CN109969279A - A kind of cable lay climbing robot - Google Patents
A kind of cable lay climbing robot Download PDFInfo
- Publication number
- CN109969279A CN109969279A CN201910207682.6A CN201910207682A CN109969279A CN 109969279 A CN109969279 A CN 109969279A CN 201910207682 A CN201910207682 A CN 201910207682A CN 109969279 A CN109969279 A CN 109969279A
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- shell
- motor
- bracket
- idler wheel
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of cable lay climbing robots, including several modules, climbing device is provided in the shell of module, climbing device includes tensioning bracket, idler wheel is installed in tensioning bracket, it is equipped with rubber within idler wheel outer rim one week, the back side for being tensioned bracket has axis, hole is offered on paraxial shell, hole site is equipped with linear bearing, the axis for being tensioned bracket runs through linear bearing and hole, and limit stop nut is equipped on the axis outside shell, is tensioned between the back side of bracket and outer casing inner wall and is additionally provided with spring.Compared with prior art, a kind of cable lay climbing robot of the invention, can along stock, the hand of helix of twisting is rolled in wirerope, required driving force is smaller, and more stable, bearing capacity is strong；It can work in particular circumstances, can satisfy coal mine explosion-proof requirement；It is tensioned the axis relative rectilinear bearing stretching motion of bracket, there is certain buffering obstacle climbing ability and anti-interference ability.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of robot along cable lay climbing.
Background technique
From after Robot industry birth in 1956, by development in more than 60 years, robot was widely used in equipment
The high technology industries such as manufacture, new material, biological medicine, wisdom new energy.Robot can not only complete in daily life it is dull and
Cumbersome work keeps the life of the mankind simpler, and can replace people and enter the untouchable place completion people of mankind's touching
The impossible work of class, such as narrow depth environment, oxygen-free environment, high-heat environment, extremely cold environment etc..For depth environment,
It is proposed that arranging steel cable using the wirerope in depth environment or in depth environment, arrange on a steel cord more
A rope-climbed robot completes the work such as related monitoring, maintenance.The wirerope being generally used in depth environment be all silk → stock →
The structure of rope is broadly divided into round strand steel wire rope, triangular strand wire rope, multilayer strand according to twisting wire rope structure difference and does not rotate
Wirerope, sealing semi-locked coil wire rope and flat rope, different steel cord structures have different advantage and disadvantage, wherein circle stock steel wire
Rope is as more multistrand ropes around steel tendon made of a fibre core or Steel cord twisting, round strand steel wire rope because
Be simple to manufacture, low-cost feature is widely used in the boom hoist cables of various depth environment, such as elevator hoist wirerope and
Pitshaft cage hoisting wirerope, we select the diameter 40mm line for being usually used in boom hoist cable to contact western Shandong type metal core
Left non-spinning wire rope.Rope-climbed robot is a kind of robot moved on a steel cord, and robot can according to need, and is carried
The environment of different sensors, surface and surrounding to wirerope is monitored.Robot can be moved freely, for inspection
The slight damage that measures and there is the position damaged resident node be arranged carrying out round-the-clock monitoring, for example, in pit shaft
External environments can be set resident node and carry out whole day monitoring at the position of wall crackle and stayed-cable bridge bridge deformation etc..
Application number CN201510381205.3 discloses a kind of robot along wirerope axis to climbing, robot climbing
Required torque is higher, concentrates with wirerope surface contact stress, and the speed of service is unstable, easily skids, to robot wheel
The damage in body surface face is larger.
Summary of the invention
The technical problem to be solved in the invention be in view of the above shortcomings of the prior art, and provide it is a kind of along wirerope twist
To the robot of climbing, it is able to solve unstable, body surfaces serious wear of existing movement etc. when Robot is axially moved
Problem and the requirement for meeting particular job environment.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of cable lay climbing robot, including it is several can be along the module that wirerope moves up and down, the module includes outer
Shell, the interior setting of shell are divided into two groups up and down there are six climbing device, and every group of three climbing devices are aliquoted in shell one week,
The climbing device includes tensioning bracket, and tensioning bracket is C-shaped configuration, and tensioning stent outer has motor, peace in tensioning bracket
Equipped with the idler wheel rolled along steel wire, it is equipped within idler wheel outer rim one week rubber, motor drives idler wheel rotation, the back side of the tensioning bracket
With axis, hole is offered on paraxial shell, outer casing inner wall is equipped with linear bearing in hole site, and the axis for being tensioned bracket runs through
Linear bearing and hole are equipped with limit stop nut, the back side and outer casing inner wall of the tensioning bracket on the axis outside shell
Between be additionally provided with spring.
Scheme as a further preference, the cross section of the shell are hexagonal structure, and a side of shell is side
Cover board, the upper end of shell have upper carrying platform, and lower end has lower carrying platform.
The power output end of scheme as a further preference, the motor has motor D profile shaft, and the idler wheel is mounted on
On motor D profile shaft, there is bearing on the tensioning bracket, motor D type the tip of the axis is limited in bearing；The bearing and idler wheel
Between be provided with sleeve, D profile shaft is arranged through sleeve.
Scheme as a further preference, the tensioning stent outer are provided with motor fixed rack, and the motor is fixed
In in motor fixed rack；The motor position is equipped with retarder.
Scheme as a further preference, the shell inside are additionally provided with power module and communication control unit.
Scheme as a further preference can be fixedly connected between two neighbouring modules.
Compared with prior art, a kind of cable lay climbing robot of the invention, has the advantage that
(1) along stock, the hand of helix of twisting in wirerope is moved for robot, and required driving force is smaller.
(2) driving mechanism of robot is the idler wheel of multiple independent powers, and roller structure is relative to creeping motion type and crawler type
Move mode has higher sport efficiency and movement velocity.
(3) the wheel outer surface of robot is circular arc, and the diameter of circular arc is the diameter of strand wire, the idler wheel of robot with
Wirerope contact area is big and stress distribution uniformly, motion stabilization；Normal pressure between robot idler wheel and wirerope is by spring
Elastic force and idler wheel suction provide, frictional force is bigger, and reliability is stronger.
(4) robot can be composed in series according to the power of required offer by multiple equal modules, and multiple block coupled in series can
To provide different power, module can also individually work.Use scope is wide, and bearing capacity is strong.
(5) robot control circuit is designed according to essential safe type Electric Equipment in Explosive Gas Atmosphere, can
Meet coal mine explosion-proof requirement, can not only realize the monitoring to pitshaft environment, all depth environmental works can also be applied to
Occasion is realized and carries out real-time monitoring to ambient enviroment.
(6) strainer is had by tensioned along axial freedom degree, so that robot has certain buffering obstacle detouring
Ability and anti-interference ability.
(7) roller structure of robot and carrying platform, which can according to need, is replaced, and increases robot to steel wire
Restrict diameter the scope of application and monitoring range to environment, there is universality and multifunctionality.
(8) electric control gear can the coordinate of real-time computer device people in the wellbore, be conducive to staff to damage position
Position after carrying out positioning and robot failure is positioned.
(9) the PID speed adjusting module of robot can adjust the speed of service of robot in real time, needed for meeting under different operating conditions
Different polling rates requirement.
(10) bolt hole when between robot module by installation carrying platform is bolted, easy for installation, reliably
Property is strong.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of each module of the present invention；
Fig. 2 is inside modules structural schematic diagram；
Fig. 3 is module cross-sectional view；
Fig. 4 is tension structure half sectional view；
Fig. 5 is manipulator shaft mapping of the present invention
Fig. 6 is multiple module cooperative flow diagrams in the present invention；
Fig. 7 is electric control gear control principle schematic diagram of the present invention.
In figure, 1, wirerope；2, upper carrying platform；3, lower carrying platform；4, fixing bolt；5, shell；6, linear bearing；
7, it is tensioned bracket；8, stop nut is limited；9, side cover plate；10, retarder；11, motor fixed rack；12, motor；13, idler wheel；
14, rubber；15, bearing；16, motor D profile shaft；17, spring；18, power module；19, communication control unit；20, sleeve.
Specific embodiment
The optimal technical scheme that the invention will now be described in detail with reference to the accompanying drawings.
As described in figures 1 and 5, cable lay climbing robot of the invention includes multiple modules, and wirerope 1 is by multiply steel
Silk spiral twisting forms, and the weight that the quantity of module carries load as needed determines.Each module includes explosion-resistant enclosure, tensioning
Mechanism, driving mechanism, idler wheel mechanism, power module and communication control unit.Bolt when intermodule is by installation carrying platform
Hole is bolted, and is arranged different number of modules according to the weight of load, each module independence energy supply, the speed of module by
P1D controller is controlled.The explosion-resistant enclosure includes upper carrying platform 2, lower carrying platform 3, shell 5 and side cover plate 9.On
Carrying platform 2 and lower carrying platform 3 are symmetricly set on 5 both ends of shell, shell 5 and upper carrying platform 2, lower carrying platform 3, side cover
Plate 9 is connected by bolt 4.
As shown in Figures 2 and 3, a driving mechanism and an idler wheel mechanism, Mei Gemo are respectively and fixedly provided on each tensioning bracket
Block includes six tensioning brackets 7, is divided into two groups up and down, and every group includes 3, and 120 ° of interval is evenly arranged in around wirerope.
The driving mechanism includes retarder 10, motor 12 and motor fixed rack 11.Motor D-shaped output shaft 16 passes through idler wheel 13, with
Idler wheel transition fit, the power of motor 12 are transferred on idler wheel after being slowed down by retarder 10.The idler wheel mechanism includes idler wheel
13, rubber 14, bearing 15, motor D profile shaft 16.Rubber 14 is wrapped on idler wheel 13, and idler wheel 13 is magnet material, to steel wire rope sling
There is certain adsorption capacity.Idler wheel 13 and motor D-shaped output shaft transition fit.
As shown in figure 4, the strainer includes limit stop nut 8, linear bearing 6, tensioning bracket 7 and spring 17.
17 sets of spring is on the axis of tensioning bracket 7, and side is contacted with the surface of tensioning bracket 7, and side is contacted with shell 5, tensioning bracket 7
Axis pass through the linear bearing 6 that is fixed on shell 5 and can move in the axial direction.
As shown in fig. 6, the communication control unit of the robot includes the communication mould being located on the inside of robot shells
Block, communication module receives corresponding instruction can communicate the position so that it is determined where robot, Ke Yiyu with GPS positioning module
The movement velocity of PID controller communication control machine people.With the signal of receiving sensor and it can be transmitted back to remote control terminal,
The voltage of battery is converted into the disparate modules that different voltage is robot and powered by voltage transformation module.
As shown in fig. 7, working on the wirerope that the robot arranges in depth environment.Task is monitored according to inspection
Demand is disposed with m robot on a steel cord, and each robot is made of n module, and each robot is responsible for certain area
Monitoring form a monitoring node, node is according to certain strategy arrangement meticulously, so that monitoring network covering is entire
Depth environment, for being easier to be damaged or have occurred and that resident node, and the work between node is arranged in the position of damage
Work can be substituted for each other.The depth environment of robot work is covered by wireless network, and the movement position of robot is by carrying GPS mould
Block is positioned to be sent and received by communication module, is communicated by wireless network with ground control centre, robot is deployed in
It completes ground control centre.The sensor signal of robot is equally sent and received by communication module, passes through wireless network and ground
The communication of face control centre, ground control centre is handled sensor signal and is analyzed the work shape for obtaining object to be detected
State.
Power module includes lithium ion battery and plurality of voltages conversion module.
The application method of cable lay climbing robot of the present invention:
The first step, erection stage.The module number for determining composition robot first determines rolling according to 1 strand of wirerope of diameter
The diameter of wheel outer surface circular arc camber simultaneously chooses the sensor for needing to carry, and sensor and camera are fixed on robot
Carrying platform on, as required complete circuit connection.Limit stop nut 8 on all tensioning brackets is tightened so that tensioning
Bracket is protruding along the direction of axis, makes shell 5 of the idler wheel mechanism close to robot, robot side cover plate 9 is opened, by robot
It is packed on wirerope along 5 notch direction of shell, mounting robot side cover plate 9 and the limit stop nut 8 for unclamping robot make
Roller structure compresses wirerope 1 under the effect of spring 17, and the stop nut for screwing strainer adjusts the pretightning force of tension structure.
Second step debugs the stage.Connect power module 18 and communication control module 19 and driving mechanism, test sensor and
Whether camera works normally, and test machine people normally swashes on a steel cord, hovers, downlink, guarantees that robot idler wheel is being transported
Without departing from wirerope rope strand in row, the mounting robot carrying platform after test machine people can normally swash downlink.
Third step, commencement of commercial operation stage.Ground control centre sends starting and walking order, is connect by communication control module 19
It receives and controls robot and climbed according to the speed of setting, check the number that each sensor transmissions are returned in ground control centre
According to.Communication control module 19 can detecte the remaining capacity of power module, in the position according to its coordinate judgement in the wellbore
Can remaining capacity guarantee robot back to initial makeup location, if it could not, controller control centre can then be sent out to the ground
Alarm out, if receiving ground control centre backhaul order, robot returns to initial makeup location.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of cable lay climbing robot, it is characterised in that: including it is several can be along the mould that wirerope (1) moves up and down
Block, the module include shell (5), and setting is divided into two groups up and down, three of every group climb there are six climbing device in shell (5)
Device to be climbed to be aliquoted in shell (5) one week, the climbing device includes tensioning bracket (7), and tensioning bracket (7) is C-shaped configuration,
There are motor (12) on the outside of locking bracket (7), the idler wheel (13) rolled along steel wire is installed, idler wheel (13) is outside in tensioning bracket (7)
It is equipped with rubber (14) within edge one week, motor (12) drives idler wheel (13) rotation, and the back side of tensioning bracket (7) has axis, close
Hole is offered on the shell (5) of axis, shell (5) inner wall is equipped with linear bearing (6) in hole site, and the axis of tensioning bracket (7) passes through
Linear bearing (6) and hole are worn, is located on the axis of shell (5) outside and limit stop nut (8) is installed, tensioning bracket (7)
Spring (17) are additionally provided between back side and shell (5) inner wall.
2. a kind of cable lay climbing robot according to claim 1, it is characterised in that: the cross of the shell (5)
Section is hexagonal structure, and a side of shell (5) is side cover plate (9), and the upper end of shell (5) has upper carrying platform (2),
Lower end has lower carrying platform (3).
3. a kind of cable lay climbing robot according to claim 1, it is characterised in that: the motor (12) is moved
Power output end has motor D profile shaft (16), and the idler wheel (13) is mounted on motor D profile shaft (16), on the tensioning bracket (7)
With bearing (15), the end of motor D profile shaft (16) is limited in bearing (15)；It is set between the bearing (15) and idler wheel (13)
It is equipped with sleeve (20), D profile shaft (16) is arranged through sleeve (20).
4. a kind of cable lay climbing robot according to claim 1, it is characterised in that: the tensioning bracket (7)
Outside is provided with motor fixed rack (11), and the motor (12) is fixed in motor fixed rack (11)；The motor (12)
Position is equipped with retarder (10).
5. a kind of cable lay climbing robot according to claim 1, it is characterised in that: on the inside of the shell (5)
It is additionally provided with power module (18) and communication control unit (19).
6. a kind of cable lay climbing robot according to claim 1, it is characterised in that: two neighbouring moulds
It can be fixedly connected between block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910207682.6A CN109969279A (en) | 2019-03-19 | 2019-03-19 | A kind of cable lay climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910207682.6A CN109969279A (en) | 2019-03-19 | 2019-03-19 | A kind of cable lay climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109969279A true CN109969279A (en) | 2019-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910207682.6A Pending CN109969279A (en) | 2019-03-19 | 2019-03-19 | A kind of cable lay climbing robot |
Country Status (1)
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| CN (1) | CN109969279A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086963A (en) * | 2019-08-09 | 2020-05-01 | 中国矿业大学 | Synchronous track moving device of shaft inspection system and control method thereof |
| CN111276903A (en) * | 2020-04-14 | 2020-06-12 | 镇江市高等专科学校 | Foreign matter clearing device for cable between electric power iron tower |
| CN111532352A (en) * | 2020-04-28 | 2020-08-14 | 沈阳智能机器人创新中心有限公司 | Pole-climbing mechanism |
| WO2021027128A1 (en) * | 2019-08-09 | 2021-02-18 | 中国矿业大学 | Shaft inspection system and steel wire rope moving device thereof |
| WO2021056718A1 (en) * | 2019-09-23 | 2021-04-01 | 中国矿业大学 | Rope climbing robot capable of obstacle crossing and obstacle crossing method thereof |
| CN113511280A (en) * | 2021-07-05 | 2021-10-19 | 中国矿业大学 | Steel wire rope climbing robot |
| CN113617564A (en) * | 2021-09-02 | 2021-11-09 | 上海建冶科技股份有限公司 | Safety positioning system for high-altitude cable maintenance |
| CN113800359A (en) * | 2021-09-27 | 2021-12-17 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN114803774A (en) * | 2022-04-26 | 2022-07-29 | 鞍钢集团矿业有限公司 | Multi-adaptive steel wire rope flaw detection robot and using method thereof |
| SE545250C2 (en) * | 2019-09-23 | 2023-06-07 | Univ China Mining | Wellbore inspection system and method for ultra-deep vertical shaft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021056718A1 (en) * | 2019-09-23 | 2021-04-01 | 中国矿业大学 | Rope climbing robot capable of obstacle crossing and obstacle crossing method thereof |
| AU2019436656B2 (en) * | 2019-09-23 | 2021-12-23 | China University Of Mining And Technology | Rope climbing robot capable of surmounting obstacle and obstacle surmounting method thereof |
| CN111276903A (en) * | 2020-04-14 | 2020-06-12 | 镇江市高等专科学校 | Foreign matter clearing device for cable between electric power iron tower |
| CN111532352A (en) * | 2020-04-28 | 2020-08-14 | 沈阳智能机器人创新中心有限公司 | Pole-climbing mechanism |
| CN113511280A (en) * | 2021-07-05 | 2021-10-19 | 中国矿业大学 | Steel wire rope climbing robot |
| CN113511280B (en) * | 2021-07-05 | 2022-11-29 | 中国矿业大学 | Steel wire rope climbing robot |
| CN113617564A (en) * | 2021-09-02 | 2021-11-09 | 上海建冶科技股份有限公司 | Safety positioning system for high-altitude cable maintenance |
| CN113800359B (en) * | 2021-09-27 | 2022-11-22 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN113800359A (en) * | 2021-09-27 | 2021-12-17 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN114803774B (en) * | 2022-04-26 | 2023-12-15 | 鞍钢集团矿业有限公司 | Multi-adaptive wire rope flaw detection robot and using method thereof |
| CN114803774A (en) * | 2022-04-26 | 2022-07-29 | 鞍钢集团矿业有限公司 | Multi-adaptive steel wire rope flaw detection robot and using method thereof |
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Application publication date: 20190705 |