CN1256189A - Pneumatic creeping cable robot - Google Patents
Pneumatic creeping cable robot Download PDFInfo
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- CN1256189A CN1256189A CN 99124240 CN99124240A CN1256189A CN 1256189 A CN1256189 A CN 1256189A CN 99124240 CN99124240 CN 99124240 CN 99124240 A CN99124240 A CN 99124240A CN 1256189 A CN1256189 A CN 1256189A
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Abstract
The cable robot consists of climbing body, maintenance mechanism on the climbing body, and ground control console. The climbing body is divided into an upper part and a lower part with three evenly distributed installing blocks, which have separately installed clamping mechanism comprising clamping cylinder and clamping pawl and guide mechanism comprising guide cylinder and guide wheel. The two parts are connected by shift mechanism and support mechanism. The cable robot is used in testing, painting and cleaning cables of large stayed cable bridge. The present invention adopts cylinder drive and ground control and monitoring, so that its installation is convenient and reliable.
Description
The present invention relates to a kind of cable robot, relate in particular to a kind of Pneumatic creeping cable robot that is used for striding greatly operation on the cable-stayed bridge cable, belong to the Robotics field.
Cable-stayed bridge is new as modern bridge, has worldwide obtained using widely.As the cable long term exposure of one of cable-stayed bridge main bearing member in air, through the wind and weather Exposure to Sunlight, the pe sheath on cable surface will produce sclerosis and cracking phenomena in various degree, bring serious problems such as rust staining, fracture of wire for the steel tendon in the sheath, simultaneously, because RANDOM WIND is shaken, rain shakes, make the steel wire in the cable produce little friction, then cause serious fracture of wire problem, bury serious hidden danger to cable-stayed bridge.Because cable-stayed bridge is the new bridge type that just rises nearest decades, the maintenance measure that matches with the main bearing member cable of cable-stayed bridge is still far from perfect.The cable-stayed bridge cable has multiclass patterns such as cylindrical, parallel hexagon and spiral hexagon, and cable directly has plurality of specifications, and skin generally has polyethylene interplanting protection, its absolute altitude height, distance, and gradient is by 30 ° to nearly 90 °.In addition, although applied very big pulling force at the two ends of cable, because deadweight effect and creep, cable still has certain amount of deflection.
In the prior art, to managing the existing research of outer robot and electric wire detection machine people, the pipeline that these outer robots of pipe creep generally can only be used for the rigid conduit on the horizontal plane, and tractive force is little, higher for this absolute altitude of cable-stayed bridge, flexible than hawser, its climbing ability is obviously not enough.IEEE robotics in 1987 and automation international conference Voll (P539～544), analyzed the III machine that the Japanese quick man in Feitian waits the outer robot of series pipe that is developed, be looper shape mobile robot, by nine pulse motors, five connecting rods, four joints are formed, can on the level of 90mm and perpendicular rigid pipeline, move, break the barriers in addition and transfer to function on the adjacent channel.But its tractive force is little, and speed very slow (average speed only is 0.018m/min) is also non-adjustable, and heavy load, high efficiency, the flexibility that far can not satisfy cable-maintaining is bigger, the needs of open-air work high above the ground.Also report to some extent on periodicals such as association of Japanese robot will about electric wire detection machine people, this robot mainly is made up of several less wheels and four crawler belts, drive by small machine, cross over the iron tower of tightening electric wire though can move to reach on the electric wire of certain gradient, the rugosity of electric wire obviously can not be compared with the cable on the bridge with gradient.So these robots all can not be applied on the cable.According to international online retrieval, yet there are no cable-maintaining correlation machine people's report.
The objective of the invention is to provide a kind of cable-maintaining robot simple in structure, easy to loading and unloading, make it strong, can realize monitoring and maintenance effectively cable to the adaptive capacity of cable.
For realizing such purpose, the invention provides a kind of Pneumatic creeping cable robot, by climbing, safeguard and several parts compositions of ground control cabinet, adopt air cylinder driven, the part (body) of climbing comprises the upper body, lower body and pneumatic operated valve, upper body and lower body three mounting blocks that are uniformly distributed along the circumference, the clamp mechanism that is made of the clamp jaw that clamps on cylinder and the cylinder is installed respectively on it, the guiding mechanism that guiding cylinder and directive wheel are formed, the upper body is connected with supporting mechanism by travel mechanism with lower body, pneumatic operated valve is communicated with pressure gas source and ground control cabinet by tracheae and control electric wire, by the clamping of console realization to robot, guiding and peristaltic action.There is mobile cylinder to be communicated with upper body and lower body in the travel mechanism, has two groups of back shafts to be communicated with upper body and lower body with supporting seat in the supporting mechanism simultaneously.Linear motion bearing also is housed, so that overall structure can move along non-linear cable in the supporting seat.Upper body and lower body have at least one to be clamped on the cable, are wriggled by the driven machine people of travel mechanism and rise or descend.Mechanisms such as guiding, support make robot on cable radial centering, lead, bear radial and axial load, to improve the non-linear adaptive capacity of robot to cable.Corresponding maintenance mechanism is installed, to realize maintenance works such as detection, application and cleaning to cable on robot body.Robot operation on cable can not damage the original coating or the pe sheath on cable surface.
Describe technical scheme of the present invention below by way of embodiments and drawings in detail.
Fig. 1 is the climb front view of body construction of the present invention.
As shown in the figure, the cable robot body that climbs mainly comprises upper body 1, lower body 2 and pneumatic operated valve 4, upper body 1 and lower body 2 all have three mounting blocks 3 that are uniformly distributed along the circumference separately, be separately installed with clamp mechanism and guiding mechanism on it, 2 of upper body 1 and lower bodies are connected with supporting mechanism etc. by travel mechanism, pneumatic operated valve 4 connects pressure gas source by tracheae, handle the control break-make by ground control cabinet through the control electric wire, then realize clamping, guiding and the peristaltic action of robot, form Pneumatic creeping cable robot body integral body.
Travel mechanism realizes locomotive function by two mobile cylinders 6, and the piston rod end on cylinder 6 tops is connected in upper body 1 by floating junction 12, and cylinder body is connected in lower body 2 by axis of centres ear 9.
Supporting mechanism is made up of two groups of back shafts 5 and supporting seat 15 grades, and back shaft 5 is connected in upper body 1, and supporting seat 15 links to each other with lower body 2 through cushion 16.Linear motion bearing 14 is housed in the supporting seat 15, back shaft 5 with upper body 1 when supporting seat 15 moves, around axis swing and bearing radial force, thereby eliminate the radial load of mobile cylinder 6, overall structure can be moved along non-linear cable.Other is by four screw rod 17 support and connection for 2 of upper body 1 and lower bodies.
Clamp mechanism is made of the clamping cylinder 11 of three radial equipartitions and the clamp jaw 8 on the cylinder etc., clamp jaw 8 adopts with the cable surface has the hard rubber of big confficient of static friction to make, make robot reliable grip on cable, upper body 1 and lower body 2 total 11 6 in the cylinders that clamp.
Guiding mechanism is made up of three guiding cylinder 10 and directive wheels 7 parallel with clamping cylinder 11, guiding cylinder 10 drives directive wheel 7 respectively, robot is felt relieved on cable, and move on cable with upper body 1 and lower body 2 respectively, 10 6 in upper body 1 and lower body 2 total guiding cylinders.
Tracheae and control electric wire are supported by steel wire rope, join with ground control cabinet and source of the gas.All have installing port on upper body 1 and the lower body 2, robot is linked as integral body by connecting plate 13 again after installing on the cable.Robot is installed on the robot car 18 at ordinary times, and dolly should be able to make robot rotate flexibly according to the inclination angle of cable and certain setting height(from bottom) be arranged, the dolly of dismantling during operation.According to the vary in diameter of cable, biasing non-linear and that cause because of deadweight, adjust the installation site of upper and lower body mounting blocks 3 respectively, finish the installation of robot on cable.
Fig. 2 is the present invention's A-A cutaway view among body construction Fig. 1 that climbs.
As shown in the figure, there are three mounting blocks 3 along the circumference uniform distribution of cable 19 upper body 1 of the present invention, be equipped with on each mounting blocks 3 by clamping the guiding mechanism that clamp mechanism that cylinder 11 and clamp jaw 8 constitute, the guiding cylinder 10 parallel with clamping cylinder 11 and directive wheel 7 are formed, clamp jaw 8 makes robot reliable grip on cable 19, and directive wheel 7 is felt relieved robot and moved on cable 19.
Lower body of the present invention has three mounting blocks 3 along the circumference uniform distribution of cable 19 equally, and clamp mechanism and guiding mechanism are housed thereon.Total 11 6 in cylinder, 10 6 in guiding cylinder, the upper body and four screw rod 17 support and connection of following body and function of clamping of upper body and lower body.
Fig. 3 is the local amplification profile of B place supporting mechanism shown in body construction Fig. 1 of the present invention.
Among the figure, supporting mechanism is made up of back shaft 5 and supporting seat 15 grades, and back shaft 5 is connected in upper body 1, and supporting seat 15 links to each other with lower body 2 through cushion 16.Linear motion bearing 14 is housed in the supporting seat 15.Back shaft 5 with upper body 1 when supporting seat 15 moves, around axis swing and bearing radial force, thereby eliminate the radial load of mobile cylinder, overall structure can be moved along non-linear cable.
Fig. 4 is a uphill process exploded view of the present invention.
This robot has adopted the mode of wriggling, and its action beat is: (1) lower body clamping cylinder clamps; (2) the upper body clamping cylinder unclamps; (3) promote cylinder piston rod and stretch out, rise on the upper body; (4) the upper body clamping cylinder clamps; (5) the lower body clamping cylinder unclamps; (6) promote cylinder block and rise, lower body rises.So repeat, realize climbing continuously.
When descending, robot changes the circulation of action beat.
Fig. 5 is a drive system schematic diagram of the present invention.
As shown in the figure, drive system of the present invention comprises parts such as pneumatic operated valve and cylinder, and pneumatic operated valve comprises solenoid directional control valve, pressure-reducing valve, silencer, choke valve, one-way throttle valve, source of the gas processing three linked piece etc.Two mobile cylinders 6 are selected the low friction of carrying magnetic switch cylinder for use, and last lower body clamps the slim cylinder that cylinder 11 is selected the carrying magnetic switch for use for two groups, and two groups of guiding cylinders 10 are selected slim cylinder for use.Compressed air at first by stable start magnetic valve, pressure-reducing valve, is controlled the intake and exhaust loop and the action of each cylinder chamber respectively again by solenoid directional control valve DT1, DT2, DT3.One-way throttle valve is used for the exhaust throttle speed governing of mobile cylinder 6, makes two to move cylinder and keep synchronization action substantially.Solenoid directional control valve DT4 controls mobile cylinder 6 exhausts through second throttle, makes robot obtain the lower speed of service.Be provided with pressure-reducing valve once more to set up its required pressure in the air inlet loop of guiding cylinder 10.When system has a power failure suddenly or stops the supple of gas or steam, start working by DT5 control bypass gas tank, guarantee that lower body clamps cylinder 11 and clamps.Along with the leakage of gas circuit, draw tracheae electric wire supporting steel wire by operating personnel robot is slowly glided.
Fig. 6 is a controlling party block diagram of the present invention.
The present invention adopts programmable controller, realizes the control of pneumatic position program switch amount signal.Being input as by the cylinder magnetic switch of control system detects the electric impulse signal that obtains, and output signal is carried out sequential control to each solenoid directional control valve.The console panel is provided with selector buttons such as ventilation, manual, automatic (rise, descend), maintenance, the number demonstration of operating environment monitoring demonstration and robot climb location.In order to guarantee that mechanism can adapt to reliable grip on the cable of different cross section, clamping cylinder has alternately clamped, has adopted when unclamping the method for time-delay.
Fig. 7 is the overall structure schematic diagram that the present invention is connected to application maintenance and mechanism for monitoring.
Among the figure, application framework 21 in the service portion links to each other through the front end of contiguous block 20 with upper body 1, when robot is wriggled downwards by the cable top, motor 22 drives the inner ring swing through crank 23, connecting rod 24,30, three automatic spray guns 29 of three cover gunjet racks evenly are set on inner ring connect coating pressure bucket 31, correspondingly make circle swing along the center of cable 19, with the switching of peristaltic action by ground control cabinet control spray gun 29, the application cable 19 more equably.Fixed support 26 on application framework 21, and control cabinet 25 and CCD camera 27 are housed on it, can monitor the coating quality of high-altitude cable thus on ground control cabinet.Simultaneously, for prevent the high-altitude RANDOM WIND to the spraying influence, in the spray gun installed inside hurricane globe 28, the coating accumulator tank is set outside hurricane globe 28.
If coating is changed into cleaning fluid, just can carry out clean and maintenance with cleaning brush again to cable.The steel wire detecting sensor is installed on body can carries out fracture of wire and rust staining detection cable.
The present invention utilizes clamping, the guiding force of the sensing cable that cylinder produces and is parallel to the driving force of cable, robot is clamped on cable and wriggle,, loads and unloads and easy to adjust structure and control all simpler by Controlled by Programmable Controller; Be suitable for the cable of any gradient and shape, robot can steadily clamp on non-linear cable and move, and is strong to the adaptive capacity of cable; Improve bleed pressure or select bigger cylinder bore for use, can make the robot bearing capacity enough big; Regulate the choke valve in the gas circuit, can regulate translational speed; Even stop the supple of gas or steam, robot still can be clamped on the cable and unlikely whereabouts, reliability height; Join by modular interface and maintenance mechanism, realize automatic job, high efficiency.
The present invention is applicable to the maintenance works such as detection, application and cleaning of large-scale cable-stayed bridge cable, also can be used for the maintenance of pipeline, electric pole etc.
In one embodiment of the invention, complete machine is of a size of cylinder bore * stroke: clamping cylinder 100 * 35, guide cylinder 80 * 35, climbing cylinder 80 * 1000 adapts to cable footpath 80-140, deadweight 130Kg, speed can reach 5m/min, can provide the power of 150Kg to be used for upkeep operation., will go up lower body and clamp the motionless suspension centre that is used as simultaneously behind the predetermined point if robot climbs, bigger load forces can be arranged.This model machine has successfully stood the test of moderate rain in engineering test.
Claims (5)
1, a kind of Pneumatic creeping cable robot, by climbing, safeguard and several parts compositions of ground control cabinet, upper body 1 in the body and lower body 2 three mounting blocks 3 that are uniformly distributed along the circumference is characterized in that climbing, install respectively on it by clamping the clamp mechanism that cylinder 11 and clamp jaw 8 constitute, the guiding mechanism that guiding cylinder 10 and directive wheel 7 are formed, the piston rod end of mobile cylinder 6 is connected in upper body 1 by floating junction 12, cylinder body is connected in lower body 2 by axis of centres ear 9, back shaft 5 is connected in upper body 1, and the supporting seat 15 of interior dress linear motion bearing 14 links to each other with lower body 2 through cushion 16.
2, a kind of as the said Pneumatic creeping cable robot of claim 1, it is characterized in that application framework 21 links to each other through the front end of contiguous block 20 with upper body 1 in the said service portion, motor 22 connects connecting rod 24 through crank 23, three cover gunjet racks 30 evenly are set on inner ring, three automatic spray guns 29 connect coating pressure bucket 31, make circle swing along the center of cable 19.
3, a kind of as the said Pneumatic creeping cable robot of claim 1, it is characterized in that said pneumatic operated valve 4 is connected with source of the gas with ground control cabinet with the control electric wire by tracheae.
4, a kind of as the said Pneumatic creeping cable robot of claim 1, it is characterized in that all having installing port on said upper body 1 and the lower body 2, be linked as integral body by connecting plate 13.
5, a kind of as the said Pneumatic creeping cable robot of claim 2, it is characterized in that fixed support 26 on the said application framework 21, control cabinet 25 and CCD camera 27 are housed on it, outside the hurricane globe 28 of spray gun 29 installed inside, the coating accumulator tank is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99124240A CN1077484C (en) | 1999-12-10 | 1999-12-10 | Pneumatic creeping cable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99124240A CN1077484C (en) | 1999-12-10 | 1999-12-10 | Pneumatic creeping cable robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1256189A true CN1256189A (en) | 2000-06-14 |
| CN1077484C CN1077484C (en) | 2002-01-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99124240A Expired - Fee Related CN1077484C (en) | 1999-12-10 | 1999-12-10 | Pneumatic creeping cable robot |
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| Country | Link |
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| CN (1) | CN1077484C (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407205A (en) * | 2011-09-05 | 2012-04-11 | 河北科技大学 | High altitude chimney and navigation mark automatic spray robot |
| CN102787562A (en) * | 2011-10-31 | 2012-11-21 | 北华大学 | Continuous advancing type pneumatic cable maintenance robot |
| CN104525419A (en) * | 2014-12-25 | 2015-04-22 | 青岛意诺固特自动化机械有限公司 | Climbing pole spraying cleaning machine for bridge rope pole |
| CN104652265A (en) * | 2015-03-05 | 2015-05-27 | 招商局重庆交通科研设计院有限公司 | Hydraulic-driven bridge cable detection maintenance robot |
| CN105292293A (en) * | 2015-10-29 | 2016-02-03 | 南京邮电大学 | Dynamic descending speed limiting device for high altitude cable climbing robot |
| CN105921328A (en) * | 2016-06-28 | 2016-09-07 | 大连民族大学 | Automatic climbing paint spraying robot |
| CN108532460A (en) * | 2018-05-17 | 2018-09-14 | 安徽工业大学 | A kind of catamaran type cable climbing robot |
| CN108890651A (en) * | 2018-09-26 | 2018-11-27 | 长沙理工大学 | A kind of control method of dual clamping eddy flow rope-climbed robot |
| CN112903691A (en) * | 2021-01-14 | 2021-06-04 | 山东交通学院 | Bridge check out test set convenient to repair damaged cable outside |
| CN113846554A (en) * | 2021-08-19 | 2021-12-28 | 上海大学 | Line inspection alternate moving type pneumatic assembly and installation method thereof |
| CN114700973A (en) * | 2022-04-24 | 2022-07-05 | 应急管理部国家自然灾害防治研究院 | Climbing manipulator device for laying high-position slope wireless sensors |
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| CN101200199B (en) * | 2006-12-13 | 2010-10-06 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| CN102632937B (en) * | 2012-05-04 | 2013-11-06 | 安徽工业大学 | Crawling mechanism for peristaltic cable robot |
| CN103640010B (en) * | 2013-11-25 | 2015-09-30 | 天津大学 | Multi-platform creeping-type wind turbine tower cylinder Work robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2376363Y (en) * | 1999-06-11 | 2000-05-03 | 上海交通大学 | Parallel bias type shape-memory alloy creeping mechanism |
| CN1081112C (en) * | 1999-08-06 | 2002-03-20 | 上海交通大学 | Cubical creeping and walking mechanism of intertube robot |
| CN2396935Y (en) * | 1999-12-10 | 2000-09-20 | 上海交通大学 | Pneumatic peristaltic cable robot climbing device |
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1999
- 1999-12-10 CN CN99124240A patent/CN1077484C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407205B (en) * | 2011-09-05 | 2013-09-18 | 河北科技大学 | High altitude chimney and navigation mark automatic spray robot |
| CN102407205A (en) * | 2011-09-05 | 2012-04-11 | 河北科技大学 | High altitude chimney and navigation mark automatic spray robot |
| CN102787562A (en) * | 2011-10-31 | 2012-11-21 | 北华大学 | Continuous advancing type pneumatic cable maintenance robot |
| CN104525419A (en) * | 2014-12-25 | 2015-04-22 | 青岛意诺固特自动化机械有限公司 | Climbing pole spraying cleaning machine for bridge rope pole |
| CN104652265A (en) * | 2015-03-05 | 2015-05-27 | 招商局重庆交通科研设计院有限公司 | Hydraulic-driven bridge cable detection maintenance robot |
| CN105292293B (en) * | 2015-10-29 | 2017-06-23 | 南京邮电大学 | A kind of dynamic the device of limiting the dropping speed for overhead calbe climbing robot |
| CN105292293A (en) * | 2015-10-29 | 2016-02-03 | 南京邮电大学 | Dynamic descending speed limiting device for high altitude cable climbing robot |
| CN105921328A (en) * | 2016-06-28 | 2016-09-07 | 大连民族大学 | Automatic climbing paint spraying robot |
| CN105921328B (en) * | 2016-06-28 | 2018-06-29 | 大连民族大学 | A kind of automatic climbing paint-spray robot |
| CN108532460A (en) * | 2018-05-17 | 2018-09-14 | 安徽工业大学 | A kind of catamaran type cable climbing robot |
| CN108890651A (en) * | 2018-09-26 | 2018-11-27 | 长沙理工大学 | A kind of control method of dual clamping eddy flow rope-climbed robot |
| CN112903691A (en) * | 2021-01-14 | 2021-06-04 | 山东交通学院 | Bridge check out test set convenient to repair damaged cable outside |
| CN113846554A (en) * | 2021-08-19 | 2021-12-28 | 上海大学 | Line inspection alternate moving type pneumatic assembly and installation method thereof |
| CN113846554B (en) * | 2021-08-19 | 2022-08-30 | 上海大学 | Line-inspection alternate moving type pneumatic assembly |
| CN114700973A (en) * | 2022-04-24 | 2022-07-05 | 应急管理部国家自然灾害防治研究院 | Climbing manipulator device for laying high-position slope wireless sensors |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1077484C (en) | 2002-01-09 |
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Owner name: SHANGHAI JIANYE TECHNOLOGY ENGINEERING CO., LTD. Free format text: FORMER OWNER: SHANGHAI JIAOTONG UNIV. Effective date: 20080222 |
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Effective date of registration: 20080222 Address after: No. 999 Shen Qiang Road, Shanghai, Minhang District Patentee after: Shanghai Jianye Technology Engineering Co., Ltd. Address before: No. 1954, Huashan Road, Shanghai Patentee before: Shanghai Jiao Tong University |
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Granted publication date: 20020109 Termination date: 20121210 |