CN113618708B - Planetary-like rotary maintenance robot applicable to multi-size inhaul cables - Google Patents
Planetary-like rotary maintenance robot applicable to multi-size inhaul cables Download PDFInfo
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- CN113618708B CN113618708B CN202111039832.0A CN202111039832A CN113618708B CN 113618708 B CN113618708 B CN 113618708B CN 202111039832 A CN202111039832 A CN 202111039832A CN 113618708 B CN113618708 B CN 113618708B
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- 238000012423 maintenance Methods 0.000 title claims description 25
- 230000009194 climbing Effects 0.000 claims abstract description 91
- 238000005056 compaction Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 153
- 238000005498 polishing Methods 0.000 claims description 116
- 238000004140 cleaning Methods 0.000 claims description 102
- 238000005507 spraying Methods 0.000 claims description 89
- 239000011159 matrix material Substances 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000007689 inspection Methods 0.000 claims description 11
- 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 9
- 238000007789 sealing Methods 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000007592 spray painting technique Methods 0.000 claims 5
- 230000010405 clearance mechanism Effects 0.000 claims 2
- 230000009193 crawling Effects 0.000 abstract description 7
- 239000003973 paint Substances 0.000 description 17
- 238000010008 shearing Methods 0.000 description 12
- 238000010276 construction Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 230000008439 repair process Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion 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
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a planetary rotary type overhaul robot applicable to a multi-size cable, relates to the field of crawling robots for overhauling the cable surface of a cable pulling bridge, aims at the difference of the cable size and combines the shape characteristics of the cable surface, and provides a planetary rotary type overhaul robot applicable to the multi-size cable. The invention is technically characterized in that: the repairing device is modularized; the repairing device performs planetary-like rotary motion around the inhaul cable while working; the compaction climbing device can adjust the compaction force of the climbing wheel; the distance between the tail end executing structure and the surface of the inhaul cable can be adjusted by matching the scissor structure with the guide rail sliding block in the repairing device, so that the high-altitude operation of workers is avoided, the repairing device is suitable for inhaul cables with different sizes, and the repairing efficiency, the repairing precision and the repairing accuracy are improved.
Description
Technical Field
The invention belongs to the field of crawling robots, and particularly relates to a planetary rotary type overhaul robot suitable for multi-size inhaul cables.
Background
The rope pulling 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, has more attractive appearance than a general large bridge, and is more superior in bridge stability. Compared with the construction of a general bridge guy bridge, the construction is more convenient, and the material required for manufacturing one guy bridge is more saved than other types of bridges. Along with the progress of construction technology of the rope pulling bridge and the continuous emergence of novel materials, the rope pulling bridge can be increasingly constructed in coastal cities in China in the future, and becomes a main mode of urban bridges in China.
Although the construction cost of the rope bridge is less than that of other types of bridges, the maintenance work of the rope bridge is more difficult than that of the other types of bridges. The maintenance of the guy cable bridge is not only for guaranteeing the stability and the safety of a bridge, but also for the guy cable bridge, if the 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, the processing measure for the damage of the guy cable only needs to change the guy cable, and for the guy cable bridge, the cable changing is extremely inconvenient, because the cable changing can lead to the closing of the whole bridge, the normal operation of traffic is influenced, the falsification of the guy cable is very high, and the frequent cable changing can cause a plurality of unnecessary economic measures. The cable replacement work of the cable bridge is a special and complex environment, and the safety of cable maintenance personnel is threatened along with the influence of high-altitude wind load and vibration, most of the existing cable crawling robots have only detection functions, and part of the crawling robots carry maintenance devices on the surfaces of the cables, but the comprehensive maintenance on the surfaces of the cables is not realized, and the cable surfaces are still required to be detected and manually maintained by workers, so that the purpose that the workers are separated from the high-level working environment is not fundamentally achieved. And the size of the guy cable is different according to the construction scale of the guy cable bridge, so that the guy cable maintenance robot is required to have higher adaptability when facing guys with different sizes.
Based on the current situation, the technical problem to be solved by the invention is to provide the cable maintenance robot which can realize more comprehensive maintenance on the surface of the cable and can be suitable for cables with different sizes.
Disclosure of Invention
Aiming at the problems, the technical problem to be solved by the invention is to design a planetary-like rotary maintenance robot applicable to multi-size inhaul cables.
The invention is realized in the following way: the invention discloses a planetary rotary maintenance robot applicable to multi-size inhaul cables, which comprises an inhaul cable polishing device, an inhaul cable cleaning device, an inhaul cable spraying device, an arc guiding rotary platform, a compaction climbing device, a robot matrix 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 tuning base, wherein the cable polishing displacement mechanism comprises a driving motor I, a screw rod base sliding block I, a screw rod bracket I, a shearing fork moving connection bracket I, a shearing fork fixed connection bracket 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 tuning base comprises an upper base I, a lower base I, a base sliding block 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 tuning base, the cable cleaning displacement mechanism comprises a driving motor II, a screw rod base sliding block II, a screw rod bracket II, a shearing fork moving connection bracket II, a shearing fork fixed connection bracket II and a shearing fork structure II, the cable clearance actuating mechanism includes clean motor, cam mechanism, clean motor base, clean brush, clean motor fixed plate, the cable clearance fine setting base includes base II, lower base II, base slider II, base guide rail II, cable spraying device include electromagnetism paint spraying mechanism, cable spraying base, electromagnetism paint spraying mechanism includes electro-magnet, electro-magnet support, paint spraying mechanism base support, paint spraying tank anchor clamps, the cable spraying base includes base III, lower base III, circular arc direction rotary platform include cable grinding device joint piece, cable cleaning device joint piece, cable spraying device joint piece, circular arc ring gear, circular arc guide rail, interior circular arc coupling mechanism, cable surface detection mechanism, wherein the cable grinding device joint piece that the structure is identical, the cable cleaning device joint block, the cable spraying device joint block and the cable polishing device joint block are uniformly distributed on the arc guide rotating platform at intervals of 90 degrees, the cable polishing device joint block comprises a joint bracket, an arc guide rail slide block, a planet wheel and a planet wheel driving motor, the inner arc connecting mechanism comprises an inner arc connecting body I, an inner arc connecting body II, an inner arc connecting body III and an inner arc connecting body IV, the cable surface detecting mechanism comprises a detecting camera I, a detecting camera II and a detecting camera III, 4 identical compacting climbing devices are uniformly distributed on the circumference of a robot matrix at intervals of 90 degrees, the compacting climbing devices comprise a climbing wheel connecting mechanism, a driven climbing wheel mechanism, an active climbing wheel mechanism and a driving wheel driving mechanism, the climbing wheel connecting mechanism comprises a wheel connecting body, a climbing wheel hinge seat I and a climbing wheel hinge seat II, the driven climbing wheel mechanism comprises a climbing wheel I, a long rod wheel carrier and a tightening spring I, the driving climbing wheel mechanism comprises a climbing wheel II, a short rod wheel carrier and a tightening spring II, the driving wheel driving mechanism comprises a driving motor III, a small belt wheel, a driving motor supporting plate, a V belt and a large belt wheel, the described robot matrix 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 uniformly distributed along the circumference, the middle arc device supporting frame comprises a middle arc table and a middle table sealing plate, and the lower longitudinal device supporting frame comprises a lower longitudinal supporting plate I, the device is characterized in that a cable polishing device, a cable cleaning device and a cable spraying device are respectively arranged on a cable polishing device connecting block, a cable cleaning device connecting block and a cable spraying device connecting block of an arc guiding rotary platform, the arc guiding rotary platform is arranged at the top of a robot matrix, the cable polishing device, the cable cleaning device and the cable spraying device are connected to the arc guiding rotary platform along with the rotation of the cable polishing device connecting block, the cable cleaning device connecting block and the cable spraying device on the arc guiding rotary platform, the cable spraying device can rotate around the top circumference of the robot matrix, and the arc guiding rotary platform is fixedly arranged on the arc guiding rotary platform through bolts.
Preferably, the maintenance mechanism of the cable maintenance robot is split into a cable polishing device, a cable cleaning device and a cable spraying device.
Preferably, the cable polishing device, the cable cleaning device and the cable spraying device are respectively arranged on a cable polishing device connecting block, a cable cleaning device connecting block and a cable spraying device connecting block of the arc-shaped guiding rotary platform, the arc-shaped guiding rotary platform is arranged at the top of the robot base body, and the cable polishing device, the cable cleaning device and the cable spraying device which are respectively connected to the arc-shaped guiding rotary platform can rotate around the circumference of the top of the robot base body along with the rotation of the cable polishing device connecting block, the cable cleaning device connecting block and the cable spraying device connecting block on the arc-shaped guiding rotary platform. Preferably, the cable polishing displacement mechanism in the cable polishing device is provided with a scissor structure I, the distance between the cable polishing actuating mechanism and the surface of the cable can be adjusted, and the relative positions of the upper base I and the lower base I in the cable polishing fine-tuning base can be adjusted and fixed by bolts.
As the preference, cable clearance among the cable cleaning device be equipped with in the displacement mechanism and cut fork structure II, can adjust cable clearance actuating mechanism and cable surface distance to clean motor lug connection cam mechanism is fixed with the cleaning brush on the cam mechanism, thereby realizes the left and right movement of cleaning brush according to the rotation of cam structure, the relative position of upper base II and lower base II in the cable clearance fine setting base can be adjusted and fixed by the bolt.
Preferably, the long rod wheel frame and the short rod wheel frame of the compacting and climbing device are provided with holes at different positions, and the wheel connecting body is also provided with through holes which are respectively connected by two tensioning springs.
Preferably, the arc guiding rotary platform, the middle arc device support frame and the bottom arc support frame in the robot matrix are of detachable structures.
The beneficial effects of the invention are as follows:
(1) The maintenance device of the maintenance robot is in modularized design and is split into the cable polishing device, the cable cleaning device and the cable spraying device, so that the cable maintenance robot can conduct targeted maintenance work on the cable maintenance robot according to the damage degree of the cable surface, each module is provided with a detection camera, the damage condition of the cable surface can be detected before maintenance, required working procedures are implemented on the cable surface according to the detected actual condition, and meanwhile, the maintenance cost of the robot under the condition of device damage is reduced due to the modularized design of the maintenance device.
(2) The circular arc guiding rotary platform is designed in a combined mode of a circular arc guide rail and an internal gear, three connecting blocks are mounted on the internal gear and the circular arc guide rail, and the three connecting blocks are respectively loaded with a cable polishing device, a cable cleaning device and a cable spraying device, so that the cable polishing device, the cable cleaning device and the cable spraying device can do planetary rotary motion relative to a cable on the circular arc of the internal gear when working, polishing, cleaning and spraying treatment work are performed on the cable surface, the repairing device does rotary motion around the cable surface, the polishing, cleaning and cleaning work coverage area of the repairing device when working on the cable surface is increased, and the secondary corrosion caused by incomplete repairing of part of the cable surface is avoided.
(3) The repair device is provided with a scissor structure and a guide rail slide block, the lead screw nut mechanism directly connected with the driving motor drives the scissor mechanism to drive the end actuating mechanism to slide on the base guide rail slide block, so that the end actuating mechanism can move close to and away from the cable in the radial direction, the distance between the end actuating mechanism and the surface of the cable is adjusted according to the difference of the cable size, the end actuating mechanism can reach the optimal working position under the condition of acting on cables with different sizes, and the practicability of the device is improved.
(4) The cable is polished and is finely tuned the base and the cable clearance is finely tuned the base and is designed for the slide rail cooperation, goes up the base both ends and has the screw hole design, and after repair device's end actuating mechanism and cable surface distance adjustment accomplish, through last base and lower base relative position in adjusting finely tuned the base, adjust accurate working position with end actuating mechanism and cable surface, screw the screw hole of going up the base again with the bolt, fix last base and lower base relative position, make the positional relationship on end actuating mechanism and cable surface more accurate, and then make cable overhaul robot's polishing, clearance and spraying work more accurate.
(5) The middle part of the wheel carrier of the climbing wheel mechanism is provided with a tension adjusting hole, and the tension adjusting holes at different positions are used for adjusting the compression force of the climbing wheel relative to the inhaul cable by adjusting the tightening spring to connect the wheel connector, so that the robot is suitable for inhaul cables with different section sizes, and the repairing work error caused by the slipping phenomenon of the robot in the climbing process is prevented. The four compaction climbing devices are completely identical in structural design and distributed in the middle of the robot matrix at 90 degrees intervals, so that the climbing wheels play a role in positioning after the robot is mounted on a guy cable, and the planetary-like rotary motion of the maintenance device is more accurate.
(6) With the help of the robot, a worker can remotely control the robot to repair the surface of the inhaul cable, so that the workload of the worker is reduced, the high-altitude operation is avoided, and the problem that the worker cannot realize high-efficiency operation in the high altitude due to the safety aspect is solved.
Drawings
For the purpose of illustrating the invention, the following detailed description is made with reference to the accompanying drawings
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is a schematic view of a polishing apparatus according to the present invention
FIG. 3 is a bottom cross-sectional view of a polishing apparatus according to the present invention
FIG. 4 is a schematic view of a cleaning apparatus according to the present invention
FIG. 5 is a bottom cross-sectional view of a cleaning apparatus according to 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 a circular arc guiding rotary platform according to the present invention
FIG. 8 is a top view of a circular arc rotary platform according to the present invention
FIG. 9 is a schematic view of a climbing device according to the present invention
FIG. 10 is a schematic view of a robot matrix structure according to 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 guy cable polishing device; 1-1, a guy cable polishing displacement mechanism; 1-1-1, and a driving motor I; 1-1-2 parts of a screw rod I; 1-1-3, a screw rod sliding block I; 1-1-4, a screw bracket I; 1-1-5, a scissor moving connection bracket I; 1-1-6, a scissor fork is fixedly connected with a bracket I; 1-1-7, a scissors fork structure I; 1-2, a guy cable polishing executing mechanism; 1-2-1, polishing a motor base; 1-2-2, a polishing motor; 1-2-3 parts of a polishing head; 1-2-4, polishing a motor fixing plate; 1-3, polishing a fine tuning base by a guy cable; 1-3-1, and an upper base I; 1-3-2, a lower base I; 1-3-3, a base slide block I; 1-3-4, a base guide rail I; 2. a guy cable cleaning device; 2-1, a inhaul cable cleaning displacement mechanism; 2-1-1, a driving motor II; 2-1-2 parts of a screw II; 2-1-3, a screw base sliding block II; 2-1-4, a screw bracket II; 2-1-5, a scissor moving connection bracket II; 2-1-6, a scissors fork is fixedly connected with a bracket II; 2-1-7, a scissors structure II; 2-2, a inhaul cable cleaning executing mechanism; 2-2-1, cleaning a motor; 2-2-2, cam mechanism; 2-2-3, cleaning a motor base; 2-2-4, cleaning brush; 2-2-5, cleaning a motor fixing plate; 2-3, cleaning a fine adjustment base by a guy cable; 2-3-1, and an upper base II; 2-3-2, a lower base II; 2-3-3, a base slide block II; 2-3-4, a base guide rail II; 3. a guy cable spraying device; 3-1, an electromagnetic paint spraying mechanism; 3-1-1, an electromagnet; 3-2-1, an electromagnet bracket; 3-1-3 parts of a base bracket of a paint spraying mechanism; 3-1-4 parts of paint spraying tank; 3-1-5, paint spraying tank clamp; 3-2, spraying a base by using a inhaul cable; 3-2-1, and an upper base III; 3-2-2, a lower base III; 4. arc guiding rotary platform; 4-1, connecting a stay rope polishing device with the block; 4-1-1, connecting the brackets; 4-1-2, arc guide rail slide blocks; 4-1-3, planetary gears; 4-1-4, a planetary gear driving motor; 4-2, connecting the stay rope cleaning device with the block; 4-3, connecting blocks of the inhaul cable spraying device; 4-4, an arc gear ring; 4-5, an arc guide rail; 4-6, an inner arc connecting mechanism; 4-6-1, inner circular arc connector I; 4-6-2, inner circular arc connector II; 4-6-3, inner circular arc connector III; 4-6-4, inner circular arc connector IV; 4-7, a inhaul cable surface detection mechanism; 4-7-1, detecting camera I; 4-7-2, a detection camera II 4-7-3 and a detection camera III; 5. compacting 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, a climbing wheel hinge seat II; 5-2, a driven climbing wheel mechanism; 5-2-1, a crawling wheel I; 5-2-2, a long rod wheel frame; 5-2-3, and tightening the spring I; 5-3 an active climbing wheel mechanism; 5-3-1, a crawling wheel II; 5-3-2, short bar wheel frame; 5-3-3, and tightening the spring II; 5-4, a driving wheel driving mechanism; 5-4-1, driving motor III; 5-4-2, small belt wheel; 5-4-3, driving motor supporting plate; 5-4-4, V belt; 5-4-5, large belt wheel; 6. a robot base; 6-1, a supporting frame is longitudinally arranged at the upper part; 6-1-a, an upper longitudinal support plate I; 6-1-b, an upper longitudinal support plate II; 6-1-c, upper longitudinal support plate III; 6-1-d, an upper longitudinal support plate IV; 6-2, a middle arc device supporting frame; 6-2-1, a middle circular arc table; 6-2-2, sealing plate of middle table; 6-3, a lower longitudinal device supporting frame; 6-3-a, a lower longitudinal support plate I; 6-3-b, a lower longitudinal support plate II; 6-3-c, a lower longitudinal support plate III; 6-3-d, a lower longitudinal support plate IV; 6-4, supporting the bottom arc device; 6-4-1, a bottom arc table; 6-4-2, a bottom table sealing plate (6-4-2); 7. the surface quality inspection mechanism of the inhaul cable; 7-1, a monitoring camera I; 7-2, a monitoring camera II; 7-3, monitoring camera III; and 7-4, a monitoring camera IV.
Detailed Description
The invention is described below with reference to specific embodiments shown in the drawings in order to make the objects, technical solutions and points of the invention more apparent. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Example 1:
as shown in fig. 1 to 11, the present embodiment adopts the following technical scheme: the cable polishing device comprises a cable polishing device 1, a cable cleaning device 2, a cable spraying device 3, an arc guiding rotary platform 4, a compression climbing device 5, a robot matrix 6 and a detection mechanism 7, wherein 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, the cable polishing displacement mechanism 1-1 comprises a driving motor I1-1-1, a screw rod I1-1-2, a screw rod base sliding block I1-1-3, a screw rod support I1-1-4, a shearing fork moving engagement support I1-1-5, a shearing fork fixing engagement support I1-1-6 and a shearing fork structure I1-1-7, the cable polishing actuating mechanism 1-2 comprises a polishing motor base 1-2-1, a polishing motor 1-2-2, a polishing head 1-2-3 and a polishing motor fixing plate 1-2-4, the cable polishing fine adjustment base 1-3 comprises an upper base I1-3, a lower base I1-3-2, a base I1-3, a base I3-3, a base sliding block I3-2, a base guide rail I1-3, a base I-4, a shearing fork moving engagement support I1-1-1-5, a shearing fork moving engagement support I-2-1-6 and a shearing fork structure I1-1-1-7, the cable polishing actuating mechanism II comprises a polishing motor base 1-2-1-1-2, a polishing motor fixing plate 1-2-4, and a polishing motor fixing plate 1-2-3-4, and a cable cleaning device II The cable cleaning actuating 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 2-4 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, the cable spraying device 3 comprises an electromagnetic paint spraying mechanism 3-1 and a cable spraying base 3-2, the electromagnetic paint spraying mechanism 3-1 comprises an electromagnet 3-1-1, an electromagnet bracket 3-1-2, a paint spraying mechanism base bracket 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 polishing 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 detecting mechanism 4-7, wherein the cable polishing device connecting block 4-1 is identical in structure, the cable cleaning device comprises a cable cleaning device connecting block 4-2, a cable spraying device connecting block 4-3 and a cable spraying device connecting block 4-3 which are uniformly distributed on an arc guiding rotary platform 4 at intervals of 90 degrees, wherein the cable polishing device connecting block 4-1 comprises a connecting bracket 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, the 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, the 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 4-7-3,4 identical pressing climbing devices 5 are uniformly distributed on the circumference of a robot matrix 6 at 90 degrees, the pressing devices 5 comprise climbing wheel connecting mechanisms 5-1, driven climbing wheel mechanisms 5-2, driving climbing wheel 5-3, climbing wheel 5-4 climbing wheel 5-1, driving climbing wheel 5-3, driving wheel 5-4 climbing wheel 5-2, wheel 5-1, wheel 5-5, wheel connecting body 1-5-2 and wheel frame 5-2, and wheel 1-5-2 are arranged on the circumference of the robot matrix 1-2, and the carrier 2-5-2 The short rod wheel frame 5-3-2 and the tightening spring II 5-3-3, the driving wheel driving mechanism 5-4 comprises a driving motor III 5-4-1, a small belt pulley 5-4-2, a driving motor supporting plate 5-4-3, a V belt 5-4-4 and a large belt pulley 5-4-5, the described robot matrix 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, the upper longitudinal device supporting frame 6-1 comprises an upper longitudinal supporting plate I6-1-a, an upper longitudinal supporting plate II 6-1-b, an upper longitudinal supporting plate III 6-1-c, an upper longitudinal supporting plate IV 6-1-d, four upper longitudinal supporting plates are identical in structure and uniformly distributed along the circumference, the middle arc device supporting frame 6-2 comprises a middle arc table 6-2-1 and a middle table sealing plate 6-2-2, the lower longitudinal device supporting frame 6-3 comprises a lower longitudinal supporting plate I6-3, a lower longitudinal supporting plate II 6-3 and a lower longitudinal supporting plate II-3-4-4 along the circumference of the upper longitudinal supporting plate III-1-c, the upper longitudinal supporting plate IV 6-1-d is identical in structure of the bottom arc device supporting plate, the four upper longitudinal supporting plates IV-4-3-d is identical in structure along the circumference, the cable surface detection device 7 comprises a monitoring camera I7-1, a monitoring camera II 7-2, a monitoring camera III 7-3 and a monitoring camera IV 7-4, wherein the cable polishing device 1, the cable cleaning device 2 and the cable spraying device 3 are respectively arranged on a cable polishing 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 at the top of a robot matrix 6, the arc guide rotating platform 4 is fixed with an upper longitudinal device supporting frame 6-1 on the robot matrix 6 through bolts, the upper longitudinal device supporting frame 6-1 and a middle arc device supporting frame 6-2 in the robot matrix 6 are fixed with a lower longitudinal device supporting frame 6-3 through wheel connectors 5-1-1 in a pressing climbing device 5, and an upper driven climbing wheel mechanism 5-2 and a driving climbing wheel mechanism 5-3 are arranged on the inner side of the wheel connectors 5-1-1 of the pressing climbing device 5, so that the lower longitudinal device 6-3 and the lower longitudinal device 6-4 in the robot matrix 6 are fixed with the arc device supporting frame 6-4 through bolts, and the quality detection device is fixed on the bottom surface of the arc device supporting frame 6-4 through bolts.
Further, the cable overhauling robot overhauling device is divided into a cable polishing device 1, a cable cleaning device 2 and a cable spraying device 3. The cable polishing device 1, the cable cleaning device 2 and the cable spraying device 3 are respectively arranged on a cable polishing 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 guiding rotary platform 4, the arc guiding rotary platform 4 is arranged at the top of the robot base body 6, and the cable polishing device 1, the cable cleaning device 2 and the cable spraying device 3 which are respectively connected to the arc guiding rotary platform 4 can rotate around the circumference of the top of the robot base body 6 along with the rotation of 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 on the arc guiding rotary platform 4.
Further, the robot base 6 includes an upper longitudinal device support 6-1, a middle arc device support 6-2, a lower longitudinal device support 6-3, and a bottom arc device support 6-4, the upper longitudinal device support 6-1 is connected to an inner arc connector I (4-6-1), an inner arc connector II (4-6-2), an inner arc connector III (4-6-3), and an inner arc connector IV (4-6-4) of the arc guiding rotary platform 4 by bolts, the upper longitudinal device support 6-1, the middle arc device support 6-2, and the lower longitudinal device support 6-3 are connected and fixed to the wheel connector 5-1-1 of the pressing climbing device 5 by bolts, the lower longitudinal device support 6-3 is connected to the bottom arc device support 6-4 by bolts, the middle arc device support 6-2 is designed to be composed of a middle arc platform 6-2-1 and a middle platform sealing plate 6-2, and the bottom arc device support 6-4 is designed to be composed of a bottom arc platform 6-1 and a bottom arc platform 6-4-2, and the bottom arc device support 6-2 is designed to be detachable by bolts to be connected to the bottom arc device support 6-4.
Example 2:
according to the device described in embodiment 1, when the robot is mounted on the cables of different sizes, the polishing distance of the cable polishing mechanism 1 is also required to be adjusted accordingly, the driving motor i 1-1-1 is directly connected to the screw i 1-1-2 and fixed to the screw bracket i 1-1-4, the driving motor i 1-1-1 drives the screw i 1-1-2 to rotate, the screw slider i 1-1-3 is mounted on the screw i 1-1-2 and moves along the axial direction along with the rotation of the screw i 1-1-2, one end of the screw bracket i 1-1-5 is fixed to the screw slider i 1-1-3 by a screw, the other end is hinged to one side of the double-sided end of the scissor structure i 1-1-7, the other side of the double-sided end of the scissor structure i 1-1-7 is hinged to one side of the scissor fixed engagement bracket i 1-1-6, the other side of the scissor fixed engagement bracket i 1-1 is fixed to the screw bracket i 1-4 by a screw, the single-side of the scissor structure i 1-7 is hinged to the base 1-3 of the base 1-3 mounted on the base of the base 1-2, the base of the base 1-3 is mounted on the base of the base 1-3 by the single-motor polishing end of the scissor structure i 1-1-7, and the base is mounted on the base 2-3, meanwhile, the axial movement of the screw base sliding block I1-1-3 on the screw I1-1-2 drives the scissor structure I1-1-7 to expand and contract, and further drives the cable polishing actuating mechanism 1-2 to realize the movement of approaching to and separating from the cable surface, so that the cable polishing actuating mechanism 1-2 can polish the cable surface and adjust the distance.
Further, the upper base I1-3-1 and the lower base I1-3-2 in the inhaul cable polishing fine-tuning base 1-3 can be mutually slid to adjust the position relation between the two and fixed through bolts, so that the distance between the inhaul cable polishing head 1-2-3 and the surface of the inhaul cable is further adjusted, and the accuracy of polishing work of the surface of the inhaul cable is ensured.
Example 3:
according to the device described in embodiment 1, when the dimensions of the cables are different, the cleaning working distance of the cable maintenance robot also needs to be correspondingly adjusted, the driving motor ii 2-1-1 is directly connected with the screw ii 2-1-2 and fixed on the screw support ii 2-1-4, the driving motor ii 2-1-1 drives the screw ii 2-1-2 to rotate, the screw slider ii 2-1-3 is mounted on the screw ii 2-1-2 and moves along the axial direction along with the rotation of the screw ii 2-1-2, one end of the screw slider support ii 2-1-5 is fixed on the screw slider ii 2-1-3 by a screw, the other end of the screw slider support ii 2-1-5 is hinged with one side of the bilateral end of the scissor structure ii 2-1-7, the other side of the scissor structure ii 2-1-7 is hinged with one side of the scissor fixed engagement support ii 2-1-6, the other side of the scissor fixed engagement support ii 2-1-6 is fixed on the screw support ii 2-1-4, the single-side of the scissor structure ii 2-1-7 is hinged with the motor 2-3 along with the screw ii 2-1-2 along with the rotation of the screw, the cleaning motor 2-3 is mounted on the base 2-3, thereby the base 2-2-3 is mounted on the base 2-2-2-3 and the base 2-2-3 is driven to reciprocate, and the base 2-2-3 is mounted on the base 2-2-3 and moves in parallel with the base 2-2-2 and the cleaning base 2-3, meanwhile, the screw rod sliding block II 2-1-3 moves in the axial direction of the screw rod II 2-1-2 to drive the scissor structure II 2-1-7 to expand and contract, and further drive the inhaul cable cleaning executing mechanism 2-2 to achieve movement approaching to and away from the surface of the inhaul cable, so that the inhaul cable cleaning executing mechanism 2-2 can achieve adjustment of the distance between chip cleaning rows after polishing of the surface of the inhaul cable.
Further, the upper base II 2-3-1 and the lower base II 2-3-2 in the inhaul cable cleaning fine-tuning base II 2-3 can be mutually slid to adjust the position relation between the upper base II 2-3 and the lower base II 2-3-2 and are fixed through bolts, so that the distance between the cleaning hairbrush (2-2-4) and the surface of the inhaul cable is further adjusted, and the accuracy of cleaning work is ensured.
Example 4:
according to the device described in embodiment 1, when the cable to be overhauled is positioned on the inner side of the overhauling robot, the rear part of the paint spraying tank clamp 3-1-5 is fixed on the electromagnet bracket 3-1-2, and is connected with the base bracket 3-1-3 of the paint spraying mechanism through bolts and fixed on the cable spraying base 3-2, the electromagnet 3-1-1 is installed above the electromagnet bracket 3-1-2, and the electromagnet 3-1-1 controls the paint spraying tank 3-1-4 to spray the surface of the cable after polishing and cleaning.
Further, the relative positions of the electromagnetic paint spraying mechanism 3-1 and the surface of the inhaul cable are adjusted by adjusting the relative positions of the upper base III 3-2-1 and the lower base III 3-2-2 in the inhaul cable spraying base 3-2 and fixing the relative positions through bolts, so that the working area of the inhaul cable spraying device 3 on the surface of the inhaul cable is adjusted, and the working efficiency and accuracy of the inhaul cable spraying device 3 are improved.
Example 5:
According to the device described in embodiment 1, a cable polishing device connecting block 4-1, a cable cleaning device connecting block 4-2 and a cable spraying device connecting block 4-3 are mounted on the arc-shaped guiding rotary platform 4, and a cable polishing device 1, a cable cleaning device 2 and a cable spraying device 3 are mounted on the arc-shaped guiding rotary platform respectively, and 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 are planetary-like rotated relative to the cable along an arc guide rail 4-5 of the arc-shaped guiding rotary platform 4 under the driving of the planetary driving motor 4-1-4.
Example 6:
according to the device described in embodiment 1, when the device is mounted on the outside of a 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, and 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 this time, the driven climbing wheel mechanism 5-2 and the driving climbing wheel mechanism 5-3 have the same structure, except that the driving wheel driving mechanism 5-4 is mounted 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 5-4-5 through the v belt 5-4-4, so that the purpose of driving the climbing wheel II 5-3-1 is achieved, and the cable overhauling robot has the capability of autonomous crawling.
Further, holes at different positions are formed in the middle sections of the long-rod wheel frame 5-2 and the short-rod wheel frame 5-3-2, the holes of the long-rod wheel frame I5-2-2 are connected with the wheel connecting body 5-1-1 through the tensioning spring I5-2-3, the holes of the short-rod wheel frame II 5-3-2 are connected with the wheel connecting body 5-1-1 through the tensioning spring II 5-3-3, and tightening force of the driven climbing wheel mechanism 5-2 and the driving climbing wheel mechanism 5-3 is increased, so that stability of the compacting climbing device 5 in the climbing process is increased.
Further, 5 identical compaction climbing devices (5) are uniformly distributed on a middle arc device supporting frame 6-2 in a robot matrix 6 at an angle of 90 degrees, so that the positioning function of the overhaul device is realized when the overhaul robot works on a inhaul cable.
The working principle of the specific embodiment is as follows: when the cable surface needs to be overhauled, the cable overhauling robot is arranged on the outer side of the cable surface to be overhauled, the cable surface is supported by 4 compaction climbing devices 5, the cable overhauling robot is positioned and fixed on the cable, the driven climbing wheel mechanism 5-1 and the driving climbing wheel mechanism 5-2 are compacted on the cable surface by tightening the tightening force of the springs I5-2-3 and the tightening force of the springs II 5-3-3, the cable polishing device 1, the cable cleaning device 2 and the actuating end mechanism of the cable spraying device 3 are adjusted to the optimal position with the cable surface in advance, the driving wheel driving mechanism 5-4 is used for driving the driving climbing wheel mechanism 5-2 to move on the cable surface, the cable surface is surveyed by the cable surface detection device 4-7, the cable polishing device 1, the cable cleaning device 2 and the cable spraying device 3 are used for carrying out targeted treatment on the cable surface, 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 are used for carrying out targeted treatment on the cable surface, the cable surface is correspondingly selected according to the cable surface quality inspection mode, and the cable quality inspection effect is finally carried out on the cable surface after the cable surface is correspondingly improved.
The foregoing has shown and described the basic principles and main features of the invention and features of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the embodiments and descriptions described herein are merely illustrative of the principles of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. Be suitable for planetary rotation type maintenance robot of multisize 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: cable grinding device (1) include cable polishing displacement mechanism (1-1), cable polishing actuating mechanism (1-2), cable fine setting base (1-3) of polishing, cable polishing displacement mechanism (1-1) include driving motor I (1-1-1-2), lead screw I (1-1-2), lead screw slider I (1-1-3), lead screw support I (1-1-4), cut fork and move about and link up support I (1-1-5), cut fork fixed connection support I (1-1-6), cut fork structure I (1-1-7), cable polishing actuating mechanism (1-2) include polishing motor base (1-2-1), polishing motor (1-2-2), polishing head (1-2-3), polishing motor fixed plate (1-2-4), cable fine setting base (1-3) include upper base I (1-3-1), lower base I (1-3-2), base slider I (1-3-3), base guide rail I (1-3-4), cable clearance mechanism (2) include cable clearance mechanism (1-2), cable clearance actuating mechanism (2-2), cable clearance fine setting base (2-3), cable clearance displacement mechanism (2-1) include driving motor II (2-1-1), lead screw II (2-1-2), lead screw base slider II (2-1-3), lead screw support II (2-1-4), cut fork and move about and link up support II (2-1-5), cut fork fixed and link up support II (2-1-6), cut fork structure II (2-1-7), cable clearance actuating mechanism (2-2) include cleaning motor (2-2-1), cam mechanism (2-2), cleaning motor base (2-2-3), cleaning brush (2-2-4), cleaning motor fixed plate (2-2-5), cable clearance fine setting base (2-3) include upper base II (2-3-1), lower base II (2-3-2), base slider II (2-3-3), base guide rail II (2-3-4), cable clearance actuating mechanism (2-2-2) include cleaning motor (2-1), cam mechanism (2-2-3), cleaning motor base (2-3), cleaning brush (2-3) include electromagnetic spray painting mechanism (1-5), cable clearance fine setting mechanism (2-3) include electromagnetic spray painting mechanism (1-1) Electromagnet support (3-1-2), spray painting mechanism base support (3-1-3), spray painting tank (3-1-4), spray painting tank anchor clamps (3-1-5), cable spraying base (3-2) include last base III (3-2-1), lower base III (3-2-2), circular arc direction rotary platform (4) include cable grinding device joint piece (4-1), cable cleaning device joint piece (4-2), cable spraying device joint piece (4-3), circular arc ring gear (4-4), circular arc guide rail (4-5), interior circular arc coupling mechanism (4-6), cable surface detection mechanism (4-7), wherein cable grinding device joint piece (4-1) that the structure is identical, cable cleaning device joint piece (4-2), cable spraying device joint piece (4-3) evenly distributed at circular arc direction rotary platform (4) interval 90 DEG, cable grinding device joint piece (4-1) include joint support (4-1-1), motor slider (4-1), planet wheel (4-1-3), planet wheel (4-1-1), the inner arc connecting mechanism (4-6) comprises an inner arc connecting body I (4-6-1), 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), the guy cable surface detecting mechanism (4-7) comprises a detecting camera I (4-7-1), a detecting camera II (4-7-3) and a detecting camera III (4-7-3), 4 identical compacting climbing devices (5) are uniformly distributed on the inner circumference of a robot base body (6) at 90 degrees, the compacting climbing devices (5) comprise climbing wheel connecting mechanisms (5-1), driven climbing wheel mechanisms (5-2), driving wheel mechanisms (5-3) and driving wheel driving mechanisms (5-4), the climbing wheel connecting mechanisms (5-1) comprise wheel connecting bodies (5-1-1), climbing wheel hinge seats I (5-1-2), climbing wheel hinge seats II (5-1-3), the driven wheel mechanisms (5-2) comprise climbing wheel frame rods (5-2) and wheel frames (5-2), the active climbing wheel mechanism (5-3) comprises a climbing wheel II (5-3-1), a short rod wheel carrier (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), the described robot matrix (6) comprises an upper longitudinal device supporting frame (6-1), a middle circular arc device supporting frame (6-2), a lower longitudinal device supporting frame (6-3) and a bottom circular arc device supporting frame (6-4), the upper longitudinal device supporting frame (6-1) comprises an upper longitudinal supporting plate I (6-1-a), an upper longitudinal supporting plate II (6-1-b), an upper longitudinal supporting plate III (6-1-c) and an upper longitudinal supporting plate IV (6-1-d), four upper longitudinal supporting plates are uniformly distributed along the circumference, the middle circular arc device supporting frame (6-2) comprises a sealing plate (6-2-2), the lower longitudinal device support frame (6-3) comprises a lower longitudinal support plate I (6-3-a), a lower longitudinal support plate II (6-3-b), a lower longitudinal support plate III (6-3-c) and a lower longitudinal support plate IV (6-3-d), the four lower longitudinal support plates are identical in structure and 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 guy cable surface quality inspection mechanism (7) comprises a monitoring camera I (7-1), a monitoring camera II (7-2), a monitoring camera III (7-3) and a monitoring camera IV (7-4); the method is characterized in that: the cable polishing device (1), the cable cleaning device (2) and the cable spraying device (3) are respectively arranged on a cable polishing 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 guiding rotary platform (4) of the robot base body (6), the arc guiding rotary platform (4) is arranged at the top of the robot base body (6), the arc guiding rotary platform (4) is fixed with an upper longitudinal device supporting frame (6-1) on the robot base body (6) through bolts, the upper longitudinal device supporting frame (6-1) and a middle arc device supporting frame (6-2) in the robot base body (6) are fixed together through a wheel connecting body (5-1-1) in a compacting climbing device (5) and a lower longitudinal device supporting frame (6-3), 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 compacting climbing device (5), so that the lower longitudinal device (6-3) of the robot base body (6) and the arc device supporting frame (6-3) are welded together, the inhaul cable surface quality inspection mechanism (7) is fixed on the bottom arc device supporting frame (6-4) through bolts; 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 fixed on a wheel connecting body (5-1-1) through bolts, the driven climbing wheel mechanism (5-2) has the same structure as the driving climbing wheel mechanism (5-3), except that a driving wheel driving mechanism (5-4) is arranged on the driving wheel driving mechanism (5-3), a driving motor III (5-4-1) of the driving wheel driving mechanism (5-4) directly drives a small belt wheel (5-4-2) and drives a large belt wheel (5-4-5) to rotate through a v belt (5-4-4) so as to realize driving of the driving wheel (5-1); holes at different positions are formed in the middle sections of the long-rod wheel frame (5-2-2) and the short-rod wheel frame (5-3-2), the holes of the long-rod wheel frame (5-2-2) are connected with the wheel connecting body (5-1-1) through the tensioning spring I (5-2-3), the tensioning spring II (5-3) is connected with the holes of the short-rod wheel frame (5-3-2) and the wheel connecting body (5-1-1), and tightening force of the driven climbing wheel mechanism (5-2) and the driving climbing wheel mechanism (5-3) is increased.
2. A planetary rotary inspection robot suitable for multi-sized cables according to claim 1, characterized in that: the cable polishing device (1), the cable cleaning device (2) and the cable spraying device (3) are respectively arranged on a cable polishing 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 guiding rotary platform (4), the arc guiding rotary platform (4) is arranged at the top of the robot base body (6), and the cable polishing device (1), the cable cleaning device (2) and the cable spraying device (3) which are respectively connected to the arc guiding rotary platform (4) can rotate around the circumference of the top of the robot base body (6) along with the rotation of 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) on the arc guiding rotary platform (4).
3. A planetary rotary inspection robot suitable for multi-sized cables according to claim 1, characterized in that: the guy cable polishing device (1) consists of a guy cable polishing displacement mechanism (1-1), a guy cable polishing actuating mechanism (1-2) and a guy cable polishing fine adjustment base (1-3), wherein a driving motor I (1-1-1) is directly connected with the guy cable 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, the lead screw slider I (1-1-3) is arranged on the lead screw I (1-1-2) and moves along the axial direction along with the rotation of the lead screw I (1-1-2), one end of a scissor free connection bracket I (1-1-5) is fixed on the lead screw slider I (1-1-3) through a screw, the other end of the scissor free connection bracket I is hinged with one side of a scissor bracket I (1-1-7), the other side of the two side of the scissor structure I (1-1-7) is hinged with one side of a scissor fixed connection bracket I (1-1-6), the other side of the scissor fixed bracket I (1-1-1-6) is hinged with the other side of the scissor bracket I (1-1-1-7) through the screw fixed on the lead screw (1-1-1-1) through the other side of the scissor bracket I (1-1-7), the lower end of a polishing motor base (1-2-1) is provided with a base sliding block I (1-3-3), the base sliding block I (1-3-3) is matched with a base guide rail I (1-3-4), the base sliding block I is arranged on a cable polishing fine-tuning base (1-3), a polishing motor (1-2-2) drives a polishing head (1-2-3) to conduct rotary motion, meanwhile, the axial movement of a screw rod sliding block I (1-1-3) on a screw rod I (1-1-2) drives a scissor structure I (1-1-7) to conduct telescopic motion, and further drives a cable polishing actuating mechanism (1-2) to achieve motion close to and far away from the cable surface, so that the cable polishing actuating mechanism (1-2) can conduct distance adjustment for the cable surface, meanwhile, the position relation between an upper base I (1-3-1) and a lower base I (1-3-2) in the cable polishing fine-tuning base (1-3) can be adjusted through relative sliding and fixed through bolts, and further adjustment of the distance between the polishing head (1-2-3) and the cable surface is achieved.
4. A planetary rotary inspection robot suitable for multi-sized cables according to claim 1, characterized in that: the guy cable cleaning device (2) consists of a guy cable cleaning displacement mechanism (2-1), a guy cable cleaning executing mechanism (2-2) and a guy cable cleaning fine adjustment 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 support II (2-1-4), the driving motor II (2-1-1) drives the lead screw II (2-1-2) 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 scissor movable connection support 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 scissor movable connection support II is hinged with one side of a scissor structure II (2-1-7), the other side of the two sides of the scissor structure II (2-1-7) is hinged with one side of a scissor fixed connection support II (2-1-6), the other side of the scissor fixed connection support II (2-1-6) is fixed on the other side of the lead screw support (2-1-6), the unilateral end of the scissor structure II (2-1-7) is hinged with the cleaning motor base (2-2-3), wherein the lower end of the cleaning motor base (2-2-3) is provided with a base sliding block II (2-3-3) and is matched with a base guide rail II (2-3-4) to be installed on the guy cable cleaning fine-tuning base (2-3), the cleaning motor (2-2-1) drives a cam mechanism (2-2-2) to move so as to drive a cleaning hairbrush (2-2-4) to perform reciprocating motion parallel to the guy cable surface, meanwhile, the axial movement of the lead screw base sliding block II (2-1-3) on the lead screw II (2-1-2) drives the scissor structure II (2-1-7) to perform expanding and contracting motion so as to drive the guy cable cleaning executing mechanism (2-2) to achieve movement approaching to and far away from the guy cable surface, so as to achieve the fine-tuning of the guy cable cleaning executing mechanism (2-2) aiming at the debris cleaning work after the surface polishing and performing distance adjustment, meanwhile, the upper base II (2-3) and the lower base II (2-3-2) in the guy cable cleaning base (2-3) can be further adjusted to the distance with the guy cable 2 through the hairbrush through the mutual sliding adjustment of the two base (2-3), the accuracy of cleaning work is ensured.
5. A planetary rotary inspection robot suitable for multi-sized cables according to claim 1, characterized in that: the cable spraying device (3) comprises an electromagnetic spraying mechanism (3-1) and a cable spraying base (3-2), a spraying tank clamp (3-1-5) is fixed on the electromagnetic bracket (3-1-2), the rear part of the electromagnetic bracket (3-1-2) is connected with the base bracket (3-1-3) of the spraying mechanism through bolts and is fixed on the cable spraying base (3-2), the electromagnetic bracket (3-1-1) is arranged above the electromagnetic bracket (3-1-2), the electromagnetic bracket (3-1-1) can tightly press a spraying tank (3-1-4) fixedly arranged on the electromagnetic bracket (3-1-2) and the spraying tank clamp (3-1-5), spraying measures are implemented on the cable surface after polishing and cleaning, and the relative positions of the electromagnetic spraying mechanism (3-1) and the surface are adjusted through adjusting the relative positions of an upper base III (3-2-1) and a lower base III (3-2-2) in the cable spraying base (3-2) through bolts, so that the surface spraying area of the cable spraying device (3) is adjusted.
6. A planetary rotary inspection robot suitable for multi-sized cables according to claim 1, characterized in that: the robot matrix (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 device support frame (6-1) is connected with an inner arc connector I (4-6-1), an inner arc connector II (4-6-2), an inner arc connector III (4-6-3) and an inner arc connector IV (4-6-4) of the arc guide rotating platform (4) through bolts, the upper longitudinal device support frame (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 a pressing climbing device (5) through bolts, 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), the bottom arc device supporting frame (6-4) is designed to be formed by connecting a bottom arc table (6-4-1) and a bottom table sealing plate (6-4-2) through bolts, so that the middle arc device supporting frame (6-2) and the bottom arc device supporting frame (6-4) can be detached.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
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| CN113618708A CN113618708A (en) | 2021-11-09 |
| CN113618708B true CN113618708B (en) | 2023-12-22 |
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| CN114146849B (en) * | 2021-11-19 | 2022-10-28 | 合肥工业大学 | Spraying robot based on multi-gear-set composite drive and control method thereof |
| CN117697796B (en) * | 2024-02-06 | 2024-05-03 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
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