CN111535170B - Open climbing mechanism of robot of easy installation for building cable - Google Patents

Open climbing mechanism of robot of easy installation for building cable Download PDF

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Publication number
CN111535170B
CN111535170B CN202010361553.5A CN202010361553A CN111535170B CN 111535170 B CN111535170 B CN 111535170B CN 202010361553 A CN202010361553 A CN 202010361553A CN 111535170 B CN111535170 B CN 111535170B
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China
Prior art keywords
roller
climbing
cable
rollers
rotate
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CN202010361553.5A
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CN111535170A (en
Inventor
张群梅
徐文锋
张加明
于凤龙
彭程
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Jiangsu Suke Construction Technology Development Co ltd
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Jiangsu Suke Construction Technology Development Co ltd
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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00Structural or constructional details of bridges
    • E01D19/10Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
    • E01D19/106Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00Structural or constructional details of bridges
    • E01D19/16Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables

Abstract

The invention discloses an easy-to-install robot open climbing mechanism for a building cable, which comprises a climbing rack, a magnet and four rollers, wherein the climbing rack is arranged on the rack; the climbing rack comprises a vertical connecting plate and two roller mounting plates; the two roller mounting plates are symmetrically arranged on two vertical side edges of the vertical connecting plate in a splayed shape; the magnet is arranged on the central axis of the vertical connecting plate and is provided with an arc surface matched with the cable, and a gap is formed between the arc surface and the cable; each roller mounting plate is provided with two splayed rollers, and each roller can independently rotate under the action of a corresponding driving device; the circumference surface of every gyro wheel is evenly nested has a plurality of ball, and every ball all lays along the radial of corresponding gyro wheel, and can realize the free rotation. According to the invention, through the design of the roller, climbing along the axial direction of the cable can be realized, and rotation around the circumferential direction of the cable can also be realized, namely, two degrees of freedom controllable motions are realized.

Description

Open climbing mechanism of robot of easy installation for building cable
Technical Field
The invention relates to a detection robot used in the field of buildings, in particular to an easy-to-install robot open climbing mechanism for a building cable.
Background
In modern industrial buildings, the use of cables is becoming more widespread, for example cable-stayed bridges, cable cars, etc., which require the use of cables for the stabilization of the overall structure. The cable bears great force in the use process, is influenced by various external forces in the use process, has strict requirements on safety performance of a cable-stayed bridge, a cable car and the like, and has serious consequences once being broken, even endangers the life of people, so the cable is very important for quality acceptance, maintenance and fault inspection of the cable.
The cable-stayed bridge is a novel bridge type which has been developed in recent decades, and is widely applied worldwide due to good anti-seismic performance and economic performance. With the rapid development of traffic construction in China, more and more large-span bridges appear on large rivers, and cable bridges and cable-stayed bridges are generally adopted as super-large economic bridges.
Cables are a major component of such bridges, and their safety has gained widespread attention. Thus, crawling robots have emerged that are concerned with detecting the cables of cable-stayed bridges. For example: the invention relates to a Chinese patent application with the application number of 201410628752.2 and the name of the invention being 'two-degree-of-freedom guy cable robot based on a composite drive technology'; and Chinese patent application with the application number of 201510726052.1 and the name of the invention of a rotation-controllable high-altitude cable robot climbing mechanism.
However, the above two patent applications have the following problems in implementation:
1. the cable is of a closed structure, the installation in the field test process is very inconvenient, the whole mechanism needs to be disassembled and sleeved on the cable, and then the cable is installed again, so that the time and the labor are wasted, and the practical value of the popularization is seriously influenced.
2. The structure is complicated, the number of parts is too much, the weight is heavy, the manufacture is difficult, and the cost is high.
3. The clamping force of the mechanism is applied by the spring, the resonance and instability of the mechanism are easily caused under the action of nonlinear dynamic factors such as high-altitude dynamic wind load, self vibration of the cable and the like, the precision and stability of the carried detection equipment are influenced slightly, and the mechanism falls down to cause safety accidents.
4. Due to the closed structure, when obstacles such as tilting of the steel wire and the like appear on the cable, the mechanism is easily hung by the obstacles and stays at high altitude, and cannot return to the ground, so that great potential safety hazards are caused.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides an easy-to-install open climbing robot mechanism for a building cable, which can realize climbing along the axial direction of the cable and rotation around the circumferential direction of the cable, namely controllable movement with two degrees of freedom, through the design of a pair of rollers.
In order to solve the technical problems, the invention adopts the technical scheme that:
an open climbing mechanism of robot for building cable easy to install comprises a climbing rack, a magnet and four rollers.
The climbing frame comprises a vertical connecting plate and two roller mounting plates. Two gyro wheel mounting panels are "eight" font symmetry and set up on two vertical sides of vertical connecting plate, are the obtuse angle between every gyro wheel mounting panel and the vertical connecting plate.
The magnet is arranged on the central axis of the vertical connecting plate and is provided with an arc surface matched with the cable, and a gap is reserved between the arc surface and the cable.
All set up two gyro wheels that are "eight" font on every gyro wheel mounting panel, every gyro wheel homoenergetic realizes independent rotation under the effect that corresponds drive arrangement. The circumference surface of every gyro wheel is evenly nested has a plurality of ball, and every ball all lays along the radial of corresponding gyro wheel, and can realize the free rotation.
Every gyro wheel all is connected with the gyro wheel mounting panel through the supporting leg, the one end and the gyro wheel mounting panel fixed connection of supporting leg, and the other end is articulated mutually with the roller bearing of gyro wheel.
Each supporting leg points to the circle center of the cable.
Each roller has a central support coaxially mounted about the periphery of the roller. The circumference surface of center support evenly is provided with the ball groove that equals with ball quantity.
Each ball is in a wheel shape and comprises a small roller and a small roller, the small roller is coaxially sleeved on the periphery of the small roller, and the small roller is nested in the ball groove and is perpendicular to the radial direction of the corresponding roller. The small rollers are arranged in the ball grooves along the radial direction of the corresponding rollers and can rotate freely.
A climbing method of an easy-to-install robot open climbing mechanism for a building cable comprises the following steps.
Step 1, adsorption by a climbing mechanism: the climbing mechanism with the detection equipment is placed on the cable, the four rollers are in surface contact with the cable, and a gap is reserved between the arc surface of the magnet and the cable. Magnetic adsorption is formed between the magnet and the cable, so that the climbing mechanism is adsorbed on the surface of the cable.
Step 2, climbing: the two rollers on the upper layer are assumed to be a roller I and a roller II from left to right, the two rollers on the lower layer are a roller III and a roller IV from left to right, and when the roller I and the roller III rotate anticlockwise and the roller II and the roller IV rotate clockwise, upward climbing of the climbing mechanism can be achieved.
Step 3, rotation: when climbing to the set height, the climbing mechanism can rotate along the surface of the cable in the circumferential direction, and circumferential detection is achieved. The rotating method comprises the following steps: the first roller and the second roller rotate anticlockwise, and the third roller and the fourth roller rotate clockwise.
In step 2, in the climbing process, when an obstacle is encountered, the four rollers rotate according to the rotating method in step 3 so as to bypass the obstacle.
The invention has the following beneficial effects:
1. the open structure is very convenient to install.
2. Simple structure, light weight (prolonging the climbing height of the battery), easy manufacture and low cost.
3. Because flexible parts such as springs and the like are eliminated, the mechanism can be stably adsorbed on the surface of the cable, is not influenced by nonlinear dynamic factors such as high-altitude dynamic wind load, self vibration of the cable and the like, and has good stability.
4. When the detection device detects that the steel wire is tilted and other obstacles exist, the mechanism can rotate to one side far away from the obstacles by utilizing the rotation of the mechanism, the mechanism can be prevented from being hung at a high altitude and cannot return to the ground to a great extent, and the safety is ensured.
5. The invention adopts the electromagnetic adsorption principle, and the mechanism body does not surround the periphery of the cable and is of an open structure, so that the cable is convenient to install on site and does not need to be disassembled and installed. The magnetic attraction force generated by the magnet is along the radial direction of the cable, so that the climbing mechanism is adsorbed on the surface of the cable.
6. According to the invention, through the special arrangement of the roller, climbing along the axial direction of the cable can be realized, and rotation around the circumference direction of the zipper, namely controllable movement with two degrees of freedom, can be realized.
Drawings
Fig. 1 shows a first structural schematic diagram of an easy-to-install robot open climbing mechanism for a building cable.
Fig. 2 shows a schematic structural diagram of an easy-to-install robot open climbing mechanism for a building cable according to the invention.
FIG. 3 is a schematic diagram showing the arrangement of four rollers according to the present invention.
Fig. 4 shows a schematic cross-sectional view of an easy-to-install robotic open-climbing mechanism for construction cables according to the present invention.
Fig. 5 shows a schematic view of the structure of the roller according to the present invention.
Fig. 6 shows a schematic view of the rotation direction of four rollers during climbing.
Fig. 7 shows a schematic view of the direction of rotation of four rollers as they rotate.
Among them are:
10. a cable;
20. climbing the frame; 21. a vertical connecting plate; 22. mounting a roller;
30. a magnet; 31. a cambered surface; 32. a gap;
40. a roller;
41. a first roller; 411. a central support; 412. a ball bearing; 413. supporting legs;
42. a second roller; 43. a third roller; 44. and a fourth roller.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
As shown in fig. 1 and 2, an easy-to-install robot open climbing mechanism for building cables comprises a climbing frame 20, a magnet 30 and four rollers 40.
The climbing frame comprises a vertical connecting plate 21 and two roller mounting plates 22. Two gyro wheel mounting panels are "eight" font symmetry and set up on two vertical sides of vertical connecting plate, are the obtuse angle between every gyro wheel mounting panel and the vertical connecting plate.
As shown in fig. 4, one side of the magnet plane is arranged on the central axis of the vertical connecting plate, and has an arc surface 31 matched with the cable, and a gap 32 is formed between the arc surface and the cable. The magnet (preferably permanent magnet, also can be electromagnetism), because the existence of clearance, will not be with the direct physical contact of cable, therefore only produce magnetic attraction, press whole mechanism on the cable for the gyro wheel directly produces pressure with the cable, and having had this pressure, the gyro wheel rolls and just can realize the action of climbing. Similar to gravity, the vehicle is "pressed" against the road surface, and pressure is generated between the road surface and the wheels, and the wheels rotate to drive the vehicle to move. When the roller wheel rotates, the friction force between the roller wheel and the cable rope overcomes the gravity, and climbing is realized.
All set up two gyro wheels that are "eight" font on every gyro wheel mounting panel, every gyro wheel homoenergetic realizes independent rotation under the effect that corresponds drive arrangement.
As shown in fig. 2, the four rollers are: the two rollers on the upper layer are respectively a roller I1 and a roller II 42 from left to right, and the two rollers on the lower layer are respectively a roller III 43 and a roller IV 44 from left to right.
As shown in FIG. 5, a plurality of balls 412 are uniformly nested on the circumferential outer surface of each roller, each ball is arranged along the radial direction of the corresponding roller, and free rotation can be realized.
Further, each roller is preferably connected to the roller mounting plate by support legs 413. Wherein, every supporting leg all has the centre of a circle of directional cable 10, and the one end and the gyro wheel mounting panel fixed connection of supporting leg, the other end is articulated mutually with the roller bearing of gyro wheel.
Further, each roller preferably has a central bracket 411 coaxially fitted around the periphery of the roller. The circumference surface of center support evenly is provided with the ball groove that equals with ball quantity.
Furthermore, each ball is preferably wheel-shaped and comprises a small roller and a small roller, the small roller is coaxially sleeved on the periphery of the small roller, and the small roller is nested in the ball groove and is perpendicular to the radial direction of the corresponding roller. The small rollers are arranged in the ball grooves along the radial direction of the corresponding rollers and can rotate freely.
A climbing method of an easy-to-install robot open climbing mechanism for a building cable comprises the following steps.
Step 1, adsorption by a climbing mechanism: the climbing mechanism with the detection equipment is placed on the cable, the four rollers are in surface contact with the cable, and a gap is reserved between the arc surface of the magnet and the cable. Magnetic adsorption is formed between the magnet and the cable, so that the climbing mechanism is adsorbed on the surface of the cable.
Step 2, climbing: as shown in FIG. 6, when the first roller and the third roller rotate anticlockwise and the second roller and the fourth roller rotate clockwise, the climbing mechanism can climb upwards. During climbing, when an obstacle is encountered, the four rollers rotate by a set angle according to the rotating method in the step 3 so as to bypass the obstacle.
Step 3, rotation: as shown in fig. 7, after climbing to a set height, the climbing mechanism can rotate along the cable surface in the circumferential direction, so as to realize circumferential detection. The rotating method comprises the following steps: the first roller and the second roller rotate anticlockwise, and the third roller and the fourth roller rotate clockwise.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the scope of the present invention is also within the scope of the present invention.

Claims (4)

1. The utility model provides an open climbing mechanism of robot of easy installation for building cable which characterized in that: comprises a climbing rack, a magnet and four rollers;
the climbing rack comprises a vertical connecting plate and two roller mounting plates; the two roller mounting plates are symmetrically arranged on two vertical side edges of the vertical connecting plate in a splayed shape, and each roller mounting plate and the vertical connecting plate form an obtuse angle;
the magnet is arranged on the central axis of the vertical connecting plate and is provided with an arc surface matched with the cable, and a gap is formed between the arc surface and the cable;
each roller mounting plate is provided with two splayed rollers, and each roller can independently rotate under the action of a corresponding driving device; a plurality of balls are uniformly nested on the circumferential outer surface of each roller, and each ball is distributed along the radial direction of the corresponding roller and can rotate freely;
each roller is connected with the roller mounting plate through a supporting leg, one end of each supporting leg is fixedly connected with the roller mounting plate, and the other end of each supporting leg is hinged with a roller of the roller; each supporting leg points to the circle center of the cable;
in the climbing process, when an obstacle is encountered, the four rollers rotate by adopting a circumferential rotation method so as to bypass the obstacle; circumferential detection is also possible when the four rollers rotate circumferentially along the cable surface.
2. The easy-to-install robotic open climbing mechanism for building cables of claim 1 wherein: each roller is provided with a central bracket coaxially sleeved on the periphery of the roller; the outer circumferential surface of the central bracket is uniformly provided with ball grooves with the number equal to that of the balls;
each ball is in a wheel shape and comprises a small roller and a small rolling shaft, the small roller is coaxially sleeved on the periphery of the small rolling shaft, and the small rolling shafts are all nested in the ball grooves and are perpendicular to the radial direction of the corresponding roller; the small rollers are arranged in the ball grooves along the radial direction of the corresponding rollers and can rotate freely.
3. A climbing method based on the easy-to-install robot open climbing mechanism for the building cable of any one of claims 1 to 2, characterized in that: the method comprises the following steps:
step 1, adsorption by a climbing mechanism: placing a climbing mechanism carrying detection equipment on a cable, wherein the four rollers are in contact with the surface of the cable, and a gap is formed between the arc surface of the magnet and the cable; magnetic adsorption is formed between the magnet and the cable rope, so that the climbing mechanism is adsorbed on the surface of the cable rope;
step 2, climbing: assuming that the two rollers positioned on the upper layer are a roller I and a roller II from left to right, and the two rollers positioned on the lower layer are a roller III and a roller IV from left to right, when the roller I and the roller III rotate anticlockwise and the roller II and the roller IV rotate clockwise, the climbing mechanism can climb upwards;
step 3, rotation: when climbing to a set height, the climbing mechanism can circumferentially rotate along the surface of the cable to realize circumferential detection; the rotating method comprises the following steps: the first roller and the second roller rotate anticlockwise, and the third roller and the fourth roller rotate clockwise.
4. The method of claim 3 for climbing an easily installed robotic open climbing mechanism for construction cables, wherein: in step 2, in the climbing process, when an obstacle is encountered, the four rollers rotate according to the rotating method in step 3 so as to bypass the obstacle.
CN202010361553.5A 2020-04-30 2020-04-30 Open climbing mechanism of robot of easy installation for building cable Active CN111535170B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111497962B (en) * 2020-04-30 2020-11-17 江苏省苏科建设技术发展有限公司 Self-adsorption type climbing mechanism for high-altitude building

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Publication number Priority date Publication date Assignee Title
JP2002038417A (en) * 2000-07-27 2002-02-06 Kajima Corp Self-propelled cable snow removal robot
CN200988488Y (en) * 2006-12-12 2007-12-12 深圳市思韦尔检测科技有限公司 Cable detection robot
KR100806366B1 (en) * 2007-01-19 2008-02-27 전남대학교산학협력단 Apparatus for climbing bridge cables
CN106120552A (en) * 2016-06-27 2016-11-16 南京邮电大学 A kind of friction wheel type cable climbing measuring robots
CN205775839U (en) * 2016-06-27 2016-12-07 南京邮电大学 A kind of Magnetic Absorbing Inspecting Wall robot with friction mechanism
CN106314022A (en) * 2016-08-31 2017-01-11 珠海格力智能装备有限公司 Runner, chassis device and robot
WO2018102686A1 (en) * 2016-12-02 2018-06-07 Anderson Rescue Solutions, Llc Connectable pulley block
CN208293419U (en) * 2018-04-10 2018-12-28 香港中文大学(深圳) A kind of climb type detection robot
CN109421834A (en) * 2017-09-04 2019-03-05 北京恒研精创科技有限公司 A kind of offset distance formula idler wheel magnetic force crawling device
CN110371210A (en) * 2019-07-31 2019-10-25 上海酷酷机器人有限公司 A kind of magnetic force robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002038417A (en) * 2000-07-27 2002-02-06 Kajima Corp Self-propelled cable snow removal robot
CN200988488Y (en) * 2006-12-12 2007-12-12 深圳市思韦尔检测科技有限公司 Cable detection robot
KR100806366B1 (en) * 2007-01-19 2008-02-27 전남대학교산학협력단 Apparatus for climbing bridge cables
CN106120552A (en) * 2016-06-27 2016-11-16 南京邮电大学 A kind of friction wheel type cable climbing measuring robots
CN205775839U (en) * 2016-06-27 2016-12-07 南京邮电大学 A kind of Magnetic Absorbing Inspecting Wall robot with friction mechanism
CN106314022A (en) * 2016-08-31 2017-01-11 珠海格力智能装备有限公司 Runner, chassis device and robot
WO2018102686A1 (en) * 2016-12-02 2018-06-07 Anderson Rescue Solutions, Llc Connectable pulley block
CN109421834A (en) * 2017-09-04 2019-03-05 北京恒研精创科技有限公司 A kind of offset distance formula idler wheel magnetic force crawling device
CN208293419U (en) * 2018-04-10 2018-12-28 香港中文大学(深圳) A kind of climb type detection robot
CN110371210A (en) * 2019-07-31 2019-10-25 上海酷酷机器人有限公司 A kind of magnetic force robot

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