CN109911046B - Suspension crawler type climbing robot - Google Patents
Suspension crawler type climbing robot Download PDFInfo
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- CN109911046B CN109911046B CN201910182490.4A CN201910182490A CN109911046B CN 109911046 B CN109911046 B CN 109911046B CN 201910182490 A CN201910182490 A CN 201910182490A CN 109911046 B CN109911046 B CN 109911046B
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- 239000000725 suspension Substances 0.000 title claims abstract description 30
- 230000009194 climbing Effects 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 210000001503 joint Anatomy 0.000 claims abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 17
- 230000007704 transition Effects 0.000 claims description 5
- 238000007689 inspection Methods 0.000 abstract description 5
- 239000004698 Polyethylene Substances 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 239000004677 Nylon Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 229920001778 nylon Polymers 0.000 description 4
- 230000032683 aging Effects 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 229920001903 high density polyethylene Polymers 0.000 description 2
- 239000004700 high-density polyethylene Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004049 embossing Methods 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- 238000009827 uniform distribution Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The invention relates to a suspended crawler type cable climbing robot which comprises a hexagonal frame (1), wherein the cubic frame (1) is formed by butt joint of a left frame and a right frame, each frame is formed by fixedly connecting three panels, three suspended crawler type enclasping mechanisms (4) are arranged on the inner side of the hexagonal frame (1), one suspended crawler type enclasping mechanism (4) is arranged on the middle panel of one half frame, the other two suspended crawler type enclasping mechanisms (4) are arranged on the panels on the left side and the right side of the other half frame, and the three suspended crawler type enclasping mechanisms (4) are arranged at an angle of 120 degrees. The suspended crawler type rope climbing robot has the advantages of simple structure, light weight, large effective load and strong obstacle crossing capability, and is suitable for the outer surface inspection of rope bodies such as suspension ropes of a suspension bridge and stay ropes of a cable-stayed bridge in a high-altitude environment.
Description
Technical Field
The invention relates to a suspended crawler-type cable-climbing robot which is mainly used for automatically checking the surface states (aging, damage, spiral line falling and the like) of PE sheaths of main cables, slings and stay cables of a suspension bridge, and belongs to the technical field of detection robots.
Background
The cable (pull)) system of the suspension bridge and the cable-stayed bridge is a life line of the full bridge, and the corrosion-proof effect of the life line is related to the service life of the cable body, and further related to the safety of the upper structure of the bridge. At present, a high-density polyethylene (HDPE, PE for short) sheath is almost adopted as a protective layer for the bridge cable body, and the large bridge is exposed in the environments of blowing, drenching and sun-drying because the large bridge is mostly positioned in rivers, seas, large water bodies or deep mountain canyons, so that the service condition of the PE sheath is harsh and complex, and aging and damage are unavoidable. In addition, the sling of the suspension bridge is connected with the main cable through a cable clamp, and the cable clamp forms a higher bulge on the surface of the main cable; in order to avoid wind and rain resonance in severe weather, spiral lines or embossing pits are additionally manufactured on the surface of the stay cable, and the necessary technical measures meet the bridge design and operation requirements, but provide a new subject for subsequent cable detection.
The safety service of the large bridge is the first thing, the inspection maintenance is an important and necessary management measure, and the requirement that the large bridge must be periodically inspected is specified in JTG H11-2004, highway bridge and culvert maintenance Specification. The cable body surface state inspection can timely find out bad conditions such as PE sheath bulge, damage, aging and the like, timely take countermeasures, protect steel wires in the cable body, ensure the service life of the cable body and ensure the use safety of the bridge. The existing rope PE sheath checking method is mainly manual checking and robot checking, the manual checking is limited by bridge passing, high-altitude danger, low efficiency and the like, few robot checking is adopted in recent years, the robot checking is more adopted due to safety, convenience and high efficiency, some enterprises and research institutions conduct research and application, such as climbing robots developed by Shanghai university (patent No. 99252056.8) and Jiangsu Fall materials testing and analyzing Limited company (patent No. CN 201010529828.8), the requirement of non-manual rope checking is primarily solved, but the phenomena of complex structure, heaviness, cable power supply, low efficiency, poor obstacle crossing capability, easiness in high-altitude anchor breaking and the like also exist, so that the checking work cannot be smooth, and a rescue robot is needed to be prepared for accident handling after high-altitude shell clamping.
Disclosure of Invention
The invention aims to solve the technical problem of providing a suspension crawler type climbing rope robot which is suitable for outer surface inspection of rope bodies such as suspension ropes of suspension bridges and stay ropes of cable-stayed bridges in high-altitude environments, and has the advantages of simple structure, light weight, large effective load and strong obstacle crossing capability.
The invention solves the problems by adopting the following technical scheme: the utility model provides a suspension crawler-type climbing robot, it includes the hexagon frame, the cube frame is formed by controlling two halves frame butt joint, and every half frame is formed by three panel fixed connection, hexagon frame inboard is provided with three sets of suspension crawler-type and holds tightly the mechanism, and one set of suspension crawler-type holds tightly the mechanism and sets up on the middle panel of half of one of them frame, and two sets of suspension crawler-type hold tightly the mechanism and set up on the panel on half frame left and right sides about the other half frame, and three sets of suspension crawler-type hold tightly the mechanism and be 120 angle arrangement.
Preferably, the suspension crawler type enclasping mechanism comprises a left row of limiting supports and a right row of limiting supports, a synchronizing wheel mechanism is arranged between the left row of limiting supports and the right row of limiting supports, the synchronizing wheel mechanism comprises a left synchronizing wheel frame and a right synchronizing wheel frame, driving wheels and driven wheels are respectively arranged at the front end and the rear end of the left synchronizing wheel frame and the right synchronizing wheel frame, a crawler is arranged between the driving wheels and the driven wheels, a limiting rod is arranged at the outer side of the synchronizing wheel frame, a limiting groove is formed in the limiting supports in the vertical direction, the limiting rod is inserted in the limiting groove, two groups of springs are arranged at the outer side of the synchronizing wheel mechanism, the upper ends of the springs are fixedly connected with the outer side faces of the synchronizing wheel frames, and the lower ends of the springs are fixedly connected with a frame panel.
Preferably, the back of the crawler belt is a synchronous belt contacted with the driving wheel and the driven wheel, and the front of the crawler belt is a U-shaped groove which is enmeshed with the rope body along the length direction.
Preferably, a plurality of transition wheels are arranged between the driving wheel and the driven wheel.
Preferably, a driving mechanism is arranged on one side of the driving wheel of the synchronous wheel mechanism, the driving mechanism comprises a driving motor, and the output end of the driving motor is connected with the main shaft of the driving wheel through a worm gear mechanism or a bevel gear mechanism.
Preferably, a spring sleeve is arranged on the outer side of the synchronous wheel frame, the upper end of the spring is fixedly connected with the spring sleeve, a spring base plate is arranged on the frame panel, and the lower end of the spring is fixedly connected with the spring base plate.
Preferably, a guide sleeve is arranged at the center of the spring.
Preferably, the upper side and the lower side of the hexagonal frame are provided with end plates, a through hole for the rope body to pass through is formed in the center of the end plate, a detection mechanism is arranged on the upper side end plate and located on the periphery of the through hole, the detection mechanism comprises a plurality of cameras and obstacle sensors, and a ranging encoder is arranged on the lower side end plate.
Preferably, one end of the left half frame and the right half frame are hinged through a hinge, and the other end of the left half frame and the right half frame are connected through a hasp lock.
Preferably, the left half frame and the right half frame are fixed through a plurality of hoops, the hoops are hexagonal, the hoops comprise a left half hoop body and a right half hoop body, one ends of the left half hoop body and the right half hoop body are connected through a hinge, and the other ends of the left half hoop body and the right half hoop body are connected through a hasp phase lock.
Compared with the prior art, the invention has the advantages that:
1. the machine frame and the synchronous wheel frame are made of carbon fiber plates, the crawler wheels and the crawler belts are made of nylon materials, the upper end face and the lower end face of the machine frame are made of organic glass, the structural strength is met, the self weight of the machine (the weight of the whole machine is more than ten kilograms) is greatly reduced, and the effective load is large, so that conditions are provided for subsequent function development;
2. the frame is designed in two halves, and is connected and fixed by the hinge and the snap lock to form a closed and stable hexagonal body, so that loose falling wind is avoided; the whole weight is light, the two halves are designed to be convenient to install and position, one person can finish rope loading and positioning, and the rope climbing detection operation is greatly facilitated;
3. the suspension crawler type enclasping mechanism adopts the nylon material crawler, has large friction force with the rope body, can not slip, can not damage the PE layer on the surface of the rope body, has good nylon wear resistance and long service life, and can meet the continuous detection requirement;
4. the crawler synchronizing wheel mechanism is connected with the frame through the springs, is suspended in front of the frame, has good flexibility and strong deformability, adopts a three-side uniform distribution mode, and when the crawler synchronizing wheel mechanism passes through an obstacle, three sets of suspending mechanisms coordinate deformation, are easy to pass over, and have reliable obstacle crossing and strong deformability;
5. the invention adopts a driving mode of a worm gear or bevel gear motor, so that the motor is parallel to the synchronous wheel frame, the internal space of the mechanism is greatly saved, and the self-locking function of the worm gear and the bevel gear also avoids the robot from sliding downwards after the motor stops rotating; the adopted worm and gear motor has large torque, electricity saving and light weight, and after the circuit is used for teaching, the battery is fully charged once, so that the cable climbing can exceed 5000m.
Drawings
Fig. 1 is a schematic structural view of an embodiment 1 of a suspended crawler type cable-climbing robot of the present invention.
Fig. 2 is a schematic structural view of the suspended track type hugging mechanism of fig. 1.
Fig. 3 is a side view of fig. 2.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a schematic structural view of an embodiment 2 of a suspended crawler type cable-climbing robot of the present invention.
Wherein:
hexagonal frame 1
Hinge 2
Hasp lock 3
Suspension crawler type enclasping mechanism 4
Limiting support 41
Synchronizing wheel mechanism 42
Synchronous wheel carrier 421
Driving wheel 422
Driven wheel 423
Crawler belt 424
Transition wheel 425
Stop lever 43
Limiting groove 44
Anticreep nut 45
Spring 46
Spring housing 47
Spring backing plate 48
Guide sleeve 49
Drive mechanism 410
End plate 5
Rope body 6
Through hole 7
Detection mechanism 8
Camera 81
Obstacle sensor 82
And a hoop 9.
Detailed Description
The invention is described in further detail below with reference to the embodiments of the drawings.
Example 1:
as shown in fig. 1 to 4, the suspension crawler type climbing robot in the embodiment comprises a hexagonal frame 1, six side surfaces of the hexagonal frame 1 are identical in size, the cubic frame 1 is formed by butting left and right half frames, each half frame is formed by fixedly connecting three panels, one ends of the left and right half frames are hinged through a hinge 2, the other ends of the left and right half frames are connected through a snap lock 3, the snap lock 3 can be opened, the left and right half frames are buckled on the snap lock 3 to be fixed to form a rigid hexagonal frame 1, three suspension crawler type enclasping mechanisms 4 are arranged on the inner side of the hexagonal frame 1, one suspension crawler type enclasping mechanism 4 is arranged on a middle panel of one half frame, the other suspension crawler type enclasping mechanisms 4 are arranged on panels on the left and right sides of the other half frame, and the three suspension crawler type enclasping mechanisms 4 are arranged at an angle of 120 degrees;
the suspension crawler type enclasping mechanism 4 comprises a left row and a right row of limiting supports 41, a synchronous wheel mechanism 42 is arranged between the left row and the right row of limiting supports 41, the synchronous wheel mechanism 42 comprises a left synchronous wheel frame 421 and a right synchronous wheel frame 421, a driving wheel 422 and a driven wheel 423 are respectively arranged at the front end and the rear end of the left synchronous wheel frame 41 and between the driving wheel 422 and the driven wheel 423, a crawler 424 is arranged between the driving wheel 422 and the driven wheel 423, the back surface of the crawler 424 is a synchronous belt which is in contact with the driving wheel 422 and the driven wheel 423, the front surface of the crawler 424 is a U-shaped groove which is enclasped with a rope body along the length direction, a limiting rod 43 is arranged at the outer side of the synchronous belt wheel frame 421, a limiting groove 44 is formed in the limiting support 41 along the vertical direction, a drop-out preventing nut 45 is arranged at the outer end of the limiting rod 43, a front spring 46 and a rear spring 46 are arranged at the outer side of the synchronous wheel mechanism 42, the upper end of the spring 46 is fixedly connected with the outer side of the synchronous wheel frame 421, and the lower end of the spring 46 is fixedly connected with a frame panel;
a plurality of transition wheels 425 are arranged between the driving wheel 422 and the driven wheel 423;
a spring sleeve 47 is arranged on the outer side of the synchronous wheel frame 421, and the upper end of the spring 46 is fixedly connected with the spring sleeve 47;
a spring backing plate 48 is arranged on the frame panel, and the lower end of the spring 46 is fixedly connected with the spring backing plate 48;
a guide sleeve 49 is arranged in the center of the spring 46;
a driving mechanism 410 is arranged on one side of a driving wheel 422 of the synchronous wheel mechanism 42, the driving mechanism 410 comprises a driving motor, and the output end of the driving motor is connected with a main shaft of the driving wheel 422 through a worm gear mechanism or a bevel gear mechanism;
a battery is arranged on the inner side or the outer side of the hexagonal frame 1 and is connected with a driving motor 491 through a lead;
end plates 5 are arranged on the upper side and the lower side of the hexagonal frame 1, a through hole 7 for a rope body 6 to pass through is formed in the center of the end plate 5, a detection mechanism 8 is arranged on the upper side end plate 5, the detection mechanism 8 is positioned on the periphery of the through hole 7, the detection mechanism 8 comprises a plurality of cameras 81 and obstacle sensors 82, a ranging encoder is arranged on the lower side end plate 5, a counting wheel of the ranging encoder faces to the inner side, and contacts with the rope body when the robot climbs the rope;
the hexagonal frame 1 and the synchronous wheel frame 421 are made of carbon fiber plates; the driving wheel 422, the driven wheel 423, the transition wheel 425 and the crawler 424 are all made of nylon materials; the end plate 5 is made of organic glass; the structural strength is met, the self weight of the machine (the weight of the whole machine is more than ten kilograms) is greatly reduced, and the effective load is large, so that conditions are provided for subsequent function development.
The cameras are symmetrically arranged, the positions of the cameras are adjusted according to the images of the display after the surface of the rope body is in place, the shot images are clear, the 360-degree surface of the whole rope body is covered, and the detection is started after the adjustment is in place; the plurality of sensors are symmetrically arranged on the front end face of the frame, can sense and give out signals when reaching the tower end, and the robot stops advancing. The distance measuring encoder can count and measure the distance between the climbing position of the robot and the starting positions at two ends, so that the defect positions found in the detection can be conveniently measured.
When the robot is used, the buckling lock is opened to unfold the two halves of the robot, so that the caterpillar band of the enclasping mechanism is clung to the surface of the rope body, the caterpillar band is closed around the rope body, the buckling lock is buckled, the position of the robot and the positions of the 4 cameras are adjusted, four images on the display can cover the whole surface of the rope body, and the counting wheel is closely contacted with the surface of the rope body by the checking encoder. And (3) starting detection, adjusting the climbing speed of the robot, observing the surface condition of the rope body through a display, if suspected defects are found, adjusting the robot to slowly climb and stop at the defect after descending, confirming the defect condition, recording the distance value of the encoder, and capturing and storing the defect picture. And continuing climbing detection. The SD memory card information of the robot is timely checked and recorded into a computer for storage so as to be used for subsequent verification and inspection.
Example 2:
referring to fig. 5, embodiment 2 differs from embodiment 1 in that: the left half frame and the right half frame are fixed through a plurality of hoops 9, the hoops 9 are hexagons, the hoops 9 comprise a left half hoop body and a right half hoop body, one ends of the left half hoop body and the right half hoop body are connected through a hinge 2, and the other ends of the left half hoop body and the right half hoop body are connected through a hasp lock 3.
In addition to the above embodiments, the present invention also includes other embodiments, and all technical solutions that are formed by equivalent transformation or equivalent substitution should fall within the protection scope of the claims of the present invention.
Claims (8)
1. A suspension crawler-type climbing robot which is characterized in that: the device comprises a hexagonal frame (1), wherein the hexagonal frame (1) is formed by butt joint of a left half frame and a right half frame, each half frame is formed by fixedly connecting three panels, three sets of suspension crawler type enclasping mechanisms (4) are arranged on the inner side of the hexagonal frame (1), one set of suspension crawler type enclasping mechanisms (4) is arranged on the middle panel of one half frame, the other two sets of suspension crawler type enclasping mechanisms (4) are arranged on the panels on the left side and the right side of the other half frame, and the three sets of suspension crawler type enclasping mechanisms (4) are arranged at an angle of 120 degrees;
the suspension crawler type enclasping mechanism (4) comprises a left row and a right row of limiting supports (41), a synchronous wheel mechanism (42) is arranged between the left row and the right row of limiting supports (41), the synchronous wheel mechanism (42) comprises a left synchronous wheel frame (421) and a right synchronous wheel frame (421), a driving wheel (422) and a driven wheel (423) are respectively arranged at the front end and the rear end of the left synchronous wheel frame (421), a crawler (424) is arranged between the driving wheel (422) and the driven wheel (423), a limiting rod (43) is arranged at the outer side of the synchronous wheel frame (421), a limiting groove (44) is formed in the limiting support (41) along the vertical direction, the limiting rod (43) is inserted into the limiting groove (44), two groups of springs (46) are arranged at the outer side of the synchronous wheel mechanism (42), the upper ends of the springs (46) are fixedly connected with the outer side faces of the synchronous wheel frame (421), and the lower ends of the springs (46) are fixedly connected with a frame panel.
The left half frame and the right half frame are fixed through a plurality of hoops (9), the hoops (9) are hexagonal, the hoops (9) comprise a left half hoop body and a right half hoop body, one ends of the left half hoop body and the right half hoop body are connected through a hinge (2), and the other ends of the left half hoop body and the right half hoop body are connected through a hasp lock (3).
2. The suspended track type cable climbing robot according to claim 1, wherein: the back of the crawler belt (424) is a synchronous belt which is in contact with the driving wheel (422) and the driven wheel (423), and the front of the crawler belt (424) is a U-shaped groove which is in cohesion with the rope body along the length direction.
3. The suspended track type cable climbing robot according to claim 1, wherein: a plurality of transition wheels (425) are arranged between the driving wheel (422) and the driven wheel (423).
4. The suspended track type cable climbing robot according to claim 1, wherein: one side of a driving wheel (422) of the synchronous wheel mechanism (42) is provided with a driving mechanism (410), the driving mechanism (410) comprises a driving motor, and the output end of the driving motor is connected with a main shaft of the driving wheel (422) through a worm gear mechanism or a bevel gear mechanism.
5. The suspended track type cable climbing robot according to claim 1, wherein: the outer side of the synchronous wheel frame (421) is provided with a spring sleeve (47), the upper end of the spring (46) is fixedly connected with the spring sleeve (47), the frame panel is provided with a spring base plate (48), and the lower end of the spring (46) is fixedly connected with the spring base plate (48).
6. The suspended track type cable climbing robot according to claim 1, wherein: the center of the spring (46) is provided with a guide sleeve (49).
7. The suspended track type cable climbing robot according to claim 1, wherein: end plates (5) are arranged on the upper side and the lower side of the hexagonal frame (1), a through hole (7) for a cable body (6) to pass through is formed in the center of the end plate (5), a detection mechanism (8) is arranged on the upper end plate (5), the detection mechanism (8) is located at the periphery of the through hole (7), the detection mechanism (8) comprises a plurality of cameras (81) and obstacle sensors (82), and a ranging encoder is arranged on the lower end plate (5).
8. The suspended track type cable climbing robot according to claim 1, wherein: one end of the left half frame and the right half frame are hinged through a hinge (2), and the other end is connected through a snap lock (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910182490.4A CN109911046B (en) | 2019-03-12 | 2019-03-12 | Suspension crawler type climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182490.4A CN109911046B (en) | 2019-03-12 | 2019-03-12 | Suspension crawler type climbing robot |
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| CN109911046A CN109911046A (en) | 2019-06-21 |
| CN109911046B true CN109911046B (en) | 2023-12-15 |
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| CN201910182490.4A Active CN109911046B (en) | 2019-03-12 | 2019-03-12 | Suspension crawler type climbing robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201819511D0 (en) * | 2018-11-30 | 2019-01-16 | Koppen Rob | Remote controlled crawilng device |
| CN111549662A (en) * | 2020-05-11 | 2020-08-18 | 无锡金诚工程技术服务有限公司 | Planetary walking trolley for detecting and maintaining main cable and sling of suspension bridge |
| CN112356941A (en) * | 2020-11-03 | 2021-02-12 | 张梅 | Climbing mechanism for robot |
| CN113062536B (en) * | 2021-04-09 | 2021-10-26 | 长沙学院 | Slope roof snow removing robot |
| CN114684290B (en) * | 2022-04-19 | 2023-03-21 | 湖北工业大学 | Crawler-type stay cable robot capable of achieving radial balance adjustment |
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| CN109911046A (en) | 2019-06-21 |
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