CN201176352Y - Robot body mechanism for climbing cable - Google Patents
Robot body mechanism for climbing cable Download PDFInfo
- Publication number
- CN201176352Y CN201176352Y CNU2008200330035U CN200820033003U CN201176352Y CN 201176352 Y CN201176352 Y CN 201176352Y CN U2008200330035 U CNU2008200330035 U CN U2008200330035U CN 200820033003 U CN200820033003 U CN 200820033003U CN 201176352 Y CN201176352 Y CN 201176352Y
- Authority
- CN
- China
- Prior art keywords
- cable
- base plate
- caterpillar belt
- body mechanism
- main body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 64
- 230000009194 climbing Effects 0.000 title abstract description 9
- 238000010586 diagram Methods 0.000 description 2
- 230000035882 stress Effects 0.000 description 2
- 238000003916 acid precipitation Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- ZPUCINDJVBIVPJ-LJISPDSOSA-N cocaine Chemical compound O([C@H]1C[C@@H]2CC[C@@H](N2C)[C@H]1C(=O)OC)C(=O)C1=CC=CC=C1 ZPUCINDJVBIVPJ-LJISPDSOSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot body mechanism for climbing ropes, belonging to the technical field of robots. The structure of the robot body mechanism is that an upper set and a lower set of caterpillar belt mechanisms (1, 2) are symmetrically distributed along the direction of a cable rope (16), wherein the caterpillar belt mechanisms (1, 2) respectively comprise a bottom board (14), a front and a back caterpillar belt wheels (7, 12) which are installed on the bottom board (14) through bearing seats, motors (17, 13) which drive the front and the back caterpillar belt wheels (7, 12) and a caterpillar belt (8), wherein the upper and the lower caterpillar belt mechanisms (1, 2) are clamped on the cable rope by a clamping mechanism (3) through the bottom board (14), the front portion and the back portion of the bottom board (14) are respectively provided with a guide mechanism. The utility model has the advantages of simple structure, convenient loading and unloading and high work reliability, and can be stably clamped and move on the cable rope.
Description
Technical field
A kind of robot main body mechanism that is used for climb cable is mainly used in the robot of striding operation on cable-stayed bridge and the electric wire greatly, belongs to the Robotics field.
Technical background
Cable-stayed bridge mechanism is because numerous advantages is widely used in the bridge construction now.Expectation will be set up tens cable-stayed bridge on the Changjiang river in the decades in future.And,, being subjected to the corrosion of acid rain because be exposed in the air always as the cable of cable-stayed bridge key component, the protection structure on its surface is easy to aging coming off, and makes the surface of cable produce rusty stain.Moreover, because the length of cable is all long, under wind action, produce swing and vibration easily, make the inside set up stresses and the tiny crack of cable.This just makes to daily attention of cable, such as the spraying paint of cable, stress detection etc. all are absolutely necessary.
Electric wire to electrical equipment is safeguarded, especially under adverse weather conditions such as blizzard, freezes easily on the electric wire, is threatening the safety of electrical network and the life-span of electric wire greatly, therefore, needs the machine of a cover automation to go into mechanism, is used for the de-icing work to electric wire.
Utility model patent numbers 99252056.8 discloses a kind of electrical cable-maintaining robot climbing device, adopt the column type framed structure, in the framework along uniform three travelling cars of cable circumferencial direction, its climbing device is clamped on the cable by wheel, the area of contact of wheel and cable is smaller, pressure is bigger, and the robot climbing device of wheel structure does not possess good climbing ability on the electric wire that freezes.
Utility model patent 99252055.X discloses a kind of Pneumatic creeping cable robot climbing device, the structure of this device is: upper body and lower body three mounting blocks that are uniformly distributed along the circumference, install respectively on it by clamping the guiding mechanism that clamping mechanism, guiding cylinder and track adjusting wheel that cylinder and clamp jaw constitute are formed, and be connected with supporting mechanism by travel mechanism, adopt air cylinder driven.The mode of motion of this Pneumatic creeping cable robot climbing device is advancing of creeping motion type, and cylinder to need ground-surface source of the gas be its air feed, use not to be very convenient.
Summary of the invention
It is a kind of simple in structure, easy to loading and unloading that the purpose of this utility model is to provide, and can steadily clamp on cable and move, the robot main body mechanism that is used for climb cable that functional reliability is high.
A kind of robot main body mechanism that is used for climb cable, it is characterized in that composed as follows: along the cable direction two cover pedrail mechanisms up and down that are symmetrically distributed, wherein pedrail mechanism comprise base plate, by bearing seat be installed on front and back Athey wheel on the base plate, drive before and after the motor and the crawler belt of Athey wheel form; Two cover pedrail mechanisms are clamped on the cable by clamping mechanism by base plate up and down; The front and rear of base plate is respectively arranged with guiding mechanism.
The utility model mainly comprises two cover pedrail mechanisms, and two cover pedrail mechanisms flexibly connect by clamping mechanism, produce the gripping power to cable.Clamping mechanism can be made up of bolt, nut, spring, can produce enough gripping powers by whippy clamping mechanism, and adapts to the variation of cable diameters.The middle part of pedrail mechanism is provided with supporting mechanism, is made up of support wheel, bearing and bearing seat, can provide uniform pressure for robot.The front and rear of base plate is respectively arranged with guiding mechanism, and the guiding mechanism group will be made up of track adjusting wheel and packing ring, play the guiding role.
Description of drawings
Fig. 1 is a block diagram of the present utility model.
Fig. 2 is a block diagram of the present utility model.
Number in the figure title: 1, pedrail mechanism, 2, pedrail mechanism, 3, clamping mechanism, 4, spring, 5, nut, 6, bolt, 7, preceding Athey wheel, 8, crawler belt, 9, bearing, 10, support wheel, 11, bearing seat, 12, the back Athey wheel, 13, motor, 14, base plate, 15, track adjusting wheel, 16, cable, 17, motor
Specific embodiments
As shown in Figure 1, the utility model mainly is made up of two cover pedrail mechanisms 1,2 and clamping mechanism 3 that the direction along cable 16 is symmetrically distributed up and down.As shown in Figure 2, two cover pedrail mechanisms 1,2 flexibly connect by clamping mechanism 3, produce the gripping power to cable 16.Clamping mechanism 3 comprises bolt 6, nut 5 and is enclosed within spring 4 on the bolt that whippy clamping mechanism 3 can produce enough gripping powers, and adapts to cable 16 diameter variation; The middle part of pedrail mechanism is provided with supporting mechanism, and it is made up of support wheel 10, bearing 9 and bearing seat 11, can provide uniform pressure for robot; The front and rear of base plate 14 is respectively arranged with guiding mechanism, and the guiding mechanism group will be made up of track adjusting wheel 15, play the guiding role.
In the process of using, four motors drive crawler belt respectively and rotate, and make this mechanism move forwards or backwards.Clamping mechanism 3 can provide suitable gripping power, and can make this mechanism can be adapted at cable 16 diameters to have under the situation of certain variation, possess good climbing ability.Supporting mechanism 3 can provide uniform pressure for two cover pedrail mechanisms 1,2 up and down, makes the stressed more even of cable.
Claims (4)
1, a kind of robot main body mechanism that is used for climb cable, it is characterized in that composed as follows: along cable (16) the direction two cover pedrail mechanisms (1,2) up and down that are symmetrically distributed, wherein pedrail mechanism (1,2) comprise base plate (14), by bearing seat be installed on front and back Athey wheel (7,12) on the base plate (14), drive before and after the motor (17,13) and the crawler belt (8) of Athey wheels (7,12) form; Two cover pedrail mechanisms (1,2) are clamped on the cable (16) by clamping mechanism (3) by base plate (14) up and down; The front and rear of base plate (14) is respectively arranged with guiding mechanism.
2, the robot main body mechanism that is used for climb cable according to claim 1 is characterized in that; Be furnished with supporting mechanism between Athey wheel (7) and the back Athey wheel (12) before described.
3, the robot main body mechanism that is used for climb cable according to claim 2 is characterized in that; Described supporting mechanism is by support wheel (10), and bearing (9) and bearing seat (11) are formed, and its bottom bracket (11) is installed on the base plate (14).
4, according to the described robot main body mechanism that is used for climb cable of claim 1, it is characterized in that: described clamping mechanism (3) is made up of bolt (6), spring (4), nut (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200330035U CN201176352Y (en) | 2008-03-18 | 2008-03-18 | Robot body mechanism for climbing cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200330035U CN201176352Y (en) | 2008-03-18 | 2008-03-18 | Robot body mechanism for climbing cable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201176352Y true CN201176352Y (en) | 2009-01-07 |
Family
ID=40216367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200330035U Expired - Fee Related CN201176352Y (en) | 2008-03-18 | 2008-03-18 | Robot body mechanism for climbing cable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201176352Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104671042A (en) * | 2015-03-13 | 2015-06-03 | 沈阳华彩机械制造有限公司 | Multi-drive track self-lifting mechanism |
| CN105276379A (en) * | 2014-07-09 | 2016-01-27 | 香港中华煤气有限公司 | Inspection apparatus and inspection method |
| WO2017064014A1 (en) * | 2015-10-15 | 2017-04-20 | C.D.C. Chain Drive Crane Gmbh | Cable car |
| CN107813832A (en) * | 2017-10-20 | 2018-03-20 | 能诚集团有限公司 | A kind of cable car hanging mechanism |
| CN110654416A (en) * | 2019-09-29 | 2020-01-07 | 张毕寿 | Cable rail running device |
-
2008
- 2008-03-18 CN CNU2008200330035U patent/CN201176352Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105276379A (en) * | 2014-07-09 | 2016-01-27 | 香港中华煤气有限公司 | Inspection apparatus and inspection method |
| CN104671042A (en) * | 2015-03-13 | 2015-06-03 | 沈阳华彩机械制造有限公司 | Multi-drive track self-lifting mechanism |
| WO2017064014A1 (en) * | 2015-10-15 | 2017-04-20 | C.D.C. Chain Drive Crane Gmbh | Cable car |
| AT517873A1 (en) * | 2015-10-15 | 2017-05-15 | C D C Chain Drive Crane Gmbh | Ropeway carriage |
| AT517873B1 (en) * | 2015-10-15 | 2019-04-15 | C D C Chain Drive Crane Gmbh | Ropeway carriage |
| RU2734156C2 (en) * | 2015-10-15 | 2020-10-13 | С.Д.С. Чейн Драйв Крейн Гмбх | Aerial cableway bogie |
| US11104357B2 (en) | 2015-10-15 | 2021-08-31 | C.D.C. Chain Drive Crane Gmbh | Cable car carriage |
| CN107813832A (en) * | 2017-10-20 | 2018-03-20 | 能诚集团有限公司 | A kind of cable car hanging mechanism |
| CN107813832B (en) * | 2017-10-20 | 2023-09-08 | 能诚集团有限公司 | Cable car hanging mechanism |
| CN110654416A (en) * | 2019-09-29 | 2020-01-07 | 张毕寿 | Cable rail running device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101244562A (en) | Robot main body mechanism for climb cable | |
| CN201176352Y (en) | Robot body mechanism for climbing cable | |
| CN106740899A (en) | Electric tunnel inspection robot walking structure, robot and its method | |
| CN201512747U (en) | Flexible cable robot main body mechanism | |
| CN113937665B (en) | Cable tensioning device for overhead laying of cables based on electric power engineering | |
| CN201648963U (en) | Continuous mobile cable robot creeping device | |
| CN109599793B (en) | High-voltage line inspection robot | |
| CN201850078U (en) | Roadster for cable crane | |
| CN103010950A (en) | Constant-pressure friction driving trolley of hanging type hoisting equipment and method | |
| CN2396936Y (en) | Electric power driven cable service robot climbing device | |
| CN104085808A (en) | Mining carrying trolley position reading device and application thereof | |
| CN106049270A (en) | Novel cable rope climbing device | |
| CN202538268U (en) | High bar climbing device | |
| CN209855333U (en) | Cable turns to device | |
| CN106760745A (en) | Dynamic fixed pulley combination drag-line floating type car parking device | |
| CN204239975U (en) | Modified model pipe detection car | |
| CN206785020U (en) | Dynamic fixed pulley combination drag-line floating type car parking device | |
| CN2744730Y (en) | Vehicle for cleaning guardrail | |
| CN114024252B (en) | Multi-split conductor inspection robot and method for crossing spacer thereof | |
| CN201010461Y (en) | Trackless semi-portal crane | |
| CN108560620B (en) | Multi-purpose type mechanical forklift for building engineering | |
| CN209921297U (en) | Cableway type patrol instrument | |
| CN203889980U (en) | Mining carrying trolley position reading device and application thereof | |
| CN201686939U (en) | Obstacle climbing type continuous movable type cable crawling device | |
| CN2734714Y (en) | Middle part rotatable suspended beam crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090107 |