CN113618708A - Similar planet rotary type maintenance robot suitable for multi-size inhaul cables - Google Patents
Similar planet rotary type maintenance robot suitable for multi-size inhaul cables Download PDFInfo
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- CN113618708A CN113618708A CN202111039832.0A CN202111039832A CN113618708A CN 113618708 A CN113618708 A CN 113618708A CN 202111039832 A CN202111039832 A CN 202111039832A CN 113618708 A CN113618708 A CN 113618708A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 37
- 230000009194 climbing Effects 0.000 claims abstract description 102
- 238000003825 pressing Methods 0.000 claims abstract description 16
- 230000009193 crawling Effects 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 176
- 238000004140 cleaning Methods 0.000 claims description 126
- 238000005507 spraying Methods 0.000 claims description 102
- 238000005498 polishing Methods 0.000 claims description 67
- 239000003973 paint Substances 0.000 claims description 32
- 238000001514 detection method Methods 0.000 claims description 29
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 16
- WSNMPAVSZJSIMT-UHFFFAOYSA-N COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 Chemical compound COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 WSNMPAVSZJSIMT-UHFFFAOYSA-N 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 12
- 238000010008 shearing Methods 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 8
- 238000005056 compaction Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008531 maintenance mechanism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a quasi-planetary rotary type maintenance robot suitable for multi-size inhaul cables, and relates to the field of crawling robots for maintaining surfaces of inhaul cables of a cable bridge. The invention has the technical characteristics that: the repairing device is modularized; the repairing device does planetary-like rotation motion around the inhaul cable while working; the pressing force of the climbing wheel can be adjusted by the pressing climbing device; the distance between the tail end execution structure and the surface of the inhaul cable can be adjusted by matching the scissor structure in the repairing device with the guide rail sliding block, so that the invention avoids the high-altitude operation of workers, is suitable for inhaul cables with different sizes, and improves the maintenance efficiency, precision and accuracy.
Description
Technical Field
The invention belongs to the field of crawling robots, and particularly relates to a planetary rotation-like overhauling robot suitable for a multi-size inhaul cable.
Background
The cable bridge is a preferred bridge type of a large-span bridge, is widely established in coastal cities in recent years, has the advantage of large span range, and has more attractive appearance than a common bridge and superior stability. Compared with the construction of a common bridge and a cable bridge, the construction method is more convenient, and the material required for manufacturing one cable bridge is more saved than that of other types of bridges. With the progress of the construction technology of the inhaul bridge and the continuous emergence of novel materials, the inhaul bridge is more and more constructed in coastal cities of China in future and becomes a main mode of urban bridges of China.
Although the construction cost of the cable bridge is less than that of other kinds of bridges, the maintenance work of the cable bridge is more difficult than that of other kinds of bridges. The maintenance of the guy cable bridge is not only for ensuring the stability and safety of a bridge, but also for the guy cable bridge, if corresponding maintenance work is not carried out for a long time, the damage of the whole guy cable can be caused, more guy cables can be seriously damaged, only the guy cable is replaced aiming at the processing measure of guy cable damage, and for the guy cable bridge, the guy cable replacement is extremely inconvenient, the normal operation of traffic is influenced because the guy cable replacement can cause the sealing of the whole bridge, the guy cable is highly counterfeited, and a plurality of unnecessary economic measures can be caused by frequent guy cable replacement. The cable replacement work of the cable bridge is a special and complex environment, the safety of cable maintainers is threatened along with the influence of high-altitude wind load and vibration, most of cable crawling robots have only a detection function, and some crawling robots carry maintenance devices on cable surfaces, but do not realize comprehensive maintenance on the cable surfaces, still need workers to detect and manually maintain the cable surfaces, and the purpose that the workers are separated from a high-level working environment is not achieved fundamentally. And according to the construction scale difference of cable bridge, the size of cable also is different, therefore demand cable maintenance robot will have higher suitability when facing different size cables.
Based on the current situation, the invention aims to provide the inhaul cable maintenance robot which can realize more comprehensive maintenance work on the surface of the inhaul cable and is suitable for inhaul cables with different sizes.
Disclosure of Invention
Aiming at the problems, the invention aims to solve the technical problem of designing a planetary rotation-like maintenance robot suitable for a multi-size inhaul cable.
The invention is realized by the following steps: the invention relates to a planetary rotation-like overhaul robot suitable for a multi-size inhaul cable, which comprises an inhaul cable polishing device, an inhaul cable cleaning device, an inhaul cable spraying device, an arc guide rotating platform, a pressing climbing device, a robot base body and a detection mechanism, and is characterized in that: the cable polishing device comprises a cable polishing displacement mechanism, a cable polishing actuating mechanism and a cable polishing fine adjustment base, wherein the cable polishing displacement mechanism comprises a driving motor I, a lead screw base slider I, a lead screw support I, a shearing fork moving connection support I, a shearing fork fixing connection support I and a shearing fork structure I, the cable polishing actuating mechanism comprises a polishing motor base, a polishing motor, a polishing head and a polishing motor fixing plate, the cable polishing fine adjustment base comprises an upper base I, a lower base I, a base slider I and a base guide rail I, the cable cleaning device comprises a cable cleaning displacement mechanism, a cable cleaning actuating mechanism and a cable cleaning fine adjustment base, the cable cleaning displacement mechanism comprises a driving motor II, a lead screw slider II, a lead screw support II, a shearing fork moving connection support II, a shearing fork fixing connection support II, The cable cleaning executing mechanism comprises a cleaning motor, a cam mechanism, a cleaning motor base, a cleaning brush and a cleaning motor fixing plate, the cable cleaning fine tuning base comprises an upper base II, a lower base II, a base sliding block II and a base guide rail II, the cable spraying device comprises an electromagnetic paint spraying mechanism and a cable spraying base, the electromagnetic paint spraying mechanism comprises an electromagnet, an electromagnet support, a paint spraying mechanism base support, a paint spraying tank and a paint spraying tank clamp, the cable spraying base comprises an upper base III and a lower base III, the arc guiding rotary platform comprises a cable grinding device connecting block, a cable cleaning device connecting block, a cable spraying device connecting block, an arc gear ring, an arc guide rail, an inner arc connecting mechanism and a cable surface detection mechanism, and the cable grinding device connecting block, the cable cleaning device connecting block and the cable surface detection mechanism which are completely the same in structure, The inhaul cable spraying device comprises a connection block and is uniformly distributed on an arc guide rotating platform at intervals of 90 degrees, the connection block of the inhaul cable grinding device comprises a connection support, an arc guide rail slide block, a planet wheel and a planet wheel driving motor, the inner arc connection mechanism comprises an inner arc connection body I, an inner arc connection body II, an inner arc connection body III and an inner arc connection body IV, the inhaul cable surface detection mechanism comprises a detection camera I, a detection camera II and a detection camera III, 4 identical compaction climbing devices are uniformly distributed on the circumference of a robot base body at an angle of 90 degrees, the compaction climbing devices comprise a climbing wheel connection mechanism, a driven climbing wheel mechanism, a driving climbing wheel mechanism and a driving wheel driving mechanism, the climbing wheel connection mechanism comprises a wheel connection body, a climbing wheel hinge seat I and a climbing wheel hinge seat II, and the driven climbing wheel mechanism comprises a climbing wheel I and a climbing wheel hinge seat II, The robot base body comprises an upper longitudinal device supporting frame, a middle arc device supporting frame, a lower longitudinal device supporting frame and a bottom arc device supporting frame, the upper longitudinal device supporting frame comprises an upper longitudinal supporting plate I, an upper longitudinal supporting plate II, an upper longitudinal supporting plate III and an upper longitudinal supporting plate IV, the four upper longitudinal supporting plates are identical in structure and are uniformly distributed along the circumference, the middle arc device supporting frame comprises a middle arc platform and a middle platform sealing plate, the lower longitudinal device supporting frame comprises a lower longitudinal supporting plate I, a lower longitudinal supporting plate II, a large belt wheel, The cable surface quality inspection mechanism comprises a monitoring camera I, a monitoring camera II, a monitoring camera III and a monitoring camera IV, and is characterized in that the cable grinding device, the cable cleaning device and the cable spraying device are respectively arranged on a cable grinding device connecting block, a cable cleaning device connecting block and a cable spraying device connecting block of the arc guide rotating platform, the arc guide rotating platform is arranged at the top of the robot base body, and the cable grinding device, the cable cleaning device and the cable spraying device which are connected onto the arc guide rotating platform can rotate around the circumference of the top of the robot base body along with the rotation of the cable grinding device connecting block, the cable cleaning device connecting block and the cable spraying device connecting block on the arc guide rotating platform The device comprises a circular arc guiding rotary platform, an upper longitudinal device supporting frame, a middle longitudinal device supporting frame, a lower longitudinal device supporting frame, a driven climbing wheel mechanism and a driving climbing wheel mechanism, wherein the upper longitudinal device supporting frame and the middle circular arc supporting frame are fixedly installed on the robot base body through bolts, the middle longitudinal device supporting frame and the middle circular arc supporting frame are fixedly connected with the lower longitudinal device supporting frame through a wheel connector in a compression climbing device, the driven climbing wheel mechanism and the driving climbing wheel mechanism are installed on the inner side of the wheel connector in the compression climbing device, the lower longitudinal device supporting frame and the bottom circular arc device supporting frame are welded together in the robot base body, and a stay cable surface detection device is fixedly installed on the bottom circular arc device supporting frame through bolts.
Preferably, the maintenance mechanism of the cable maintenance robot is disassembled into a cable polishing device, a cable cleaning device and a cable spraying device.
Preferably, the cable grinding device, the cable cleaning device and the cable spraying device are respectively installed on the cable grinding device connecting block, the cable cleaning device connecting block and the cable spraying device connecting block of the arc-shaped guide rotating platform, the arc-shaped guide rotating platform is installed at the top of the robot base body, the cable grinding device, the cable cleaning device and the cable spraying device are respectively connected onto the arc-shaped guide rotating platform, the cable spraying device can be connected onto the arc-shaped guide rotating platform along with the cable grinding device connecting block, the cable cleaning device connecting block and the cable spraying device connecting block, and the cable spraying device is rotated around the top circumference of the robot base body. Preferably, a shearing fork structure I is arranged in a cable polishing displacement mechanism in the cable polishing device, the surface distance between the cable polishing actuating mechanism and the cable can be adjusted, and the relative positions of an upper base I and a lower base I in the cable polishing fine tuning base can be adjusted and fixed through bolts.
Preferably, a scissor structure II is arranged in a cable cleaning displacement mechanism in the cable cleaning device, the surface distance between the cable cleaning actuating mechanism and the cable can be adjusted, the cleaning motor is directly connected with a cam mechanism, a cleaning brush is fixed on the cam mechanism, the left and right movement of the cleaning brush is realized according to the rotation of the cam mechanism, and the relative positions of an upper base II and a lower base II in the cable cleaning fine adjustment base can be adjusted and fixed through bolts.
Preferably, the long rod wheel frame and the short rod wheel frame of the pressing climbing device are provided with holes at different positions, and the wheel connector is also provided with through holes which are respectively connected by two tensioning springs.
Preferably, the arc guide rotating platform and the middle arc device support frame and the bottom arc device support frame in the robot base body are detachable structures.
The invention has the beneficial effects that:
1. different from the integrated maintenance device of the traditional cable maintenance robot, the cable maintenance robot has the advantages that the maintenance device of the maintenance robot is designed in a modularized mode and is divided into the cable polishing device, the cable cleaning device and the cable spraying device, so that the cable maintenance robot can carry out targeted maintenance work on the cable according to the damage degree of the surface of the cable, each module is provided with the detection camera, the damage condition of the surface of the cable can be detected before maintenance, required procedures are carried out on the surface of the cable according to the detected actual condition, and meanwhile, the maintenance cost of the robot under the condition of the damage of the device is reduced due to the modularized design of the maintenance device.
2. The circular arc guide rotary platform is designed in a mode that a circular arc guide rail and an internal gear are combined, three connecting blocks are arranged on the internal gear and the circular arc guide rail, and are respectively loaded with a cable polishing device, a cable cleaning device and a cable spraying device, and the three connecting blocks are matched with the circular arc guide rail and the cable to form a planet-like wheel type, so that the cable polishing device, the cable cleaning device and the cable spraying device can do planet-like rotary motion on the circular arc of the internal gear relative to the cable while working, the cable surface is polished, cleaned and sprayed, the repairing device does rotary motion around the cable surface, the coverage area of the polishing, cleaning and cleaning work of the repairing device during the cable surface working is increased, and the condition of secondary corrosion caused by incomplete repairing of part of the cable surface is avoided.
3. The repair device is provided with the scissor fork structure and the guide rail sliding block, the lead screw nut mechanism directly connected with the driving motor drives the scissor fork mechanism to drive the tail end executing mechanism to slide on the base guide rail sliding block, so that the tail end executing mechanism can approach and keep away from the stay cable in the radial direction, and the distance between the tail end executing mechanism and the surface of the stay cable is adjusted according to the size difference of the stay cable, so that the tail end executing mechanism can reach the optimal working position under the condition of acting on the stay cables with different sizes, and the practicability of the device is improved.
4. The cable is polished and is finely tuned base and cable clearance fine setting base and be the slide rail cooperation design, go up the design of base both ends threaded hole, after the terminal actuating mechanism and the cable surface distance adjustment of maintenance device are accomplished, through last base and lower base relative position in adjusting the fine setting base, with terminal actuating mechanism and cable surface conditioning to accurate operating position, twist the screw hole of going into the base with the bolt again, fix last base and lower base relative position, make terminal actuating mechanism more accurate with the positional relation on cable surface, and then make polishing of cable maintenance robot, clearance and spraying work are more accurate.
5. The middle part of the wheel frame of the climbing wheel mechanism is provided with a tension adjusting hole, and the tension adjusting hole at the position where the tension adjusting hole is used for adjusting the tightening spring to connect the wheel connector and the different position can adjust the pressing force of the climbing wheel relative to the stay cable, so that the robot can adapt to the stay cables with different section sizes, and the phenomenon that the robot slips in the climbing process is prevented from causing repair working errors. The four pressing climbing devices are completely the same in structural design and are distributed in the middle of the robot base body at intervals of 90 degrees, so that the climbing wheels also play a role in positioning after the robot is installed on a stay cable, and the planetary-like rotary motion of the maintenance device is more accurate.
6. With the help of the invention, a worker can remotely control the robot to repair the surface of the inhaul cable, thereby reducing the workload of the worker, avoiding working at high altitude and solving the problem that the worker can not realize high-efficiency work at high altitude in the aspect of safety.
Drawings
For ease of explanation, the invention is described in detail by the following detailed description and accompanying drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention
FIG. 2 is a schematic view of a polishing device according to the present invention
FIG. 3 is a bottom cross-sectional view of a polishing device of the present invention
FIG. 4 is a schematic view of the cleaning apparatus of the present invention
FIG. 5 is a bottom sectional view of the cleaning apparatus of the present invention
FIG. 6 is a schematic view of a spraying apparatus according to the present invention
FIG. 7 is a schematic view of the structure of the arc guiding rotary platform of the present invention
FIG. 8 is a top view of the arc rotating platform of the present invention
FIG. 9 is a schematic view of the climbing device of the present invention
FIG. 10 is a schematic view of the basic structure of the robot of the present invention
FIG. 11 is a schematic view of a surface quality inspection mechanism for a cable according to the present invention
In the figure: 1. a cable polishing device; 1-1, a guy cable polishing displacement mechanism; 1-1-1, and a driving motor I; 1-1-2 and a screw I; 1-1-3, a screw rod slide block I; 1-1-4, a screw bracket I; 1-1-5, a shear fork moving connection bracket I; 1-1-6, fixedly connecting a scissor fork with a bracket I; 1-1-7, a scissor structure I; 1-2, a cable polishing actuating mechanism; 1-2-1, polishing a motor base; 1-2-2, polishing a motor; 1-2-3, a polishing head; 1-2-4, polishing a motor fixing plate; 1-3, polishing the fine tuning base by using a stay cable; 1-3-1, an upper base I; 1-3-2 and a lower base I; 1-3-3, a base sliding block I; 1-3-4, a base guide rail I; 2. a cable cleaning device; 2-1, a guy cable cleaning displacement mechanism; 2-1-1, driving a motor II; 2-1-2 and a screw II; 2-1-3, a screw base slide block II; 2-1-4, and a screw bracket II; 2-1-5, a shear fork moving connection bracket II; 2-1-6, a scissor fixing and connecting bracket II; 2-1-7, a scissor structure II; 2-2, a cable cleaning executing mechanism; 2-2-1, cleaning the motor; 2-2-2, a cam mechanism; 2-2-3, cleaning a motor base; 2-2-4, cleaning a brush; 2-2-5, cleaning a motor fixing plate; 2-3, cleaning the fine tuning base by using a stay cable; 2-3-1, and an upper base II; 2-3-2 and a lower base II; 2-3-3, a base sliding block II; 2-3-4, a base guide rail II; 3. a stay cable spraying device; 3-1, an electromagnetic paint spraying mechanism; 3-1-1, an electromagnet; 3-2-1, an electromagnet support; 3-1-3, a base bracket of the paint spraying mechanism; 3-1-4, a paint spraying tank; 3-1-5, spray paint can clamp; 3-2, spraying a base by using a stay cable; 3-2-1, an upper base III; 3-2-2 and a lower base III; 4. a circular arc guide rotating platform; 4-1, connecting blocks of a cable polishing device; 4-1-1, connecting the bracket; 4-1-2, arc guide rail slide block; 4-1-3, planet wheels; 4-1-4, a planet wheel driving motor; 4-2, connecting blocks of the inhaul cable cleaning device; 4-3, connecting blocks of the inhaul cable spraying device; 4-4, a circular arc gear ring; 4-5, arc guide rail; 4-6, an inner arc connecting mechanism; 4-6-1, and an inner arc connector I; 4-6-2 and an inner arc connector II; 4-6-3, and an inner arc connector III; 4-6-4 and an inner arc connector IV; 4-7, a stay cable surface detection mechanism; 4-7-1, detecting a camera I; 4-7-2, a detection camera II 4-7-3 and a detection camera III; 5. pressing the climbing device; 5-1, a climbing wheel connecting mechanism; 5-1-1, a wheel connector; 5-1-2, a climbing wheel hinge seat I; 5-1-3, climbing wheel hinge seat II; 5-2, a driven climbing wheel mechanism; 5-2-1, a crawling wheel I; 5-2-2, long rod wheel carrier; 5-2-3, tightening the spring I; 5-3, an active climbing wheel mechanism; 5-3-1, a crawling wheel II; 5-3-2, short bar wheel carrier; 5-3-3, tightening a spring II; 5-4, a driving wheel driving mechanism; 5-4-1, driving motor III; 5-4-2, a small belt pulley; 5-4-3, driving motor supporting plate; 5-4-4, V belt; 5-4-5, large belt wheel; 6. a robot base; 6-1, arranging a support frame on the upper longitudinal device; 6-1-1, an upper longitudinal support plate I; 6-1-2, an upper longitudinal support plate II; 6-1-3, an upper longitudinal support plate III; 6-1-4, an upper longitudinal support plate IV; 6-2, arranging a support frame on the middle arc device; 6-2-1, a middle arc table; 6-2-2, a middle platform sealing plate; 6-3, arranging a support frame at the lower part in the longitudinal direction; 6-3-1, a lower longitudinal support plate I; 6-3-2, a lower longitudinal support plate II; 6-3-3, lower longitudinal support plate III; 6-3-4, a lower longitudinal support plate IV; 6-4, arranging a support frame on the bottom arc device; 6-4-1, bottom arc table; 6-4-2, a bottom platform sealing plate (6-4-2); 7. a cable surface quality inspection mechanism; 7-1, monitoring a camera I; 7-2, a monitoring camera II; 7-3, monitoring camera III; 7-4 and a monitoring camera IV.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will now be described by way of example only, with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1:
as shown in fig. 1 to 11, the following technical solutions are adopted in the present embodiment: the cable grinding device comprises a cable grinding device 1, a cable cleaning device 2, a cable spraying device 3, an arc guide rotating platform 4, a pressing climbing device 5, a robot base body 6 and a detection mechanism 7, wherein the cable grinding device 1 comprises a cable grinding displacement mechanism 1-1, a cable grinding execution mechanism 1-2 and a cable grinding fine adjustment base 1-3, the cable grinding displacement mechanism 1-1 comprises a driving motor I1-1-1, a lead screw I1-1-2, a lead screw base sliding block I1-1-3, a lead screw support I1-1-4, a shear fork moving connection support I1-1-5, a shear fork fixing connection support I1-1-6, a shear fork structure I1-1-7, and the cable grinding execution mechanism 1-2 comprises a grinding motor base 1-2-1-1, The cable cleaning and fine-tuning device comprises a polishing motor 1-2-2, a polishing head 1-2-3 and a polishing motor fixing plate 1-2-4, wherein the cable polishing position fine-tuning base 1-3 comprises an upper base I1-3-1, a lower base I1-3-2, a base sliding block I1-3-3 and a base guide rail I1-3-4, the cable cleaning device 2 comprises a cable cleaning displacement mechanism 2-1, a cable cleaning execution mechanism 2-2 and a cable cleaning fine-tuning base 2-3, the cable cleaning displacement mechanism 2-1 comprises a driving motor II 2-1-1, a lead screw II 2-1-2, a lead screw sliding block II 2-1-3, a lead screw support II 2-1-4, a shear fork moving connection support II 2-1-5, a cable cleaning displacement mechanism II 2-1-1, a lead screw II 2-1-2, a lead screw support II 2-1-4, a shear fork moving connection support II 2-1-5, The cable cleaning and fine-tuning device comprises a scissor fixing and connecting support II 2-1-6 and a scissor structure II 2-1-7, wherein the cable cleaning and executing mechanism 2-2 comprises a cleaning motor 2-2-1, a cam mechanism 2-2-2, a cleaning motor base 2-2-3, a cleaning brush 2-2-4 and a cleaning motor fixing plate 2-2-5, the cable cleaning and fine-tuning base 2-3 comprises an upper base II 2-3-1, a lower base II 2-3-2, a base sliding block II 2-3-3 and a base guide rail II 2-3-4, the cable spraying device 3 comprises an electromagnetic paint spraying mechanism 3-1 and a cable spraying base 3-2, and the electromagnetic paint spraying mechanism 3-1 comprises an electromagnet 3-1-1, an electromagnet 3-1, The cable spraying device comprises an electromagnet support 3-1-2, a paint spraying mechanism base support 3-1-3, a paint spraying tank 3-1-4 and a paint spraying tank clamp 3-1-5, wherein the cable spraying base 3-2 comprises an upper base III 3-2-1 and a lower base III-2-2, the arc guide rotating platform 4 comprises a cable grinding device connecting block 4-1, a cable cleaning device connecting block 4-2, a cable spraying device connecting block 4-3, an arc gear ring 4-4, an arc guide rail 4-5, an inner arc connecting mechanism 4-6 and a cable surface detection mechanism 4-7, wherein the cable grinding device connecting block 4-1, the cable cleaning device connecting block 4-2, the cable spraying device connecting block 4-3, the inner arc connecting mechanism 4-6 and the cable surface detection mechanism are completely identical in structure, and the cable grinding device connecting block 4-1, the cable cleaning device connecting block 4-2, the cable spraying device connecting block 4-3, the paint spraying device connecting block 3-4 and the cable surface detection mechanism 4-7 are completely identical in structure, The inhaul cable grinding devices are uniformly distributed on an arc guiding rotary platform 4 at intervals of 90 degrees, a connecting block 4-1 of each inhaul cable grinding device comprises a connecting support 4-1-1, an arc guide rail sliding block 4-1-2, a planet wheel 4-1-3 and a planet wheel driving motor 4-1-4, an inner arc connecting mechanism 4-6 comprises an inner arc connecting body I4-6-1, an inner arc connecting body II 4-6-2, an inner arc connecting body III 4-6-3 and an inner arc connecting body IV 4-6-4, a inhaul cable surface detection mechanism 4-7 comprises a detection camera I4-7-1, a detection camera II 4-7-2 and a detection camera III 4-7-3, and 4 same pressing and climbing devices 5 are uniformly distributed on the circumference of a robot base body 6 at an angle of 90 degrees, the pressing climbing device 5 comprises a climbing wheel connecting mechanism 5-1, a driven climbing wheel mechanism 5-2, a driving climbing wheel mechanism 5-3 and a driving wheel driving mechanism 5-4, wherein the climbing wheel connecting mechanism 5-1 comprises a wheel connecting body 5-1-1, a climbing wheel hinge seat I5-1-2 and a climbing wheel hinge seat II 5-1-3, the driven climbing wheel mechanism 5-2 comprises a climbing wheel I5-2-1, a long rod wheel frame 5-2-2 and a tightening spring I5-2-3, the climbing wheel mechanism 5-3 comprises a climbing wheel II 5-3-1, a short rod wheel frame 5-3-2 and a tightening spring II 5-3-3, the driving wheel driving mechanism 5-4 comprises a driving motor III 5-4-1, a driving motor III 5-3, The robot comprises a robot base body 6 and a robot base body, wherein the robot base body 6 comprises an upper longitudinal device support frame 6-1, a middle arc device support frame 6-2, a lower longitudinal device support frame 6-3 and a bottom arc device support frame 6-4, the upper longitudinal device support frame 6-1 comprises an upper longitudinal support plate I6-1-1, an upper longitudinal support plate II (6-1-2), an upper longitudinal support plate III (6-1-3) and an upper longitudinal support plate IV (6-1-4), the four upper longitudinal support plates are identical in structure and are uniformly distributed along the circumference, and the middle arc device support frame 6-2 comprises a middle arc platform 6-2-1, The middle platform sealing plate 6-2-2, the lower longitudinal device supporting frame 6-3 comprises a lower longitudinal supporting plate I6-3-1, a lower longitudinal supporting plate II 6-3-2, a lower longitudinal supporting plate III 6-3-3 and a lower longitudinal supporting plate IV 6-3-4, the four lower longitudinal supporting plates are identical in structure and are uniformly distributed along the circumference, the bottom arc device supporting frame 6-4 comprises a bottom arc platform 6-4-1 and a bottom platform sealing plate 6-4-2, the inhaul cable surface detection device 7 comprises a monitoring camera I7-1, a monitoring camera I7-2, a monitoring camera III 7-3 and a monitoring camera IV 7-4, and the inhaul cable polishing device 1, the inhaul cable cleaning device 2 and the inhaul cable spraying device 3 are respectively arranged on a cable polishing device connecting block 4 of the arc guide rotating platform 4-1, a stay cable cleaning device connecting block 4-2 and a stay cable spraying device connecting block 4-3, wherein an arc guide rotating platform 4 is arranged at the top of a robot base body 6, the arc guide rotating platform 4 is fixed with an upper longitudinal device supporting frame 6-1 on the robot base body 6 through bolts, an upper longitudinal device supporting frame 6-1 and a middle arc supporting frame 6-2 in the supporting frames 6 are fixed with a lower longitudinal device supporting frame 6-3 through a wheel connecting body 5-1-1 in a compression climbing device 5, and a driven climbing wheel mechanism 5-2 and a driving climbing wheel mechanism 5-3 are arranged on the inner side of the wheel connecting body 5-1-1 of the compression climbing device 5, so that the lower longitudinal device supporting frame 6-3 in the robot base body 6 and the bottom arc device supporting frame 6-4 are welded together, the inhaul cable surface quality inspection mechanism 7 is fixed on the bottom arc device support frame 6-4 through bolts.
Further, overhaul the robot with the cable and overhaul the device and divide into cable grinding device 1, cable cleaning device 2 and cable spraying device 3. The cable grinding device 1, the cable cleaning device 2 and the cable spraying device 3 are respectively installed on a cable grinding device connecting block 4-1, a cable cleaning device connecting block 4-2 and a cable spraying device connecting block 4-3 of the arc guide rotating platform 4, the arc guide rotating platform 4 is installed at the top of the robot base body 6, and the cable grinding device 1, the cable cleaning device 2 and the cable spraying device 3 which are respectively connected to the arc guide rotating platform 4 can rotate around the top circumference of the robot base body 6 along with the rotation of the cable grinding device connecting block 4-1, the cable cleaning device connecting block 4-2 and the cable spraying device connecting block 4-3 on the arc guide rotating platform 4.
Further, the robot base body 6 comprises an upper longitudinal device support frame 6-1, a middle arc device support frame 6-2, a lower longitudinal device support frame 6-3 and a bottom arc device support frame 6-4, wherein the upper longitudinal support plate 6-1 is connected to an inner arc connector 4-6 of the arc guide rotating platform 4 through a bolt, the upper longitudinal support plate 6-1, the middle arc device support frame 6-2 and the lower longitudinal device support frame 6-3 are connected and fixed with a wheel connector 5-1-1 on the compression climbing device 5 through a bolt, the lower longitudinal device support frame 6-3 is connected with the bottom arc device support frame 6-4 through a bolt, the middle arc device support frame 6-2 is designed to be composed of a middle arc platform 6-2-1 and a middle platform sealing plate 6-2-2, the bottom arc device support frame 6-4 is designed to be formed by connecting a bottom arc platform 6-4-1 and a bottom circular platform sealing plate 6-4-2 through bolts, so that the middle arc device support frame 6-2 and the bottom arc device support frame 6-4 can be detached.
Example 2:
according to the device in the embodiment 1, when the robot is installed on guys with different sizes, the grinding distance of the guy grinding mechanism 1 also needs to be adjusted correspondingly, the driving motor I1-1-1 is directly connected with the lead screw I1-1-2 and fixed on the lead screw bracket I1-1-4, the driving motor I1-1-1 drives the lead screw I1-1-2 to rotate, the lead screw sliding block I1-1-3 is installed on the lead screw I1-1-2 and moves along the axial direction of the lead screw I1-1-2 along with the rotation of the lead screw I1-1-2, one end of the lead screw bracket I1-1-5 is fixed on the lead screw sliding block I1-1-3 through a screw, and the other end is hinged with one side of the two side ends of the scissor structure I1-1-7, the other side of the double-side end of the scissor structure I1-1-7 is hinged with one side of a scissor fixing and connecting support I1-1-6, the other side of the scissor fixing and connecting support I1-1-6 is fixed on a screw rod support I1-1-4 through a screw, the single-side end of the scissor structure I1-1-7 is hinged with a grinding motor base 1-2-1, a base sliding block I1-3-3 is arranged at the lower end of the grinding motor base 1-2-1 and matched with a base guide rail I1-3-4 to be installed on a inhaul cable grinding position fine adjustment base 1-3, the grinding motor 1-2-2 drives the grinding head 1-2-3 to rotate, and meanwhile, the screw rod base sliding block I1-1-3 drives the scissor structure I1-2 to drive the scissor structure I to move in the axial direction of a screw rod I1-1-2 1-1-7, and further drives the cable polishing actuating mechanism 1-2 to realize the motion of approaching and keeping away from the surface of the cable, thereby realizing the cable polishing actuating mechanism 1-2 to polish the surface of the cable and adjust the distance.
Furthermore, the upper base I1-3-1 and the lower base I1-3-2 in the guy cable polishing fine tuning base 1-3 can adjust the position relation between the two through mutual sliding and are fixed through bolts, so that the distance between the guy cable polishing executing mechanism 1-2-3 and the surface of the guy cable is further adjusted, and the accuracy of guy cable surface polishing work is ensured.
Example 3:
according to the device in the embodiment 1, when the sizes of the inhaul cables are different, the cleaning working distance of the inhaul cable maintenance robot needs to be adjusted correspondingly, the driving motor II 2-1-1 is directly connected with the lead screw II 2-1-2 and fixed on the lead screw bracket II 2-1-4, the driving motor II 1-1-1 drives the lead screw I1-1-2 to rotate, the lead screw sliding block II 2-1-3 is arranged on the lead screw II 2-1-2 and moves along the axial direction of the lead screw II 2-1-2 along with the rotation of the lead screw II 2-1-2, one end of the lead screw sliding block bracket II 2-1-5 is fixed on the lead screw sliding block II 2-1-3 through a screw, the other end of the lead screw sliding block bracket II 2-1-5 is hinged with one side of the two side ends of the scissor structure II 2-1-7, the other side of the double-side end of the scissor structure II 2-1-7 is hinged with one side of a scissor fixing and connecting support II 2-1-6, the other side of the scissor fixing and connecting support II 2-1-6 is fixed on a screw rod support II 2-1-4 through a screw, the single-side end of the scissor structure II 2-1-7 is hinged with a cleaning motor base 2-2-1, a base sliding block II 2-3-3 is arranged at the lower end of the cleaning motor base 2-2-1 and is matched with a base guide rail II 2-3-4 to be arranged on a stay cable cleaning fine adjustment base 2-3, the cleaning motor 2-2-1 drives a cam mechanism 2-2-2 to move so as to drive a cleaning brush 2-2-4 to reciprocate parallel to the surface of the stay cable, meanwhile, the axial movement of the screw rod sliding block II 2-1-3 in the screw rod II 2-1-2 drives the scissor structure II 2-1-7 to perform expansion and contraction movement, and further drives the inhaul cable cleaning executing mechanism 2-2 to realize the movement close to and far away from the surface of the inhaul cable, so that the inhaul cable cleaning executing mechanism 2-2 can adjust the distance of the scrap cleaning line after the inhaul cable surface is polished.
Furthermore, the upper base II 2-3-1 and the lower base II 2-3-2 in the guy cable polishing fine tuning base II 2-3 can adjust the position relation between the two through mutual sliding and are fixed through bolts, so that the distance between the guy cable cleaning executing mechanism 2-2-3 and the surface of the guy cable is further adjusted, and the accuracy of cleaning work is ensured.
Example 4:
according to the device in the embodiment 1, when the stay cable to be overhauled is located on the inner side of the overhauling robot, the rear part of a paint spraying tank clamp 3-1-5 is fixed on an electromagnet support 3-1-2, the rear part of the paint spraying tank clamp is connected with a paint spraying mechanism base support 3-1-3 through a bolt and is fixed on a stay cable spraying base 3-2, an electromagnet 3-1-1 is installed above the electromagnet support 3-1-2, and the electromagnet 3-1-1 controls a paint spraying tank 3-1-4 to spray the surface of the stay cable after being polished and cleaned.
Furthermore, the relative positions of the upper base III 3-3-1 and the lower base III 3-2-2 in the base 3-2 are adjusted by adjusting the displacement of the inhaul cable spraying device, and the positions are fixed by bolts, so that the relative position of the electromagnetic paint spraying mechanism 3-1 and the surface of the inhaul cable is adjusted, the working area of the inhaul cable spraying device 3 on the surface of the inhaul cable is adjusted, and the working efficiency and the accuracy of the inhaul cable spraying device 3 are improved.
Example 5:
according to the device described in the embodiment 1, the cable grinding device connecting block 4-1, the cable cleaning device connecting block 4-2 and the cable spraying device connecting block 4-3 are arranged on the arc guide rotating platform 4, the cable grinding device 1, the cable cleaning device 2 and the cable spraying device 3 are respectively arranged on the cable cleaning device connecting block 4-2 and the cable spraying device connecting block 4-3, and the cable grinding device connecting block 4-1, the cable cleaning device connecting block 4-2 and the cable spraying device connecting block 4-3 perform planetary rotation along the arc guide rail 4-5 of the arc guide rotating platform 4 relative to the cable under the drive of the planetary wheel drive motor 4-1-4.
Example 6:
according to the device described in the embodiment 1, when the device is installed on the outer side of a stay cable to be overhauled, the driven climbing wheel mechanism 5-2 is hinged with the climbing wheel hinge seat I5-1-2, the driving climbing wheel mechanism 5-3 is hinged with the climbing wheel hinge seat II 5-1-3, the climbing wheel hinge seat I5-1-2 and the climbing wheel hinge seat II 5-1-3 are both fixed on the wheel connecting body 5-1-1 through bolts, at the moment, the driven climbing wheel mechanism 5-2 is the same as the driving climbing wheel mechanism 5-3 in structure, except that the driving wheel driving mechanism 5-4 is arranged on the driving climbing wheel mechanism 5-3, the driving motor III 5-4-1 of the driving wheel driving mechanism 5-4 directly drives the small belt wheel 5-4-2 and drives the large belt wheel 5-4 through the v belt 5-4-4 5, further realizing the purpose of driving the crawling wheel II 5-3-1, so that the inhaul cable overhauling robot has the capability of autonomous crawling.
Furthermore, holes at different positions are arranged in the middle sections of the long-rod wheel frame 5-2-2 and the short-rod wheel frame 5-4-4, the holes of the wheel frame I5-2-2 and the wheel connecting bodies 5-1-1 are connected through the tension springs I5-2-3, the tension springs II 5-3-3 are connected with the holes of the wheel frame II 5-3-2 and the wheel connecting bodies 5-1-1, and the tightening force of the driven climbing wheel mechanism 5-2 and the driving climbing wheel mechanism 5-4 is increased, so that the stability of the pressing climbing device 5 in the climbing process is improved.
Furthermore, 5 same pressing climbing devices (5) are uniformly distributed on the arc support frame 6-2 in the middle of the robot base body 6 at an angle of 90 degrees, so that the positioning function of the maintenance device when the maintenance robot works on the inhaul cable is realized.
The working principle of the specific embodiment is as follows: when the surface of the inhaul cable needs to be overhauled, the inhaul cable overhauling robot is arranged on the outer side of the surface of the inhaul cable to be overhauled, the inhaul cable overhauling robot is supported on the surface of the inhaul cable through 4 pressing climbing devices 5, the inhaul cable overhauling robot is positioned and fixed on the inhaul cable, the driven climbing wheel mechanism 5-1 and the driving climbing wheel mechanism 5-2 are pressed on the surface of the inhaul cable through the tensioning force of a tensioning spring I5-2-3 and a tensioning spring II 5-3-3, the inhaul cable polishing device 1, the inhaul cable cleaning device 2 and the execution tail end mechanism of the inhaul cable spraying device 3 and the surface of the inhaul cable are adjusted to the optimal position in advance, the driving climbing wheel mechanism 5-2 is driven to move on the surface of the inhaul cable through the action of the driving wheel mechanism 5-4, and the damage degree of the surface of the inhaul cable is surveyed through the inhaul cable surface detection device 4-7 during the moving process of the robot, the cable surface repairing method is characterized in that the cable polishing device 1, the cable cleaning device 2 and the cable spraying device 3 are applied to carry out targeted processing, the processing process is that the cable polishing device connecting block 4-1, the cable cleaning device connecting block 4-2 and the cable spraying device connecting block 4-3 in the arc guide rotating platform 4 rotate around the cable in a planetary-like manner, the surface of the cable is processed by selecting a corresponding repairing mode according to the specific damage degree of the cable, and finally the repairing effect of the surface of the cable after the repairing is observed through the cable surface quality inspection mechanism 7.
The foregoing shows and describes the general principles and features of the present invention as well as those of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a be suitable for class planet rotation type maintenance robot of many sizes cable, it includes cable grinding device (1), cable cleaning device (2), cable spraying device (3), circular arc direction rotary platform (4), compresses tightly climbing device (5), robot base member (6), detection mechanism (7), its characterized in that: the cable polishing device (1) comprises a cable polishing displacement mechanism (1-1), a cable polishing actuating mechanism (1-2) and a cable polishing fine adjustment base (1-3), wherein the cable polishing displacement mechanism (1-1) comprises a driving motor I (1-1-1), a lead screw I (1-1-2), a lead screw sliding block I (1-1-3), a lead screw support I (1-1-4), a shearing fork moving connection support I (1-1-5), a shearing fork fixing connection support I (1-1-6) and a shearing fork structure I (1-1-7), and the cable polishing actuating mechanism (1-2) comprises a polishing motor base (1-2-1), a polishing motor (1-2-2), The cable cleaning and fine-tuning device comprises a polishing head (1-2-3) and a polishing motor fixing plate (1-2-4), wherein the cable polishing and fine-tuning base (1-3) comprises an upper base I (1-3-1), a lower base I (1-3-2), a base sliding block I (1-3-3) and a base guide rail I (1-3-4), the cable cleaning device (2) comprises a cable cleaning displacement mechanism (2-1), a cable cleaning execution mechanism (2-2) and a cable cleaning and fine-tuning base (2-3), and the cable cleaning displacement mechanism (2-1) comprises a driving motor II (2-1-1), a lead screw II (2-1-2), a lead screw sliding block II (2-1-3), a lead screw support II (2-1-4), The cable cleaning and fine-tuning device comprises a shear fork moving connection support II (2-1-5), a shear fork fixing connection support II (2-1-6) and a shear fork structure II (2-1-7), wherein a cable cleaning executing mechanism (2-2) comprises a cleaning motor (2-2-1), a cam mechanism (2-2-2), a cleaning motor base (2-2-3), a cleaning brush (2-2-4) and a cleaning motor fixing plate (2-2-5), the cable cleaning fine-tuning base (2-3) comprises an upper base II (2-3-1), a lower base II (2-3-2), a base sliding block II (2-3-3) and a base guide rail II (2-3-4), and the spraying cable device (3) comprises an electromagnetic paint spraying mechanism (3-1), The cable spraying device comprises a cable spraying base (3-2), an electromagnetic paint spraying mechanism (3-1) and an arc guiding rotary platform (4), wherein the electromagnetic paint spraying mechanism (3-1-1) comprises an electromagnet (3-1-1), an electromagnet support (3-1-2), a paint spraying mechanism base support (3-1-3), a paint spraying tank (3-1-4) and a paint spraying tank clamp (3-1-5), the cable spraying base (3-2) comprises an upper base III (3-2-1) and a lower base III (3-2-2), the arc guiding rotary platform (4) comprises a cable grinding device connecting block (4-1), a cable cleaning device connecting block (4-2), a cable spraying device connecting block (4-3), an arc gear ring (4-4), an arc guide rail (4-5), an inner arc connecting mechanism (4-6), The cable surface detection mechanism (4-7) comprises cable grinding device connecting blocks (4-1), cable cleaning device connecting blocks (4-2) and cable spraying device connecting blocks (4-3) which are completely identical in structure and are uniformly distributed on an arc guide rotating platform (4) at intervals of 90 degrees, wherein each cable grinding device connecting block (4-1) comprises a connecting support (4-1-1), an arc guide rail sliding block (4-1-2), a planet wheel (4-1-3) and a planet wheel driving motor (4-1-4), and the inner arc connecting mechanism (4-6) comprises an inner arc connector I (4-6-1), an inner arc connector II (4-6-2), an inner arc connector III (4-6-3), The cable surface detection mechanism (4-7) comprises a detection camera I (4-7-1), a detection camera II (4-7-2) and a detection camera III (4-7-3), 4 identical compaction climbing devices (5) are uniformly distributed on the inner side circumference of the robot base body (6) at 90 degrees, each compaction climbing device (5) comprises a climbing wheel connecting mechanism (5-1), a driven climbing wheel mechanism (5-2), a driving climbing wheel mechanism (5-3) and a driving wheel driving mechanism (5-4), each climbing wheel connecting mechanism (5-1) comprises a wheel connecting body (5-1-1), a climbing wheel hinge seat I (5-1-2) and a climbing wheel hinge seat II (5-1-3), the driven climbing wheel mechanism (5-2) comprises a climbing wheel I (5-2-1), a long rod wheel frame (5-2-2) and a tightening spring I (5-2-3), the driving climbing wheel mechanism (5-3) comprises a climbing wheel II (5-3-1), a short rod wheel frame (5-3-2) and a tightening spring II (5-3-3), the driving wheel driving mechanism (5-4) comprises a driving motor III (5-4-1), a small belt wheel (5-4-2), a driving motor supporting plate (5-4-3), a V belt (5-4-4) and a large belt wheel (5-4-5), and the described robot base body (6) comprises an upper longitudinal device supporting frame (6-1), The device comprises a middle arc device support frame (6-2), a lower longitudinal device support frame (6-3) and a bottom arc device support frame (6-4), wherein the upper longitudinal device support frame (6-1) comprises an upper longitudinal support plate I (6-1-1), an upper longitudinal support plate II (6-1-2), an upper longitudinal support plate III (6-1-3) and an upper longitudinal support plate IV (6-1-4), the four upper longitudinal support plates are identical in structure and are uniformly distributed along the circumference, the middle arc device support frame (6-2) comprises a middle arc platform (6-2-1) and a middle platform sealing plate (6-2-2), and the lower longitudinal device support frame (6-3) comprises a lower longitudinal support plate I (6-3-1), The cable surface quality inspection device comprises a lower longitudinal support plate II (6-3-2), a lower longitudinal support plate III (6-3-3) and a lower longitudinal support plate IV (6-3-4), wherein the four lower longitudinal support plates are identical in structure and are uniformly distributed along the circumference, the bottom arc device support frame (6-4) comprises a bottom arc table (6-4-1) and a bottom table sealing plate (6-4-2), and the cable surface quality inspection mechanism (7) comprises a monitoring camera I (7-1), a monitoring camera I (7-2), a monitoring camera III (7-3) and a monitoring camera IV (7-4); the method is characterized in that: the inhaul cable polishing device (1), the inhaul cable cleaning device (2) and the inhaul cable spraying device (3) are respectively arranged on an inhaul cable polishing device connecting block (4-1), an inhaul cable cleaning device connecting block (4-2) and an inhaul cable spraying device connecting block (4-3) of an arc guide rotating platform (4), the arc guide rotating platform (4) is arranged at the top of a robot base body (6), the arc guide rotating platform (4) is fixed with an upper longitudinal device supporting frame (6-1) on the robot base body (6) through bolts, a middle upper longitudinal device supporting frame (6-1) and a middle arc supporting frame (6-2) of the supporting frame (6) are fixed with a lower longitudinal device supporting frame (6-3) through a wheel connecting body (5-1-1) in a pressing climbing device (5), and a driven climbing wheel mechanism (5-2) and a driving climbing wheel mechanism (5-3) are arranged on the inner side of a wheel connecting body (5-1-1) of the pressing climbing device (5), so that a longitudinal device supporting frame (6-3) at the middle lower part of a robot base body (6) is welded with a bottom arc device supporting frame (6-4), and a inhaul cable surface quality inspection mechanism (7) is fixed on the bottom arc device supporting frame (6-4) through bolts.
2. The planetary rotation-like maintenance robot for a multi-sized cable according to claim 1, wherein: the cable grinding device (1), the cable cleaning device (2) and the cable spraying device (3) are respectively arranged on a cable grinding device connecting block (4-1), a cable cleaning device connecting block (4-2) and a cable spraying device connecting block (4-3) of the arc guide rotating platform (4), the arc guide rotating platform (4) is arranged on the top of the robot base body (6), the cable grinding device (1), the cable cleaning device (2) and the cable spraying device (3) which are respectively connected to the arc guide rotating platform (4) can rotate around the top circumference of the robot base body (6) along with the rotation of the cable grinding device connecting block (4-1), the cable cleaning device connecting block (4-2) and the cable spraying device connecting block (4-3) on the arc guide rotating platform (4).
3. The planetary rotation-like maintenance robot for a multi-sized cable according to claim 1, wherein: the cable polishing device (1) consists of a cable polishing displacement mechanism (1-1), a cable polishing actuating mechanism (1-2) and a cable polishing fine adjustment base (1-3), wherein a driving motor I (1-1-1) is directly connected with a lead screw I (1-1-2) and fixed on a lead screw bracket I (1-1-4), the driving motor I (1-1-1) drives the lead screw I (1-1-2) to rotate, a lead screw sliding block I (1-1-3) is arranged on the lead screw I (1-1-2) and moves along the axial direction of the lead screw I (1-1-2) along with the rotation of the lead screw I (1-1-2), one end of a shear fork connecting moving bracket I (1-1-5) is fixed on the lead screw sliding block I (1-1-3) through a screw, the other end of the cable is hinged with one side of the double-side end of a scissor structure I (1-1-7), the other side of the double-side end of the scissor structure I (1-1-7) is hinged with one side of a scissor fixing and connecting support I (1-1-6), the other side of the scissor fixing and connecting support I (1-1-6) is fixed on a screw rod support I (1-1-4) through a screw, the single-side end of the scissor structure I (1-1-7) is hinged with a grinding motor base (1-2-1), a base sliding block I (1-3-3) is installed at the lower end of the grinding motor base (1-2-1), the base sliding block I (1-3-3) is matched with a base guide rail I (1-3-4) and installed on a cable grinding fine-adjusting base (1-3), the grinding motor (1-2-2) drives the grinding head (1-2-3) to rotate, meanwhile, the screw rod sliding block I (1-1-3) moves in the axial direction of the screw rod I (1-1-2) to drive the scissor fork structure I (1-1-7) to do telescopic movement, and further drives the cable grinding executing mechanism (1-2) to achieve movement close to and away from the surface of the cable, so that the cable grinding executing mechanism (1-2) can grind the surface of the cable and adjust the distance, meanwhile, the upper base I (1-3-1) and the lower base I (1-3-2) in the cable grinding fine adjustment base (1-3) can adjust the position relation between the upper base I (1-3-1) and the lower base I (1-3-2) through relative sliding and are fixed through bolts, and further adjustment of the distance between the cable grinding executing mechanism (1-2-3) and the surface of the cable is achieved.
4. The planetary rotation-like maintenance robot for a multi-sized cable according to claim 1, wherein: the cable cleaning device (2) consists of a cable cleaning displacement mechanism (2-1), a cable cleaning actuating mechanism (2-2) and a cable cleaning fine tuning base (2-3), wherein a driving motor II (2-1-1) is directly connected with a lead screw II (2-1-2) and fixed on a lead screw bracket II (2-1-4), the driving motor II (1-1-1) drives the lead screw I (1-1-2) to rotate, a lead screw base sliding block II (2-1-3) is arranged on the lead screw II (2-1-2) and moves along the axial direction along with the rotation of the lead screw II (2-1-2), one end of a shear fork moving connecting bracket II (2-1-5) is fixed on the lead screw base sliding block II (2-1-3) through a screw, the other end of the cleaning mechanism is hinged with one side of the double-side end of a scissor structure II (2-1-7), the other side of the double-side end of the scissor structure II (2-1-7) is hinged with one side of a scissor fixing and connecting support II (2-1-6), the other side of the scissor fixing and connecting support II (2-1-6) is fixed on a screw rod support II (2-1-4) through a screw, the single-side end of the scissor structure II (2-1-7) is hinged with a cleaning motor base (2-2-1), a base sliding block II (2-3-3) is arranged at the lower end of the cleaning motor base (2-2-1) and matched with a base guide rail II (2-3-4) to be arranged on a stay cable cleaning fine adjustment base (2-3), and the cleaning motor (2-2-1) drives a cam mechanism (2-2-2), thereby driving the cleaning brush (2-2-4) to do reciprocating motion parallel to the surface of the inhaul cable, simultaneously driving the screw rod base sliding block II (2-1-3) to do expanding and contracting motion by driving the scissor structure II (2-1-7) through the axial movement of the screw rod II (2-1-2), further driving the inhaul cable cleaning executing mechanism (2-2) to realize motion close to and far away from the surface of the inhaul cable, further realizing the inhaul cable cleaning executing mechanism (2-2) to clean the scraps polished on the surface of the inhaul cable and adjusting the distance, simultaneously adjusting the position relation between the upper base II (2-3-1) and the lower base II (2-3-2) in the inhaul cable polishing position fine adjustment base (2-3) through mutual sliding and fixing through bolts, thereby further adjusting the distance between the inhaul cable cleaning executing mechanism (2-2-3) and the surface of the inhaul cable and ensuring the accuracy of the cleaning work.
5. The planetary rotation-like maintenance robot for a multi-sized cable according to claim 1, wherein: the cable spraying device (3) comprises an electromagnetic paint spraying mechanism (3-1) and a cable spraying base (3-2), a paint spraying tank clamp (3-1-5) is fixed on an electromagnet support (3-1-2), the rear part of the electromagnet support (3-1-2) is connected with the paint spraying mechanism base support (3-1-3) through a bolt and is fixed on the cable spraying base (3-2), an electromagnet (3-1-1) is arranged above the electromagnet support (3-1-2), the electromagnet (3-1-1) can be tightly pressed and arranged on a paint spraying tank (3-1-4) fixedly arranged on the electromagnet support (3-1-2) and the paint spraying tank clamp (3-1-5) to carry out spraying measures on the surface of the cable after polishing and cleaning work, the relative positions of an upper base III (3-3-1) and a lower base III (3-2-2) in the base (3-2) are adjusted by adjusting the displacement of the inhaul cable spraying device, and the relative positions are fixed by bolts, so that the relative positions of the electromagnetic paint spraying mechanism (3-1) and the surface of the inhaul cable are adjusted, and the working area of the inhaul cable spraying device (3) for spraying the surface of the inhaul cable is further adjusted.
6. The planetary rotation-like maintenance robot for a multi-sized cable according to claim 1, wherein: the compaction climbing device (5) comprises a climbing wheel connecting mechanism (5-1), a driven climbing wheel mechanism (5-2), a driving climbing wheel mechanism (5-3) and a driving wheel driving mechanism (5-4), wherein the driven climbing wheel mechanism (5-2) is hinged with a climbing wheel hinge seat I (5-1-2), the driving climbing wheel mechanism (5-3) is hinged with a climbing wheel hinge seat II (5-1-3), the climbing wheel hinge seat I (5-1-2) and the climbing wheel hinge seat II (5-1-3) are both fixed on a wheel connecting body (5-1-1) through bolts, the driven climbing wheel mechanism (5-2) and the driving climbing wheel mechanism (5-3) have the same structure, and the difference is that the driving wheel driving mechanism (5-4) is arranged on the driving climbing wheel mechanism (5-3), a driving motor III (5-4-1) of the driving wheel driving mechanism (5-4) directly drives the small belt wheel (5-4-2) and drives the large belt wheel (5-4-5) to rotate through the v belt (5-4-4), so that a crawling wheel II (5-3-1) can be driven; holes at different positions are arranged in the middle sections of the long-rod wheel frame (5-2-2) and the short-rod wheel frame (5-4-4), the holes of the wheel frame I (5-2-2) and the wheel connector (5-1-1) are connected through the tension spring I (5-2-3), the tension spring II (5-3-3) is connected with the holes of the wheel frame II (5-3-2) and the wheel connector (5-1-1), and the tightening force of the driven climbing wheel mechanism (5-2) and the driving climbing wheel mechanism (5-4) is increased.
7. The planetary rotation-like maintenance robot for a multi-sized cable according to claim 1, wherein: the described robot base body (6) comprises an upper longitudinal device supporting frame (6-1), a middle arc device supporting frame (6-2), a lower longitudinal device supporting frame (6-3) and a bottom arc device supporting frame (6-4), wherein the upper longitudinal supporting plate (6-1) is connected to an inner arc connector (4-6) of an arc guide rotating platform (4) through a bolt, the upper longitudinal supporting plate (6-1), the middle arc device supporting frame (6-2) and the lower longitudinal device supporting frame (6-3) are connected and fixed with a wheel connector (5-1-1) on a pressing climbing device (5) through bolts, the lower longitudinal device supporting frame (6-3) is connected with the bottom arc device supporting frame (6-4) through a bolt, and the middle arc device supporting frame (6-2) is designed to be formed by a middle arc platform (6) 2-1) and a middle platform sealing plate (6-2-2), wherein the bottom arc device support frame (6-4) is designed to be composed of a bottom arc platform (6-4-1) and a bottom circular platform sealing plate (6-4-2) which are connected by bolts, so that the middle arc device support frame (6-2) and the bottom arc device support frame (6-4) can be detached.
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| CN202111039832.0A CN113618708B (en) | 2021-09-06 | 2021-09-06 | Planetary-like rotary maintenance robot applicable to multi-size inhaul cables |
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| CN113618708B (en) | 2023-12-22 |
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