CN106120552A - A kind of friction wheel type cable climbing measuring robots - Google Patents
A kind of friction wheel type cable climbing measuring robots Download PDFInfo
- Publication number
- CN106120552A CN106120552A CN201610474655.1A CN201610474655A CN106120552A CN 106120552 A CN106120552 A CN 106120552A CN 201610474655 A CN201610474655 A CN 201610474655A CN 106120552 A CN106120552 A CN 106120552A
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- Prior art keywords
- friction
- roller
- magnet
- type cable
- measuring robots
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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Abstract
The invention discloses a kind of friction wheel type cable climbing measuring robots, including mobile dolly, magnetic suck mechanism and anti-drop device.Mobile dolly includes two side frames, mobile chassis and roller.Magnetic suck mechanism is arranged on mobile chassis, and mobile dolly can be adsorbed on cable by magnetic suck mechanism.Anti-drop device includes gear drive, change speed gear box, friction mechanism and roller-type overrunning clutch.Friction mechanism includes rotating driveshaft, friction wall, brake pad and guide rod；Friction wall is annular, is coaxially fixedly installed on the periphery of rotating driveshaft；It is positioned on the rotating driveshaft of friction wall and is provided with some guide rods the most radially；Be slidably connected on every guide rod a brake pad；When rotating driveshaft rotates, each brake pad all can be with the internal face frictional fit of friction wall.After using said structure, simple in construction, overhead calbe is stable；It addition, when running down of battery or motor are broken down, can be effectively by climbing robot safe retrieving.
Description
Technical field
The present invention relates to apply the failed machines people detected at large-scale Character of Cable Force of Cable stayed Bridge, belong to robotics, special
It it not a kind of friction wheel type cable climbing measuring robots.
Background technology
Along with economic develops rapidly, the construction of the bridge of large span and use become extensive.Wherein, cable-stayed bridge be greatly across
Degree bridge uses most common one.Such as it is positioned at the Su-Tong Brideg in Jiangsu Province, Normandy bridge of France, the high ship in Hong Kong
Continent bridge.Cable is the main bearing member of cable-stayed bridge, but owing to the surface long term of cable is exposed among air, by wind
Blowing, Exposure to Sunlight, drench with rain and the erosion of environmental pollution, its surface can be accelerated the aging of bed rearrangement cable-stayed bridge by more serious destruction
Degree, greatly reduces the service life of cable-stayed bridge.Therefore, the effectively maintenance to cable is the most necessary.At present, to oblique pull
Periodic detection and the maintenance of bridge cable mainly are also dependent on manually completing, cumbersome and time consuming.
In recent years, many scientific research institutions achieved achievement in cable-climbing robot area research.Wherein Shanghai Communications University
The specialized robot (Patent No. 99252056.8) of research design, this specialized robot can effectively complete application and safeguard merit
Can, can partly meet testing requirement；But owing to himself structure is complicated, use the mode of cable power supply, be not suitable for high-altitude and make
Industry, and efficiency is the lowest.Additionally, this robot does not design relevant recovering mechanism, when robot breaks down due to motor,
Robot can damage robot body because self gravitation effect decrease speed is too fast, to the safety following operator also
Constitute threat.In addition, it is necessary to utilize additional " clamping force ".
Summary 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 friction wheel type cable climbing
Measuring robots, this friction wheel type cable climbing measuring robots simple in construction, overhead calbe is stable；It addition, in running down of battery
Or when motor breaks down, can be effectively by climbing robot safe retrieving.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of friction wheel type cable climbing measuring robots, including mobile dolly, magnetic suck mechanism and anti-drop device.
Mobile dolly includes two side frames, mobile chassis and at least two roller；Mobile chassis connects fixing for two side frames
Connecing, at least one roller is driving wheel.
Magnetic suck mechanism is arranged on mobile chassis, and mobile dolly can be adsorbed on cable by magnetic suck mechanism.
Anti-drop device includes gear drive, change speed gear box, friction mechanism and roller-type overrunning clutch.
Gear drive includes pitch wheel one and gear two, gear one by roller-type overrunning clutch with
The roller shaft of one of them roller is connected；Gear two is connected with friction mechanism by change speed gear box.
Friction mechanism includes rotating driveshaft, friction wall, brake pad and guide rod；Friction wall is annular, and coaxial fixing sets
Put the periphery at rotating driveshaft；It is positioned on the rotating driveshaft of friction wall and is provided with some the most radially and leads
Bar；Be slidably connected on every guide rod a brake pad；When rotating driveshaft rotates, each brake pad all can with in friction wall
Wall friction coordinates.
Described magnetic suck mechanism includes yoke, screw rod, spring, Magnet, nut and movable pad；Screw rod is the most successively
Through yoke, mobile chassis and movable pad, and fix with nut, be matched in clearance between screw rod and mobile chassis；Spring housing
Being contained in and be positioned on yoke and mobile chassis screw rod between the two, magnet adsorption is in the bottom of yoke.
Described magnetic suck mechanism also includes that Magnet set, Magnet set are sleeved on the bottom of Magnet.
The edge of described Magnet set is circular arc.
The bottom of described yoke is adsorbed with two Magnet.
Described Magnet is rubidium Fe-B permanent magnet.
Described roller is three, and two of which roller is driving wheel, and a roller is driven pulley；Driven pulley and one of them
Driving wheel is connected with Timing Belt by synchronizing wheel.
Each driving wheel is driven by motor, is connected by electromagnetic clutch between motor and the drive shaft of driving wheel.
After the present invention uses said structure, have the advantages that
Roller the most of the present invention is processed into " V " type, add with the contact area of cable while, also can be prevented effectively from mechanism inclined
Phenomenon from drag-line.
2. present invention application magnetic suck mechanism, the magnetic force by cable provides magnetic adsorbability.This adsorbing mechanism has knot
The advantages such as structure is compact, absorption affinity is strong, use is flexible.Magnetic suck mechanism and cable are contactless states, by little vehicle main body and cable
While Suo Wending is fixing, reduce the resistance climbed, when running into obstacle, the spring in compression magnetic suck mechanism, make dolly
Main body have enough spaces to surmount obstacles.
3. the anti-drop device of the present invention utilizes centrifugal force tribology principle to control the decrease speed of robot.This apparatus structure
Simply, light, easy to maintenance.Not only alleviate the load capacity of trolley body, and play saving power investment, reduce product cost
Effect.When mechanism occurs power-off or electric fault glides, electromagnetic clutch separates, under gravity, and friction wheel type
Robot declines along cable, and the roller reversion being connected with anti-drop device, roller-type overrunning clutch internal ring rotates counterclockwise, root
According to roller-type overrunning clutch operation principle, now roller-type overrunning clutch Guan Bi, the gear in driven gear drive mechanism
Rotate, by change speed gear box speedup, rely on the brake pad in friction mechanism to rotate the cylindrical friction wall of compression and produce frictional force, this
Time frictional force produce the active moment in a reaction moment balance robot, the effect reaching to limit gliding speed with this.
Accompanying drawing explanation
Fig. 1 shows the structural representation of the present invention a kind of friction wheel type cable climbing measuring robots.
Fig. 2 shows the structural representation of magnetic suck mechanism in the present invention.
Fig. 3 shows the assembling schematic diagram of magnetic suck mechanism and mobile chassis.
Fig. 4 shows the structural representation of anti-drop device in the present invention；
Fig. 5 shows the structural representation of change speed gear box in the present invention.
Wherein have:
1. the first roller；2. the second roller；3. the 3rd roller；4. magnetic suck mechanism；41. yokes；42. screw rods；43. springs；44.
Magnet；45. Magnet sets；46. nuts；47. movable pads；5. mobile chassis；6. gear drive；61. gears one；62. teeth
Wheel two；7. change speed gear box；71. gear wheels；72. little gears；8. friction mechanism；81. friction wall；82. brake pads；83. guide rods；84.
Rotating driveshaft；9. the first motor；10. the second motor；11. synchronize wheel；12. Timing Belts；13. side frames；14. first roller shafts；
15. second roller shafts；16. the 3rd roller shafts；17. roller-type overrunning clutches；18. supports；19. first electromagnetic clutchs；20.
Second electromagnetic clutch.
Detailed description of the invention
The present invention is further detailed explanation with concrete better embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of friction wheel type cable climbing measuring robots, including mobile dolly, magnetic suck mechanism 4 and anti-fall dress
Put.
Mobile dolly includes two side frames 13, mobile chassis and at least two roller.
The quantity of roller in the application, is preferably arranged to three.Three rollers are followed successively by first roller the 1, second roller 2 and
3rd roller 3.First roller housing is contained on the first roller shaft 14, and the second roller housing is contained on the second roller shaft 15, the 3rd roller
It is sleeved on the 3rd roller shaft 16.
Wherein, the first roller and the 3rd roller are driving wheel, and the second roller is driven pulley.Second roller and the 3rd roller it
Between 11 be connected with Timing Belt 12 by synchronizing wheel.
It addition, each driving wheel is driven by motor, by electromagnetic clutch phase between motor and the drive shaft of driving wheel
Connect.Particularly as follows: the first roller is driven by the first motor 9, between the first motor 9 and the first roller shaft by the first electromagnetism from
Clutch 19 is connected.3rd roller is driven by the second motor 10, by the second electricity between the second motor 10 and the 3rd roller shaft
Magnet clutch 20 is connected.
According to the power needs that climb, can only arrange a roller is driving wheel, it is possible to be disposed as three rollers driving
Wheel.
Side frame is preferably two-part structure, and mobile chassis 5 preferably has two, and two mobile chassis connect fixing for two side frames
Connect.
Preferably being fixedly installed a magnetic suck mechanism on each mobile chassis, mobile dolly can be adsorbed at cable by magnetic suck mechanism
On.
Magnetic suck mechanism includes yoke 41, screw rod 42, spring 43, Magnet 44, Magnet set 45, nut 46 and movable pad
47。
Each magnetic suck mechanism all preferably includes two screw rods.Every screw rod sequentially passes through yoke, movement the most from bottom to up
Chassis and movable pad, and fix with nut, it is matched in clearance between screw rod and mobile chassis.
It is positioned on yoke and mobile chassis every screw rod between the two and is all set with a spring.
Pair of magnet is preferably adsorbed in the bottom of each yoke, and Magnet is both preferably rubidium Fe-B permanent magnet.The end of each Magnet
Portion's piece Magnet set of suit, the edge of Magnet set is the most preferably in circular arc.
When running into obstacle extruding Magnet set, spring-compressed, Magnet stretches along screw rod.After surmounting obstacles, rely on bullet
Magnet is pushed back original position by spring, and the nut on adjusting screw rod can change the gap between magnetic suck structure and cable.
Anti-drop device includes gear drive 6, change speed gear box 7, friction mechanism 8 and roller-type overrunning clutch 17.
Gear drive includes pitch wheel 1 and gear 2 62, and gear one is by roller-type overrunning clutch
Device is connected with wherein the second roller shaft；Gear two is connected with friction mechanism by change speed gear box.
Friction mechanism includes rotating driveshaft 81, friction wall 81, brake pad 82 and guide rod 83.
Friction wall is preferably annular, and the outer wall of friction wall is fixed on side frame 13 by support 18, friction wall and coaxial
It is sleeved on the periphery of rotating driveshaft.
It is positioned on the rotating driveshaft of friction wall and is provided with some guide rods the most radially；Slide on every guide rod
Be dynamically connected a brake pad；When rotating driveshaft rotates, each brake pad all can be with the internal face frictional fit of friction wall.
When robot climbs, roller-type overrunning clutch is in released state, the gear drive of anti-drop device not with
Second roller contact, does not works.
When power-off or system electrical fault occurs in robot, friction wheel type robot is under gravity along cable
Direction declines, the second roller reversion, and roller-type overrunning clutch internal ring backwards rotation is former according to roller-type overrunning clutch work
Reason: when inner ring rotates counterclockwise, roller is driven outer ring rotating by wedging, and clutch engages；When inner ring rotates clockwise,
Roller is retracted into sipes position, and outer ring is the most motionless, clutch separation, now roller-type overrunning clutch Guan Bi, and the second roller is with anti-
The gear drive contact work of dropping control device, the second roller shaft reversion of wheeled climbing robot drives roller to surpass when declining
More clutch, by gear wheel as shown in Figure 5 in change speed gear box and little gear, it is achieved accelerate, rely on the rotation of friction mechanism to drive
The be dynamically connected guide rod 83 of brake pad 82 of moving axis 84 band rotates, so that brake pad 82 rotates at friction wall inner chamber, now produces
Centrifugal force makes brake pad 82 pressing friction wall 81 produce frictional force, and now frictional force produces on reaction moment balance second roller
Active moment, reach limit gliding speed effect.The gravity relying on robot self glides the most smoothly, thus realizes
The purpose that high-altitude is reclaimed.
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 technology concept of the present invention, technical scheme can be carried out multiple equivalents, this
A little equivalents belong to protection scope of the present invention.
Claims (9)
1. a friction wheel type cable climbing measuring robots, it is characterised in that: include mobile dolly, magnetic suck mechanism and anti-fall dress
Put；
Mobile dolly includes two side frames, mobile chassis and at least two roller；Mobile chassis connects fixing for two side frames, extremely
A few roller is driving wheel；
Magnetic suck mechanism is arranged on mobile chassis, and mobile dolly can be adsorbed on cable by magnetic suck mechanism；
Anti-drop device includes gear drive, change speed gear box, friction mechanism and roller-type overrunning clutch；
Gear drive includes pitch wheel one and gear two, gear one by roller-type overrunning clutch with wherein
The roller shaft of one roller is connected；Gear two is connected with friction mechanism by change speed gear box；
Friction mechanism includes rotating driveshaft, friction wall, brake pad and guide rod；Friction wall is annular, is coaxially fixedly installed on
The periphery of rotating driveshaft；It is positioned on the rotating driveshaft of friction wall and is provided with some guide rods the most radially；Often
Be slidably connected on root guide rod a brake pad；When rotating driveshaft rotates, each brake pad all can be with the internal face of friction wall
Frictional fit.
Friction wheel type cable climbing measuring robots the most according to claim 1, it is characterised in that: described magnetic suck mechanism includes
Yoke, screw rod, spring, Magnet, nut and movable pad；Screw rod sequentially passes through yoke, mobile chassis and activity mat from bottom to up
Plate, and fix with nut, it is matched in clearance between screw rod and mobile chassis；Spring housing is contained in and is positioned at yoke and mobile chassis
Between screw rod on, magnet adsorption is in the bottom of yoke.
Friction wheel type cable climbing measuring robots the most according to claim 2, it is characterised in that: described magnetic suck mechanism also wraps
Including Magnet set, Magnet set is sleeved on the bottom of Magnet.
Friction wheel type cable climbing measuring robots the most according to claim 3, it is characterised in that: described Magnet set edge in
Circular arc.
Friction wheel type cable climbing measuring robots the most according to claim 2, it is characterised in that: the bottom absorption of described yoke
There are two Magnet.
Friction wheel type cable climbing measuring robots the most according to claim 2, it is characterised in that: described Magnet be rubidium ferrum boron forever
Magnet.
Friction wheel type cable climbing measuring robots the most according to claim 1, it is characterised in that: described roller is three, its
In two rollers be driving wheel, a roller is driven pulley；Driven pulley and one of them driving wheel are by synchronization taking turns and Timing Belt
It is connected.
Friction wheel type cable climbing measuring robots the most according to claim 7, it is characterised in that: each driving wheel is by motor
Drive, be connected by electromagnetic clutch between motor and the drive shaft of driving wheel.
Friction wheel type cable climbing measuring robots the most according to claim 1, it is characterised in that: each roller is the most V-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610474655.1A CN106120552B (en) | 2016-06-27 | 2016-06-27 | A kind of friction wheel type cable climbing detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610474655.1A CN106120552B (en) | 2016-06-27 | 2016-06-27 | A kind of friction wheel type cable climbing detects robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106120552A true CN106120552A (en) | 2016-11-16 |
| CN106120552B CN106120552B (en) | 2018-03-13 |
Family
ID=57266254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610474655.1A Active CN106120552B (en) | 2016-06-27 | 2016-06-27 | A kind of friction wheel type cable climbing detects robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697249A (en) * | 2017-03-23 | 2017-05-24 | 青岛飞宇航空科技有限公司 | Cable climbing mechanism and captive balloon for performing oil supply to realize self-generating electricity by cable climbing mechanism |
| CN109374727A (en) * | 2018-11-21 | 2019-02-22 | 中国石油大学(北京) | Storage tank detects robot |
| CN111497962A (en) * | 2020-04-30 | 2020-08-07 | 江苏省苏科建设技术发展有限公司 | Self-adsorption type climbing mechanism for high-altitude building |
| CN111535170A (en) * | 2020-04-30 | 2020-08-14 | 江苏省苏科建设技术发展有限公司 | Open climbing mechanism of robot of easy installation for building cable |
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| CN102015220A (en) * | 2008-04-23 | 2011-04-13 | 韩国道路公司 | Bridge inspection robot capable of climbing obstacle |
| CN201901846U (en) * | 2010-11-03 | 2011-07-20 | 江苏法尔胜材料分析测试有限公司 | Rope climbing robot |
| CN203977291U (en) * | 2014-04-16 | 2014-12-03 | 广州诚泰交通机电工程有限公司 | A kind of bridge cables checkout gear |
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| EP1118716A3 (en) * | 2000-01-20 | 2002-01-23 | OMNIA Srl | Apparatus for the maintenance of viaducts |
| CN201161628Y (en) * | 2008-01-15 | 2008-12-10 | 东南大学 | Scroll cable detecting robot |
| CN102015220A (en) * | 2008-04-23 | 2011-04-13 | 韩国道路公司 | Bridge inspection robot capable of climbing obstacle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697249A (en) * | 2017-03-23 | 2017-05-24 | 青岛飞宇航空科技有限公司 | Cable climbing mechanism and captive balloon for performing oil supply to realize self-generating electricity by cable climbing mechanism |
| CN109374727A (en) * | 2018-11-21 | 2019-02-22 | 中国石油大学(北京) | Storage tank detects robot |
| CN109374727B (en) * | 2018-11-21 | 2024-02-02 | 中国石油大学(北京) | Storage tank detection robot |
| CN111497962A (en) * | 2020-04-30 | 2020-08-07 | 江苏省苏科建设技术发展有限公司 | Self-adsorption type climbing mechanism for high-altitude building |
| CN111535170A (en) * | 2020-04-30 | 2020-08-14 | 江苏省苏科建设技术发展有限公司 | Open climbing mechanism of robot of easy installation for building cable |
| CN111535170B (en) * | 2020-04-30 | 2020-12-15 | 江苏省苏科建设技术发展有限公司 | Open climbing mechanism of robot of easy installation for building cable |
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| Publication number | Publication date |
|---|---|
| CN106120552B (en) | 2018-03-13 |
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