CN107055426B - A kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel - Google Patents
A kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel Download PDFInfo
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- CN107055426B CN107055426B CN201710226988.7A CN201710226988A CN107055426B CN 107055426 B CN107055426 B CN 107055426B CN 201710226988 A CN201710226988 A CN 201710226988A CN 107055426 B CN107055426 B CN 107055426B
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- body supports
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
- F16G13/00—Chains
- F16G13/02—Driving-chains
- F16G13/06—Driving-chains with links connected by parallel driving-pins with or without rollers so called open links
- F16G13/07—Driving-chains with links connected by parallel driving-pins with or without rollers so called open links the links being of identical shape, e.g. cranked
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel, it is related to a kind of heavy load rope-climbing mechanism.The weight of the lifting heavy load of existing rope-climbing mechanism is small and narrow range, and when being carried out continuously lifting and decline work, security reliability is poor, and it is point contact that furthermore rope contact with other components, while rope is bent and is easily worn and destroys.The present invention includes body supports part, rope and two sets of transmission systems, two sets of transmission systems are located inside body supports part, every set transmission system includes motor, first gear adjusts component, shaped chain and two sprocket assemblies, worm gear and worm screw are meshed, two second gears adjust component and worm gear is coaxially connected, two second gears adjust inter-module and are equipped with special-shaped sprocket wheel, it is connected between two special-shaped sprocket wheels by shaped chain, two worm screws are coaxially connected, motor adjusts component by first gear and is connected with any worm screw, rope is clamped between two shaped chains in two sets of transmission systems.The present invention is for lifting and discharging weight.
Description
Technical field
The present invention relates to a kind of heavy load rope-climbing mechanisms based on the transmission of special-shaped sprocket wheel, belong to specialized robot technology neck
Domain.
Background technique
Rope-climbed robot is robbed as synkinesia carrier tool in individual soldier's operation, high altitude climbing, Quick rescue, earthquake etc.
The dangerous disaster relief, the product installation of skyscraper top, wall construction, cable-stayed bridge cable flaw detection maintenance, Monitoring Pinpelines maintenance, tunnel piercing etc.
Numerous areas etc. is widely used.Heavy load rope-climbing mechanism is responsible for raising, decentralization, stopping and the control of control heavy load
The vital task of heavy load lowering velocity processed.Simultaneously for tactics type lifter, to fully ensure that its mobility, can be realized
The requirement that individual soldier quickly moves.
The key technology of rope-climbed robot is Zhua Sheng mechanism, and rope-climbing mechanism is required to realize the two-way fortune of up and down
It is dynamic, and require very high safety and reliability.It can be adjusted the speed simultaneously with speed, realize long-range control.Rope-climbing mechanism
When applied to oil-well rig, the quality of rope-climbing mechanism system performance decides the safety problem of oil-well rig, if rope-climbing mechanism goes out
Existing failure, can cause to stop boring, cause economic loss.Therefore, rope-climbing mechanism plays important role in numerous areas.But existing
The weight of the weight of generally existing promotion or decline is small in some rope-climbing mechanisms, and operable weight weight range is small, Neng Gouti
The weight load of liter and decline 150 to 220kg, flexibility and poor universality, the peace when being carried out continuously lifting and decline work
Full poor reliability.Furthermore it is point contact that rope is contacted with other components, while rope bending is easily worn and destroys.
Summary of the invention
The weight of the lifting heavy load of existing rope-climbing mechanism is small and narrow range the invention aims to solving, continuous
Security reliability is poor when being lifted and declining work, and it is point contact that furthermore rope is contacted with other components, while rope is bent
The problem of being easily worn and destroy, and then a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel is provided.
The technical solution adopted by the present invention to solve the above technical problem is:
A kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel, it includes body supports part, rope and two sets of transmissions
System, two sets of transmission systems are disposed in parallel in the inside of body supports part, and the structure of two sets of transmission systems is identical, and every set passes
Dynamic system includes motor, first gear adjusting component, shaped chain and two sprocket assemblies, and two sprocket assemblies are along body supports
The length direction of part is set side by side, and each sprocket assemblies include worm gear, worm screw, special-shaped sprocket wheel and two second gear adjusting groups
Part, the worm gear and worm screw are meshed, and two second gears adjust component and worm gear is coaxially connected, two second gear adjusting groups
It is provided with special-shaped sprocket wheel between part, is connected between the special-shaped sprocket wheel of two in two sprocket assemblies by shaped chain, two
Two worm screws in sprocket assemblies are coaxially connected, motor by first gear adjust component with it is any one in two sprocket assemblies
A worm screw is connected, and is clamped with rope between two shaped chains in two sets of transmission systems.
The present invention is a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel, it is preferable that the body supports part is perpendicular
Straight setting, is machined at the top of the body supports part suitable for reading, and the bottom of the body supports part is machined with lower mouth, the rope
One end pass through it is suitable for reading, the other end of the rope sequentially passes through gap and body supports part bottom between two shaped chains
Lower mouth, the rope moving back and forth between suitable for reading and lower mouth under the drive of two shaped chains.
The present invention is a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel, it is preferable that every shaped chain is by more
A chain link and multiple connection sheets form, and there are two connecting shafts, the outer end face of each chain link to be machined with and restrict for setting on each chain link
The placing groove that rope matches, forms rope gripping channel between multiple placing grooves of multiple chain links, and each chain link is adjacent thereto
It is connected between two chain links by four connection sheets, the end of two on each chain link connecting shaft is respectively correspondingly arranged on one
The end of connection sheet, each connecting shaft is hinged by the connecting shaft on its corresponding connection sheet chain link adjacent thereto.
The present invention is a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel, it is preferable that it further includes pressure positioning
Component, pressure positioning component include two pressing plates, two fixing axles and four groups of flexible adjustment components, and each shaped chain correspondence is set
Be equipped with a pressing plate, two pressing plates are disposed in parallel in the two sides of rope vertically, each pressing plate by its corresponding shaped chain with
The side of rope is mutually adjacent to, and two fixing axle horizontal alignment settings, one end of each fixing axle is fixedly mounted on body supports part
On the inner wall of side, the other end of each fixing axle is fixedly mounted on the body supports part other side after sequentially passing through two pressing plates
On inner wall, two groups of flexible adjustment components, two groups of flexible adjustment components are provided between each pressing plate and the inner wall of body supports part
It is set in two fixing axles.
The present invention compared with prior art the utility model has the advantages that
1, two sets of transmission systems in the present invention using gear drive in such a way that Worm Wheel System combines, imitate by transmission
Rate is higher, can be realized ongoing operation and promotion and whereabouts effect stability are reliable, power and torque are finally passed to special-shaped sprocket wheel.
2, in the present invention by two sets transmission systems cooperate during lifting and discharging rope rope without being bent and
It destroys.The present invention is obtained by sampling test, passes through shaped chain, worm gear, worm screw, special-shaped sprocket wheel, pressure positioning component and two
A second gear adjusts component and cooperates, it is only necessary to which two pressing plates in pressure positioning component provide normal pressure and are less than or equal to
16000N can generate less than or be equal to 10000N and lift power, to illustrate present invention reliability with higher.
3, simple, light weight, small volume the design feature with structure of rope-climbing mechanism of the present invention.Shape of the invention
Having a size of diameter 120mm, the cylindrical body of height 336mm greatly saves space shared by overall structure.The present invention adopts simultaneously
Driving method is motor driven, and lifting course motion is steady, is convenient for the control and adjusting of speed, strong flexibility, together
When can lift weight load less than or equal to 800kg.
4, the present invention solves the rope of traditional rope-climbing mechanism and other component is point contact, in the process of heavy lift
In, larger, the drawbacks of reducing the service life of rope, is destroyed to rope.The present invention is to guarantee the continuity of lifting and release force, two
It is formed with rope gripping channel between root shaped chain, provides maximum chucking power for rope, forms arc envelope rope
Fixed form, the way of contact with rope is face contact, effectively increases the service life of rope, ensure that rope is clamped in two
Lasting stability among shaped chain.
Detailed description of the invention
Fig. 1 is appearance schematic diagram of the invention；
Fig. 2 is schematic perspective view of the invention；
Fig. 3 is the course of work schematic diagram of a set of transmission system 3 in the present invention；
Fig. 4 is the schematic perspective view of two sets of transmission systems 3；
Fig. 5 is the schematic view of the front view when pressure positioning component 4 cooperates two shaped chain 3-4 to clamp rope 2；
Fig. 6 is the plan structure sectional view when two shaped chain 3-4 clamp rope 2；
The schematic perspective view of Fig. 7 connection relationship between pressure positioning component 4 and two sets of transmission systems 3；
Fig. 8 is the schematic perspective view of shaped chain 3-4；
Fig. 9 is the schematic perspective view of chain link 3-4-1；
The schematic perspective view of supporting element 1 based on Figure 10.
Specific embodiment
Specific embodiment 1: illustrating this reality in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10
Mode is applied, present embodiment includes body supports part 1, rope 2 and two sets of transmission systems 3, and two sets of transmission systems 3 are set side by side
It sets in the inside of body supports part 1, the structure of two sets of transmission systems 3 is identical, and every set transmission system 3 includes motor 3-1, the first tooth
Wheel adjusts component 3-2, shaped chain 3-4 and two length of sprocket assemblies 3-3, two sprocket assemblies 3-3 along body supports part 1
Direction is set side by side, and each sprocket assemblies 3-3 includes that worm gear 3-5, worm screw 3-6, abnormal shape sprocket wheel 3-7 and two second gears are adjusted
Component 3-8, the worm gear 3-5 and worm screw 3-6 are meshed, and it is coaxially connected that two second gears adjust component 3-8 and worm gear 3-5,
Two second gears adjust and are provided with special-shaped sprocket wheel 3-7 between component 3-8, the special-shaped sprocket wheel of two in two sprocket assemblies 3-3
It is connected between 3-7 by shaped chain 3-4, two worm screw 3-6 in two sprocket assemblies 3-3 are coaxially connected, and motor 3-1 is logical
It crosses first gear adjusting component 3-2 to be connected with any one worm screw 3-6 in two sprocket assemblies 3-3, two sets of transmission systems 3
In two shaped chain 3-4 between be clamped with rope 2.
First gear adjusting component 3-2 is identical as the second gear adjusting structure of component 3-8 in present embodiment and works
Principle is similar, and it includes two gears that first gear, which adjusts component 3-2, and the transmission ratio of two gears is 1, both for straight tooth column
It gear and is meshed.Another tooth of a gear set on the output shaft of motor 3-1, in two gears in two gears
It takes turns coaxially connected with any one worm screw 3-6 in two sprocket assemblies 3-3.
It includes driving gear and driven gear that second gear, which adjusts component 3-8, in present embodiment, driving gear and driven
Gear is a pair of of gear of transmission ratio 1.67, both for straight spur gear and is meshed.Two second gears adjust component
The corresponding worm gear 3-5 coaxial arrangement of two driving gears in 3-8, two second gears adjust two in component 3-8
A driven gear is coaxially disposed with special-shaped sprocket wheel 3-7.
Special-shaped sprocket wheel 3-7 in present embodiment in each sprocket assemblies 3-3 is driving wheel, two special-shaped sprocket wheel 3-7 it
Between transmission ratio be 1.
Specific embodiment 2: embodiment is described with reference to Fig. 2, body supports part described in present embodiment 1 are vertical
Setting, the top of the body supports part 1 are machined with 1-1 suitable for reading, and the bottom of the body supports part 1 is machined with lower mouth 1-2, institute
The one end for stating rope 2 passes through 1-1 suitable for reading, the other end of the rope 2 sequentially pass through gap between two shaped chain 3-4 and
The lower mouth 1-2 of 1 bottom of body supports part, the rope 2 is under the drive of two shaped chain 3-4 in 1-1 suitable for reading and lower mouth 1-2
Between move back and forth.Other unmentioned structures and connection relationship are same as the specific embodiment one.
Specific embodiment 3: illustrating present embodiment, every shaped chain 3-4 in present embodiment in conjunction with Fig. 2 to Fig. 9
It is made of multiple chain link 3-4-1 and multiple connection sheet 3-4-2, there are two connecting shaft 3-4-3 for setting on each chain link 3-4-1, often
The outer end face of a chain link 3-4-1 is machined with the placing groove 3-4-4 matched with rope 2, multiple placing grooves of multiple chain link 3-4-1
Rope gripping channel is formed between 3-4-4, passes through four companies between two chain link 3-4-1 each chain link 3-4-1 adjacent thereto
Contact pin 3-4-2 is connected, and the end of two connecting shaft 3-4-3 on each chain link 3-4-1 is respectively correspondingly arranged on a connection sheet
The end of 3-4-2, each connecting shaft 3-4-3 pass through the connection on chain link 3-4-1 its corresponding connection sheet 3-4-2 adjacent thereto
Axis 3-4-3 is hinged.
The placing groove 3-4-4 of the outer end face processing of each chain link 3-4-1 matched with rope 2 is half in present embodiment
Arc groove.It in pairs can be by the complete envelope of rope 2 using shaped chain 3-4.Other unmentioned structures and connection relationship with
Specific embodiment one or two is identical.
Specific embodiment 4: illustrating that present embodiment, present embodiment further include that pressure is fixed in conjunction with Fig. 4, Fig. 5 and Fig. 7
Hyte part 4, pressure positioning component 4 include two pressing plate 4-1, two fixing axle 4-2 and four groups of flexible adjustment component 4-3, each
Shaped chain 3-4 is correspondingly arranged on pressing plate a 4-1, two pressing plate 4-1 and is disposed in parallel in the two sides of rope 2, each pressure vertically
Plate 4-1 is mutually adjacent to by the side of its corresponding shaped chain 3-4 and rope 2, two fixing axle 4-2 horizontal alignment settings, often
One end of a fixing axle 4-2 is fixedly mounted on the inner wall of 1 side of body supports part, and the other end of each fixing axle 4-2 is successively
It is fixedly mounted on after two pressing plate 4-1 on the inner wall of 1 other side of body supports part, each pressing plate 4-1 and body supports part 1
Inner wall between be provided with two groups of flexible adjustment components 4-3, two groups of flexible adjustment component 4-3 and be set in two fixing axle 4-
On 2.
Two groups of flexible adjustment component 4-3 are set on two fixing axle 4-2 in present embodiment, that is to say, that each
The end of fixing axle 4-2 is correspondingly arranged on one group of flexible adjustment component 4-3.
Pressure positioning component 4 is symmetrical structure setting, the layout of each component of pressure positioning component 4 in present embodiment
Be conducive to it and provide biggish normal pressure for rope 2, is finally capable of providing biggish lifting power.When two pressing plate 4-1 are provided just
When pressure is less than or equal to 16000N, rope 2 can generate less than or be equal to 10000N and lift power.Other unmentioned structures and
Connection relationship is the same as the specific implementation mode 3.
Specific embodiment 5: present embodiment is further limiting for specific embodiment four, it is every in present embodiment
Group flexible adjustment component 4-3 includes multiple disk springs.Multiple disk springs are arranged successively, and two neighboring disk spring is affixed
Tightly.
Specific embodiment 6: embodiment is described with reference to Fig. 3, in present embodiment in two sprocket assemblies 3-3
It is connected between two worm screw 3-6 by shaft 3-10, each worm screw 3-6 passes through the end of a shaft coupling 3-9 and shaft 3-10
Portion is connected.Other unmentioned structures and connection relationship are identical as specific embodiment one or five.
Specific embodiment 7: illustrate present embodiment in conjunction with Fig. 1 and Figure 10, body supports part 1 in present embodiment
Inner wall shape is matched with the outer wall shape of two sets of transmission systems 3.Body supports part 1 is arranged such internal structure and is conducive to its section
Province inner space reduces the integrally-built space occupied of the present invention.Simultaneously stable peace can also be provided for two sets of transmission systems 3
Holding position.Other unmentioned structures and connection relationship are identical as specific embodiment six.
Specific embodiment 8: illustrating present embodiment in conjunction with Fig. 1 and Fig. 2, body supports part 1 is outer in present embodiment
Covering 5 is provided on wall.
The course of work:
When a set of transmission system 3 is worked, start motor 3-1, motor 3-1 drives first gear to adjust component 3-2
Rotation, first gear adjust component 3-2 and two worm screw 3-6 in two sprocket assemblies 3-3 are driven to rotate synchronously in same axis,
Two worm screw 3-6 rotations drive two worm gear 3-5 to rotate synchronously, so that four groups of second gears are adjusted in the set transmission system 3
Component 3-8 makes two abnormal shape sprocket wheel 3-7 drive shaped chain 3-4 movement under driving, similarly in the work of another set of transmission system 3
Process, two shaped chain 3-4, which move synchronously to cooperate, plays the effect of clamping rope 2, and rope 2 is in two shaped chain 3-
It is moved back and forth between 1-1 suitable for reading and lower mouth 1-2 under 4 drive, so that weight be driven to make lasting rising or drop action.
Claims (6)
1. a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel, it is characterised in that: it includes body supports part (1), rope
Rope (2) and two sets of transmission systems (3), two sets of transmission systems (3) are disposed in parallel in the inside of body supports part (1), and two sets
The structure of transmission system (3) is identical, and every set transmission system (3) includes motor (3-1), first gear adjusting component (3-2), abnormal shape
Chain (3-4) and two sprocket assemblies (3-3), two sprocket assemblies (3-3) set side by side along the length direction of body supports part (1)
It sets, each sprocket assemblies (3-3) include worm gear (3-5), worm screw (3-6), special-shaped sprocket wheel (3-7) and two second gear adjusting groups
Part (3-8), the worm gear (3-5) and worm screw (3-6) are meshed, and it is same that two second gears adjust component (3-8) and worm gear (3-5)
Axis connection, two second gears are adjusted to be provided with special-shaped sprocket wheel (3-7) between component (3-8), in two sprocket assemblies (3-3)
It is connected between two special-shaped sprocket wheels (3-7) by shaped chain (3-4), two worm screw (3- in two sprocket assemblies (3-3)
6) coaxially connected, motor (3-1) adjusts component (3-2) and any one in two sprocket assemblies (3-3) by first gear
Worm screw (3-6) is connected, and is clamped with rope (2) between two shaped chains (3-4) in two sets of transmission systems (3)；
The every shaped chain (3-4) is made of multiple chain links (3-4-1) and multiple connection sheets (3-4-2), each chain link (3-
On 4-1) setting is there are two connecting shaft (3-4-3), and the outer end face of each chain link (3-4-1) is machined with to be matched with rope (2)
Placing groove (3-4-4) forms rope gripping channel, each chain link between multiple placing grooves (3-4-4) of multiple chain links (3-4-1)
It is connected between two chain links (3-4-1) (3-4-1) adjacent thereto by four connection sheets (3-4-2), each chain link (3-4-
1) end of two connecting shafts (3-4-3) on is respectively correspondingly arranged on a connection sheet (3-4-2), each connecting shaft (3-4-3)
End be hinged by the connecting shaft (3-4-3) on its corresponding connection sheet (3-4-2) chain link (3-4-1) adjacent thereto；
It is described it further include pressure positioning component (4), pressure positioning component (4) includes two pressing plates (4-1), two fixing axles
(4-2) and four groups of flexible adjustment components (4-3), each shaped chain (3-4) are correspondingly arranged on a pressing plate (4-1), two pressures
Plate (4-1) is disposed in parallel in the two sides of rope (2) vertically, and each pressing plate (4-1) passes through its corresponding shaped chain (3-4) and rope
The side of rope (2) is mutually adjacent to, and two fixing axle (4-2) horizontal alignment settings, one end of each fixing axle (4-2) is fixedly mounted on
On the inner wall of body supports part (1) side, the other end of each fixing axle (4-2) sequentially passes through two pressing plates (4-1) and fixes afterwards
It is mounted on the inner wall of body supports part (1) other side, is arranged between each pressing plate (4-1) and the inner wall of body supports part (1)
There are two groups of flexible adjustment components (4-3), two groups of flexible adjustment components (4-3) are set on two fixing axles (4-2).
2. a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel according to claim 1, it is characterised in that: described
Body supports part (1) is vertically arranged, and is machined with (1-1) suitable for reading at the top of the body supports part (1), the body supports part
(1) bottom is machined with lower mouth (1-2), and one end of the rope (2) passes through (1-1) suitable for reading, the other end of the rope (2) according to
The lower mouth (1-2) in secondary gap and body supports part (1) bottom across two shaped chains (3-4), the rope (2) exist
It is moved back and forth between (1-1) He Xiakou (1-2) suitable for reading under the drive of two shaped chains (3-4).
3. a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel according to claim 2, it is characterised in that: every group
Flexible adjustment component (4-3) includes multiple disk springs.
4. a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel according to claim 1 or 3, it is characterised in that:
It is connected between two worm screws (3-6) in two sprocket assemblies (3-3) by shaft (3-10), each worm screw (3-6) passes through
One shaft coupling (3-9) is connected with the end of shaft (3-10).
5. a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel according to claim 4, it is characterised in that: main body
The inner wall shape of supporting element (1) is matched with the outer wall shape of two sets of transmission systems (3).
6. a kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel according to claim 5, it is characterised in that: main body
Covering (5) are provided on the outer wall of supporting element (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710226988.7A CN107055426B (en) | 2017-04-07 | 2017-04-07 | A kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710226988.7A CN107055426B (en) | 2017-04-07 | 2017-04-07 | A kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel |
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| Publication Number | Publication Date |
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| CN107055426A CN107055426A (en) | 2017-08-18 |
| CN107055426B true CN107055426B (en) | 2019-01-08 |
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| CN201710226988.7A Active CN107055426B (en) | 2017-04-07 | 2017-04-07 | A kind of heavy load rope-climbing mechanism based on the transmission of special-shaped sprocket wheel |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109179235B (en) * | 2018-08-17 | 2020-09-08 | 上海宇航系统工程研究所 | Special-shaped chain clamping rope climbing device |
| CN109019384B (en) * | 2018-08-17 | 2021-01-22 | 上海宇航系统工程研究所 | Winch device for automatically releasing and storing rope underwater |
| CN109516414B (en) * | 2018-11-20 | 2020-12-29 | 中国科学院国家天文台 | Climbing device and climbing method for FAST node disc and target inspection |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201585260U (en) * | 2009-12-04 | 2010-09-22 | 中南林业科技大学 | Tooth-shaped chain straw cutting machine |
| CN203700963U (en) * | 2014-01-17 | 2014-07-09 | 中铁大桥(郑州)缆索有限公司 | Bridge cable PVF strap intelligent winding and covering equipment |
| FR3032354A1 (en) * | 2015-02-11 | 2016-08-12 | Zedel | DESCENDOR INSURER DEVICE ON DEMULTIPLICATION ROPE AND ANTI-PANIC BLOCKAGE |
| CN105060192B (en) * | 2015-09-07 | 2018-04-20 | 周焕生 | A kind of climbing machine |
| CN105692481B (en) * | 2016-04-07 | 2018-03-06 | 中国长江三峡集团公司 | Steel wire rope device for climbing rope |
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