, form three drivings
Wheel group.Each roller 2 can be driving wheel, and two in each drive wheel group roller 2 can be in the same direction or be rotated backward.
Above-mentioned attachment means are some connecting rods 1.
Connecting rod 1 preferably has three, and three connecting rods are parallel to each other, and a connecting rod is included in each drive wheel group.
As shown in figure 3, the connecting rod 1 in each drive wheel group can be coaxially disposed with two rollers.At this moment, connecting rod with
Two rollers rotate connection, and two rollers are remained in the same direction or rotated backward.
Further, each roller is preferably tapered, and the taper bus of roller is straight line or camber line.Certainly, each roller
Alternatively cylinder etc..It is preferred that, each roller surface is provided with striped as shown in figure 21, increases roller and cable hold friction
Power, further lifts load capacity.
As shown in figure 22, striped and the angled α of taper bus institute, the striped yawing moment on the roller of the left and right sides is contrary.
As shown in figure 21, when two side wheels are rotated with angular velocity omega in the same direction 1, then climbed with speed V.As shown in figure 23, when two sidewinder
When taking turns the rotation of reverse angular velocity omega 1, then climbing device will be rotated around cable by ω 0 of rotating speed.
Above-mentioned the device of limiting the dropping speed 4 can be connected with the axle stub 21 of any one roller 2.
The device of limiting the dropping speed 4 has following three kinds of preferred embodiments.
Embodiment 1
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, 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.
Suspension is arranged on the left side of speed increaser, and is sleeved in axle stub, and axle stub is input into the left side of speed increaser
End is fixedly connected, and the output shaft end of speed increaser is fixedly connected with brake rotor.Wherein, speed increaser can enter according to actual needs
Row is arranged, and can not had.
When rotating speed is low, inertia force is less, and under spring force, centrifugal-block is pressed on brake rotor, does not play braking
Effect.As rotating speed increases, inertia force increase overcomes the constraint of spring force, centrifugal-block outwards to get 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 9 and Figure 10, the device of limiting the dropping speed includes stator 52, impeller 53, holddown spring 54, fixed disk 51, ball
Valve 56, speed increaser 42 and adjustment bolt 512.Speed increaser can be configured according to actual needs, can not have.
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 from inside to outside disposed with hydraulic cavities 521, the and of inner side blind hole 522 being mutually communicated
Outside blind hole 523；The impeller 53 being sleeved in axle stub 21 is provided with hydraulic cavities 521.Ball is provided with the blind hole 522 of inner side
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 including all parts in embodiment 2, also including 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,
Through inner side blind hole, from the right side flow direction left side of steel ball, damping hole does not work fluid.During decline, inner side blind hole is by steel ball（Bullet
The effect of spring force）Block, fluid through damping hole, is circulated to the right, when fluid flows through damping hole 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 inclined plane on the right side of inertial mass matches with the tip chute of rotor.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 is to left movement, and then the opening degree of damping hole can diminish, 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 Jing inner sides blind hole is circulated to the left from right side by steel ball, does not produce any resistance.
During decline, the reversion of mandrel impeller, from left to right, spring compression steel ball shuts inner side blind hole to fluid.
Blind hole on the outside of fluid Jing, fluid flows through damping hole, produces resistance, and decrease speed is faster, and damping hole opening degree is less, and resistance is got over
Greatly.
During decline, if speed continue increase, inertial mass centrifugal force horizontal component promote under, fixed disk continue to
Left side is mobile, and damping hole is shut.
After damping hole is shut, resistance moment is increased dramatically, and decrease speed is reduced, and inertial mass centrifugal force horizontal component subtracts
Little, fixed disk is moved to right, and damping hole opening degree increase, resistance diminishes, and decrease speed increases, and inertia force is separated and increased, and damping hole is opened
Mouth degree reduces once again（Shut）, move in circles, dynamic adjustment is realized, it is 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, also can simultaneously be arranged on the top and bottom of climbing device.
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.
Used 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 the top of preferred needle-valve is consolidated 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 leads through and off
Open.
Above-mentioned arcuate probe is coaxially disposed, and can enclose to form a circulus.It is preferred that, the head and the tail phase of arcuate probe
Mutually splicing, forms an annulus.As replacement, also can be only 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 arranged, 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 circulus 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.
It is coaxially arranged with several spherical point contacts on every needle-valve, preferably two.
Switch body includes inductive switch contiguous block and is coaxially fixedly installed on two elasticity at inductive switch contiguous block two ends
Contiguous block.Elastic deformation cavity is preferably 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, and not with ball
Socket and spigot joint is touched.
When spherical point contacts are contacted with ball-and-socket any point, the conducting of energy touch switch body breaker in middle amount signal.
Above-mentioned needle-valve is fixedly connected with elastic connection block, the elasticity 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, be this guarantees probe and exist
When optional position touches the obstacle of arbitrary shape, spherical point contacts can be connected at an arbitrary position with any attitude with inductive switch
Ball-and-socket contact inside block, produces on-off model.
Above-mentioned climbing device, installs facility：
Step one：As shown in figure 15, right half driver part and connecting rod are connected as into an entirety, and are placed on cable
Side；
Step 2：As shown in figure 16, then by the part that left half driver part and step one are assembled assembly is carried out；
Step 3：As shown in figure 17, hold-down bolt is tightened, so because roller has certain taper, therefore with compression
Bolt is tightened, and spring is deformed, and mechanism produces internal force, and roller compression is on cable.
In addition, above-mentioned climbing device, can spiral climbing, bilateral support is adopted in the application, dynamics is splendid, adopts
With spring as framework, all directions can produce elastic deformation, can resist bigger shock loading, be more suitable for the spiral shell that climbs
Spin line cable.In addition, all directions have elasticity, including torsion can be suitable for climbing for non-rectilinear tubular articles, therefore can be with
Realize that circular arc, curve etc. climb, more preferably, such as high-voltage line, environmental suitability is higher for ambient adaptability.Including varying cross-section duct, than
Such as tapered lamp post.
Further, there is breakage in cable surface protecting layer, and inner wire is had when serious can be disconnected, and be sticked up, and be held very much
Easily robot is tangled so as to which resting on high-altitude can not return to ground.
In prior art, as shown in figure 18, V character wheel structures, cable is generally less with the distance " h " of middle between centers, works as cable
There is obstacle on rope（The steel wire for such as sticking up）It is easy to hang on axle so that robot to hang over and cannot return to ground on overhead calbe
Face.
As shown in figure 19, in the present invention, left and right sides roller is provided separately, and centre is pre- between two rollers without connection
Very big space is reserved, this space can be used for passing through for obstacle.Again as shown in figure 20, cable is except four with roller contact
Point is outer, and above-below direction has space of the distance for " H " apart from frame, and left and right directions has space of the distance for " W " with frame, just
In across the steel wire for sticking up, and roller has rolling effect when encountering the obstacle that steel wire sticks up, and typically will not be tangled, institute
Be not in the problem tangled by the steel wire that sticks up with this case technical scheme, can smoothly return to ground.
The preferred embodiment of the present invention described in detail above, but, the present invention is not limited in above-mentioned embodiment
Detail, the present invention range of the technology design in, various equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
Claims (10)
1. a kind of overhead calbe climbing device based on elastic frame, it is characterised in that：Drive including left half driver part, right half
Part and the attachment means that left half driver part is connected with right half driver part, left half driver part and right half drive division
Part includes three rollers and spring, and three rollers on left half driver part and right half driver part are connected by spring,
V-shaped cantilever-type supporting structure；Three rollers on left half driver part and right half driver part are corresponded and set
Put, form three drive wheel groups；Each roller can be driving wheel, and two in each drive wheel group roller can be in the same direction or reverse
Rotate；Each roller is tapered, and the side that each roller contacts with cable is provided with striped.
2. the overhead calbe climbing device based on elastic frame according to claim 1, it is characterised in that：The connection dress
It is set to some connecting rods.
3. the overhead calbe climbing device based on elastic frame according to claim 2, it is characterised in that：The connecting rod
There are three, three connecting rods are parallel to each other, a connecting rod, the company in each drive wheel group are included in each drive wheel group
Extension bar is coaxially disposed with two rollers, and is connected with two rollers rotations.
4. the overhead calbe climbing device based on elastic frame according to claim 1, it is characterised in that：Each described drive
Striped yawing moment in driving wheel group on two rollers is contrary.
5. a kind of overhead calbe robot based on elastic frame with overhead calbe climbing device as claimed in claim 1,
It is characterized in that：Also include the device of limiting the dropping speed, the device of limiting the dropping speed is connected with the axle stub of any one roller.
6. the overhead calbe robot based on elastic frame according to claim 5, it is characterised in that：The decline speed limit
Device includes brake shell, brake rotor, centrifugation spring and centrifugal-block, wherein brake rotor, centrifugation spring and centrifugation
Block is arranged in brake shell, and centrifugal-block is hinged with brake rotor, is provided between centrifugal-block and brake rotor
Centrifugation spring.
7. the overhead calbe robot based on elastic frame according to claim 5, it is characterised in that：The decline speed limit
Device includes stator, impeller, holddown spring, fixed disk and ball valve, and stator and fixed disk coaxial package are in the periphery of axle stub；
The side of fixed disk adjacent stator is peripherally disposed several taper valve cores；Stator is from inside to outside disposed with mutually
The hydraulic cavities of insertion, inner side blind hole and outside blind hole；The impeller being sleeved in axle stub is provided with hydraulic cavities；Inner side blind hole
Inside it is provided with ball valve；Outside blind hole is provided with the taper valve opening being engaged with taper valve core adjacent to one end of fixed disk.
8. the overhead calbe robot based on elastic frame according to claim 6 or 7, it is characterised in that：The decline
Speed-limiting device also includes speed increaser of the coaxial package in axle stub.
9. the overhead calbe robot based on elastic frame according to claim 5, it is characterised in that：Also include obstacle sense
Device, obstacle induction installation is answered to be fixedly installed on the top and/or bottom of climbing device, obstacle induction installation includes at least two
Inductive switch, each inductive switch includes probe and switch body, and every probe includes one section of arcuate probe and at least one pin
Valve, one end of needle-valve is fixedly connected with arcuate probe, the other end and the switch body floating connection of needle-valve, needle-valve energy touch switch body
The conducting of breaker in middle amount signal and disconnection；At least two sections arcuate probes are coaxially disposed, and can enclose to form a circulus.
10. the overhead calbe robot based on elastic frame according to claim 9, it is characterised in that：Per pin described in root
Several spherical point contacts are coaxially arranged with valve, switch is provided with vivo the ball-and-socket equal with spherical point contacts quantity；Ball-and-socket
Volume more than the volume of spherical point contacts, when spherical point contacts are contacted with ball-and-socket any point, believe by energy touch switch body breaker in middle amount
Number conducting.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510728718.7A CN105350450B (en) | 2015-10-29 | 2015-10-29 | High-altitude cable rope climbing mechanism and robot based on elastic frame |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510728718.7A CN105350450B (en) | 2015-10-29 | 2015-10-29 | High-altitude cable rope climbing mechanism and robot based on elastic frame |
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| CN105350450B true CN105350450B (en) | 2017-04-19 |
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| CN106284069A (en) * | 2016-10-18 | 2017-01-04 | 福建工程学院 | Wireless remote control stayed-cable bridge cable wire automatic detection device |
| CN111857146B (en) * | 2020-07-27 | 2023-02-03 | 广州大学 | Climbing robot |
| CN112761065B (en) * | 2020-12-29 | 2022-06-03 | 郑州市公路工程公司 | Bridge cable defect detection device with stable operation |
| 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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|---|---|---|---|---|
| KR100619277B1 (en) * | 2006-01-16 | 2006-09-08 | 사단법인 대한산업안전협회 | Apparatus diagnosing safety movable of suspension bridge |
| 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 |
| CN102605713A (en) * | 2011-12-26 | 2012-07-25 | 重庆大学 | Bionic robot climbing on bridge inhaul cable |
| CN103194967B (en) * | 2013-04-03 | 2014-12-24 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Detecting system of bridge cable |
| CN104153294B (en) * | 2014-04-15 | 2016-01-06 | 宁波职业技术学院 | Climb cable robot |
| CN104074135B (en) * | 2014-04-16 | 2016-08-24 | 广州诚泰交通机电工程有限公司 | A kind of bridge cables detection device |
| CN204435222U (en) * | 2015-01-16 | 2015-07-01 | 华中科技大学 | A kind of cable detection robot for cable-stayed bridge |
-
2015
- 2015-10-29 CN CN201510728718.7A patent/CN105350450B/en active Active
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| CN105350450A (en) | 2016-02-24 |
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