CN201473887U - Caterpillar inhaul cable automatic climbing mechanism - Google Patents
Caterpillar inhaul cable automatic climbing mechanism Download PDFInfo
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- CN201473887U CN201473887U CN2009203021288U CN200920302128U CN201473887U CN 201473887 U CN201473887 U CN 201473887U CN 2009203021288 U CN2009203021288 U CN 2009203021288U CN 200920302128 U CN200920302128 U CN 200920302128U CN 201473887 U CN201473887 U CN 201473887U
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- wheels
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- running gear
- driving wheel
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Abstract
The utility model relates to a caterpillar inhaul cable automatic climbing mechanism, comprising an outer frame, a climbing walking device arranged on the outer frame and a compressing adjusting device; the outer frame is provided with four symmetrical installation surfaces, wherein one surface is in an articulated way and can be opened and closed freely; the climbing walking device comprises two sets of driving wheel sets with a caterpillar inhaul cable climbing walking device structure, and two sets of guiding wheel sets; wherein the two sets of driving wheel sets and the two sets of guiding wheel sets are respectively arranged on the four installation surfaces of the outer frame symmetrically by a guiding core shaft; four compressing adjusting devices are respectively arranged on the four installation surfaces of the frame, so that the compressing force of each driving wheel set and guiding wheel set of the climbing walking device applied on the inhaul cable is adjusted ; each set of driving wheel set comprises a walking part consisting of a driving wheel, a driven wheel, a compressing wheel set, an installation frame and a walking caterpillar, and a caterpillar tensioning mechanism. The climbing mechanism is capable of climbing up and dropping on the surface of the inhaul cable stably and reliably; the distribution of the mechanism power is reasonable and the load bearing performance is strong; the compressing balance on the inhaul cable by the walking device can be adjusted conveniently.
Description
Technical field:
The utility model relates to a kind of cable-maintaining equipment, and the cable-maintaining robot drag-line automatic climbing mechanism of operation on particularly a kind of cable stayed bridge cable belongs to the Robotics field.
Background technology:
The deficiency of the drag-line automatic climbing mechanism that the cable-maintaining robot of operation adopts on the existing cable stayed bridge cable mainly contains:
1, adopt the wheeled running gear that climbs, the walking reliability and stability are relatively poor, and the attached Beijing South Maxpower Technology Co. Ltd of climbing device power is relatively poor;
2, adopt the mechanism's supporting of uniform three groups of road wheels on the drag-line circumference and the mode that compresses of road wheel, three groups of road wheels of climbing device are difficult for adjustment to compressing of drag-line, the less stable of climbing device walking;
3, arrange three groups of power respectively on three groups of road wheels, mechanism's deadweight is bigger, and attached Beijing South Maxpower Technology Co. Ltd power is relatively poor.
The utility model content:
The purpose of this utility model is to provide a kind of automatic climbing mechanism for track inhaul cable, this climbing device can be at the drag-line surface-stable, climb reliably and descend, this mechanism's power distributes rationally, and the heavy burden ability is strong, and running gear compresses balance adjustment conveniently to drag-line.
The technical scheme that solves the problems of the technologies described above is: a kind of automatic climbing mechanism for track inhaul cable, comprise outside framework, be installed in climb running gear and clamping adjustment device on the outside framework, described outside framework has the installed surface of four symmetries, and wherein one side is made radial type, can freely openable; The described running gear that climbs comprises that two covers have crawler type drag-line climb the driving wheels and the two cover guiding wheels of running gear structure, two covers drive wheels and are installed in symmetrically on two installed surfaces of outside framework by the guiding mandrel, two cover guiding wheels are installed in symmetrically by the guiding mandrel on two installed surfaces in addition of outside framework, and the driving wheels of running gear, guiding wheels can be done moving radially with respect to outside framework by the guiding mandrel;
Described clamping adjustment device has 4, be installed on 4 installed surfaces of framework respectively, be used to regulate climb running gear respectively drive wheels and guiding wheels to thrust to drag-line.
Its further technical scheme is: described every cover drives wheels and comprises by driving wheel, driven pulley, compresses running gear and track tension device that wheels, installation frame and traveling crawler are formed;
Driving wheel is the cylindrical structural that can pass through the synchronous transferring power of traveling crawler, the identical profile of tooth of outer astragal with driven pulley, and driven wheel side is used for accepting from the next power of power mechanical transfer to power drive mechanism is installed;
Each wheel body appearance that compresses wheels is processed with the diameter arc surface identical or close with drag-line;
Installation frame is that the biside plate bottom is processed with wheel shaft installation prong, cross section is the framework of inverted u-shaped shape, and the middle part is equipped with the connection hinge on its biside plate;
Traveling crawler is annular flexible band structure, and it has the flute profile identical with the driven pulley outer ring with driving wheel with driving wheel, driven pulley inner surface for matching, and it has the striped that can increase friction factor with the external surface that the drag-line surface contacts;
Driving wheel, driven pulley, compress the wheel shaft of wheels by separately and be installed in the middle of two blocks of side plates of installation frame, both sides fasten with nut clip, wherein driving wheel is installed in front upper part, driven pulley is installed in the upper back, each contact roller that compresses wheels is installed on the sustained height of bottom, traveling crawler is sleeved on driving wheel, driven pulley and compresses the periphery of wheels, and its internal tooth matches with the external tooth of driving wheel and driven pulley, and whole running gear can hinge is unidirectional to freely swing around connecting.
Described each clamping adjustment device comprises the guiding mandrel, regulates double-screw bolt, spigot nut and holddown spring, the installed surface of spigot nut and outside framework vertically is installed on the installed surface of framework, regulate that double-screw bolt is installed on the spigot nut, the guiding mandrel penetrates in the long guiding hole of regulating center stud and spacing, holddown spring is enclosed within the outside of guiding mandrel and is installed between the hinge of regulating the double-screw bolt and the running gear that climbs, and turn is regulated double-screw bolt and regulated respectively driving wheels and leading the thrust of wheels to drag-line of the running gear that climbs by holddown spring.
Owing to adopt said structure, the crawler type drag-line of the utility model running gear and the drag-line of the existing wheeled construction running gear that climbs that climbs is compared, have the reliability and stability that improved the climbing device walking, improved the following beneficial effects such as heavy burden ability of climbing device.
1, the driving wheels as the running gear that climbs adopt crawler type climbing device running gear, have improved the reliability and stability of climbing device walking, have improved the beneficial effects such as heavy burden ability of climbing device:
1. reliable transmission and good stability: traveling crawler meshes Synchronous Transmission, transmission efficiency height, reliable transmission and good stability with the driving wheel and the driven pulley that have external tooth by the synchronous tooth of inner surface entirely on whole width range; Traveling crawler has the external surface that increases the striped that rubs and contacts with drag-line surface realization face in the length range that compresses the wheels layout is arranged, and friction factor is bigger, and climbing device can obtain bigger friction drive, and the reliability and stability that also increased transmission are good.
2. better along the guidance quality on drag-line surface: each contact roller that compresses wheels 32 is pressed on traveling crawler 38 on the drag-line surface by the wheel external surface that it has arc surface, traveling crawler 38 is bigger with the drag-line surface contact area, obtainable friction drive is bigger, simultaneously better along the guidance quality on drag-line surface, can make climbing device more reliable, more stably climb or descend along the drag-line surface.
3. running gear is subjected to the thrust of outside hold down gag by the connection hinge 39 at middle part on the installation frame 33, can make the thrust of 32 pairs of drag-lines of many group contact rollers in whole contact length scope, divide layout more even, more reliable, thereby can obtain bigger friction drive more stable, more reliably.
2, outside framework has adopted the tetrahedron frame construction, two covers drive wheels 3 be installed in symmetrically outside framework 1 on, on following two installed surfaces, two cover guiding wheels 2 also are installed in the left side of outside framework 1 symmetrically, on right two installed surfaces, described by guiding mandrel 4, regulate double-screw bolt 5, the clamping adjustment device that spigot nut 6 and holddown spring 7 are formed vertically is installed on 4 installed surfaces of framework with each installed surface respectively, the thrust that respectively drives wheels 3 and 2 pairs of drag-lines of guiding wheels that double-screw bolt 5 can be regulated running gear is easily regulated in the symmetry turn, and make it balance easily, also further improved the reliability and stability of climbing device walking.
3, guide roller 14 outer rings at guiding wheels 2 two ends are processed with the arc surface identical or close with the drag-line diameter, and are better along the stability of drag-line walking to climbing device, make it to be difficult for rotation or sideslip.
4, the running gear of creeping has only two covers to drive wheels, has alleviated deadweight, has improved the heavy burden ability.
Below, in conjunction with the accompanying drawings and embodiments, the technical characterictic of the automatic climbing mechanism for track inhaul cable of the utility model is described further.
Description of drawings:
Fig. 1, Fig. 2 are the structural representations of the utility model automatic climbing mechanism for track inhaul cable, and wherein Fig. 1 is a vertical view, and Fig. 2 is the right view of Fig. 1;
Fig. 3, Fig. 4 are the structural representations that drives wheels, and wherein Fig. 3 is a front view, and Fig. 4 is the A-A sectional view of Fig. 3;
Fig. 5, Fig. 6 are the structural representations of guiding wheels, and wherein Fig. 5 is a front view, and Fig. 6 is the vertical view of Fig. 5.
Among the figure, relevant label meaning is:
Outside framework 1, guiding wheels 2 comprise: guiding wheels installing rack 21, guide roller 22, guiding wheels connect hinge 23;
Driving wheels 3 comprises: driving wheel 31, compress wheels 32, installation frame 33, driven pulley 34, wheel shaft 35, tensioning support 36, travelling gear 37 and traveling crawler 38 connect hinge 39;
Clamping adjustment device comprises guiding mandrel 4, regulates double-screw bolt 5, spigot nut 6 and holddown spring 7,
The 8th, the hinge pin on the outside framework 1,9 be mounted in running gear respectively drive limit on wheels 3 and the guiding wheels 2 to straight-bar, the 10th, the running gear limit on the outside framework 1 is to the hole, reducer 11, motor 12.
The specific embodiment:
A kind of automatic climbing mechanism for track inhaul cable as shown in Figure 1 and Figure 2, comprises outside framework 1, is installed in climb running gear and clamping adjustment device on the outside framework 1;
Described outside framework 1 has the installed surface of four symmetries, and wherein one side is made radial type, can freely openable;
The described running gear that climbs comprises: two covers have crawler type drag-line climb the driving wheels 3 and the two cover guiding wheels 2 of running gear structure, two covers drive wheels 3 and are installed in symmetrically on upper and lower two installed surfaces of outside framework 1 by guiding mandrel 4, two cover guiding wheels 2 are installed on left and right two installed surfaces of outside framework 1 symmetrically by guiding mandrel 4, the driving wheels of running gear, guiding wheels 2 can be done moving radially with respect to outside framework 1 by guiding mandrel 4, to adapt to the requirement that compresses, climbs of different-diameter drag-line;
Described clamping adjustment device has 4, vertically be installed on 4 installed surfaces of framework with each installed surface respectively, each clamping adjustment device comprises guiding mandrel 4, regulate double-screw bolt 5, spigot nut 6 and holddown spring 7, spigot nut 6 vertically is installed on 4 installed surfaces of outside framework with the installed surface of outside framework 1, regulating double-screw bolt 5 is installed on the spigot nut 6, guiding mandrel 4 penetrates in the long guiding hole of regulating double-screw bolt 5 centers also spacing, holddown spring 7 is enclosed within the outside of guiding mandrel 4 and is installed between the hinge of regulating the double-screw bolt 5 and the running gear that climbs, and double-screw bolt 5 is regulated the running gear that climbs by holddown spring 7 the thrust that respectively drives wheels 3 and 2 pairs of drag-lines of guiding wheels is regulated in turn;
As shown in Figure 3, Figure 4: described have crawler type drag-line motor 12 and a reducer 11 that the driving wheels 3 of running gear structure comprise by driving wheel 31, driven pulley 34, compress cterpillar drive that wheels 32, installation frame 33 and traveling crawler 38 form and track tension device and drive cterpillar drive that climb;
Traveling crawler 38 is annular flexible band structures, and it has the flute profile identical with driven pulley 34 outer rings with driving wheel 31 with driving wheel 31, driven pulley 34 inner surface for matching, and it has the striped that can increase friction factor with the external surface that the drag-line surface contacts;
In the present embodiment, described track tension device is a tensioning support 36, and this tensioning support 36 is installed in the afterbody of installation frame 33 by the wheel shaft 35 of driven pulley 34, fastens with traveling crawler 38 tensionings and with nut clip.
Described each wheel body appearance that compresses wheels 32 is processed with the diameter arc surface identical or close with drag-line.
As Fig. 5, shown in Figure 6, described each guiding wheels 2 comprise U-shaped installing rack 21, are installed in the guide roller 22 at U-shaped installing rack 21 two ends, guide roller 22 outer rings are processed with the arc surface identical or close with the drag-line diameter, U-shaped installing rack 21 middle parts are that guiding wheels connection hinge 23, two cover guiding wheels 2 also are installed on left and right two installed surfaces of outside framework 1 symmetrically by guiding mandrel 4.
It is limited to straight-bar 9 that respectively the driving of described running gear installed on wheels 3 and the guiding wheels 2, described outside framework 1 installed surface has the running gear limit to hole 10, limit is enclosed within limit in hole 10 to straight-bar 9, when regulating running gear to the thrust of drag-line, limit can only be swung on the drag-line length direction around hinge to hole 10 assurance running gears by the limit of the running gear on outside framework 1 installed surface to straight-bar 9, to strengthen the trafficability characteristic of climbing device on the drag-line surface of different damage status.
As a kind of conversion of the utility model embodiment, described track tension device also can adopt other form of structure;
As another conversion of the utility model embodiment, described driving wheel also can pass through shaft coupling or sprocket wheel or other power drive mechanisms from motor or internal combustion engine or hydraulic motor or other power set acquisition driving force.
Operating principle and process:
Open the door assembly with hinge and glass in right hand and left installed surface of climbing device outside framework 1, climbing device is enclosed within on the bridge cable, be supported on the drag-line surface drive crawler type drag-line that wheels 3 and two cover guiding wheels 2 the constitute running gear that climbs by two covers, symmetry is regulated with each and is driven the corresponding clamping adjustment device of wheels 3, makes climbing device can stop on the drag-line surface reliably by the crawler type drag-line running gear that climbs under the situation that motor brakes; Symmetry is regulated the clamping adjustment device corresponding with two cover guiding wheels 2 again, and the guide roller 22 of the wheels 2 that lead is pressed on the drag-line surface reliably.Give electrical power then, the startup of control motor, stop, just changeing, counter-rotating and speed governing, just can drive climbing device along the bridge cable length direction reliably, stably move, stop, rising, descend and move with friction speed.
Claims (7)
1. an automatic climbing mechanism for track inhaul cable comprises outside framework, is installed in climb running gear and clamping adjustment device on the outside framework, it is characterized in that:
Described framework has the installed surface of four symmetries, and wherein one side is made radial type, can freely openable;
The described running gear that climbs comprises that two covers have the crawler type drag-line driving wheels (3) of running gear structure and the two covers wheels (2) that lead that climb, two covers drive wheels (3) and are installed in symmetrically on two installed surfaces of outside framework (1) by guiding mandrel (4), two cover guiding wheels (2) are installed in symmetrically by guiding mandrel (4) on two installed surfaces in addition of outside framework (1), and the driving wheels (3) of running gear, guiding wheels (2) can be done radially mobile with respect to outside framework (1) by the mandrel (4) that leads;
Described clamping adjustment device has 4, be installed on 4 installed surfaces of outside framework respectively, be used to regulate climb running gear respectively drive wheels (3) and guiding wheels (2) thrust to drag-line.
2. automatic climbing mechanism for track inhaul cable according to claim 1 is characterized in that: described have the climb driving wheels (3) of running gear structure of crawler type drag-line and comprise by driving wheel (31), driven pulley (34), compress running gear and track tension device that wheels (32), installation frame (33) and traveling crawler (38) are formed;
Driving wheel (31) and driven pulley (34) be the identical profile of tooth of outer astragal cylindrical structural, can pass through the synchronous transferring power of traveling crawler, driving wheel (31) side direction is equipped with power drive mechanism, is used for the power accepting to come from the power mechanical transfer;
By key travelling gear (37) is installed, is used for accepting from motor or the next power of other dynamic power machine transmission;
Each wheel body appearance that compresses wheels (32) is processed with the diameter arc surface identical or close with drag-line;
Installation frame (33) is that the biside plate bottom is processed with wheel shaft installation prong, cross section is the framework of inverted u-shaped shape, and the middle part is equipped with and connects hinge (39) on its biside plate;
Traveling crawler (38) is annular flexible band structure, and it has the flute profile identical with the driven pulley outer ring with driving wheel with driving wheel (31), driven pulley (34) inner surface for matching, and it has the striped that can increase friction factor with the external surface that the drag-line surface contacts;
Driving wheel, driven pulley, compress the wheel shaft of wheels by separately and be installed in the middle of two blocks of side plates of installation frame, both sides fasten with nut clip, wherein driving wheel is installed in front upper part, driven pulley is installed in the upper back, each contact roller that compresses wheels is installed on the sustained height of bottom, traveling crawler is sleeved on driving wheel, driven pulley and compresses the periphery of wheels, and its internal tooth matches with the external tooth of driving wheel and driven pulley, and whole running gear can hinge is unidirectional to freely swing around connecting.
3. automatic climbing mechanism for track inhaul cable according to claim 2 is characterized in that: the power drive mechanism that described driving wheel (31) side direction is installed is travelling gear, shaft coupling or sprocket wheel, and described dynamic power machine is motor or internal combustion engine or hydraulic motor.
4. automatic climbing mechanism for track inhaul cable according to claim 3, it is characterized in that: described track tension device is the tensioning support, this tensioning support is installed in the afterbody of installation frame by the wheel shaft of driven pulley, fastens with the traveling crawler tensioning and with nut clip.
5. according to claim 1,2,3 or 4 described automatic climbing mechanism for track inhaul cable, it is characterized in that: described every cover guiding wheels (2) comprise U-shaped installing rack (21), are installed in the guide roller (22) at U-shaped installing rack (21) two ends, guide roller (22) outer ring is processed with the arc surface identical or close with the drag-line diameter, and U-shaped installing rack (21) middle part is that the guiding wheels connect hinge (23).
6. according to claim 1,2,3 or 4 described automatic climbing mechanism for track inhaul cable, it is characterized in that: described each clamping adjustment device comprises guiding mandrel (4), regulate double-screw bolt (5), spigot nut (6) and holddown spring (7), spigot nut (6) vertically is installed on (4) individual installed surface of framework with the installed surface of outside framework (1), regulating double-screw bolt (5) is installed on the spigot nut (6), guiding mandrel (4) penetrates in the long guiding hole of regulating double-screw bolt (5) center also spacing, holddown spring (7) is enclosed within the outside of the mandrel (4) that leads and is installed between the hinge of regulating the double-screw bolt (5) and the running gear that climbs, and turn is regulated double-screw bolt (5) and regulated respectively driving wheels (3) and leading the thrust of wheels (2) to drag-line of the running gear that climbs by holddown spring (7).
7. automatic climbing mechanism for track inhaul cable according to claim 5, it is characterized in that: described each clamping adjustment device comprises guiding mandrel (4), regulate double-screw bolt (5), spigot nut (6) and holddown spring (7), spigot nut (6) vertically is installed on (4) individual installed surface of framework with the installed surface of outside framework (1), regulating double-screw bolt (5) is installed on the spigot nut (6), guiding mandrel (4) penetrates in the long guiding hole of regulating double-screw bolt (5) center also spacing, holddown spring (7) is enclosed within the outside of the mandrel (4) that leads and is installed between the hinge of regulating the double-screw bolt (5) and the running gear that climbs, and turn is regulated double-screw bolt (5) and regulated respectively driving wheels (3) and leading the thrust of wheels (2) to drag-line of the running gear that climbs by holddown spring (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203021288U CN201473887U (en) | 2009-04-13 | 2009-04-13 | Caterpillar inhaul cable automatic climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203021288U CN201473887U (en) | 2009-04-13 | 2009-04-13 | Caterpillar inhaul cable automatic climbing mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN201473887U true CN201473887U (en) | 2010-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009203021288U Expired - Fee Related CN201473887U (en) | 2009-04-13 | 2009-04-13 | Caterpillar inhaul cable automatic climbing mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN201473887U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895722A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Cable rope maintaining robot |
| CN107841946A (en) * | 2017-12-04 | 2018-03-27 | 哈尔滨工业大学深圳研究生院 | A kind of crawler type rope climbing mechanism |
| CN109179235A (en) * | 2018-08-17 | 2019-01-11 | 上海宇航系统工程研究所 | Special-shaped chain clamps device for climbing rope |
-
2009
- 2009-04-13 CN CN2009203021288U patent/CN201473887U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895722A (en) * | 2012-12-26 | 2014-07-02 | 上海建冶科技工程股份有限公司 | Cable rope maintaining robot |
| CN107841946A (en) * | 2017-12-04 | 2018-03-27 | 哈尔滨工业大学深圳研究生院 | A kind of crawler type rope climbing mechanism |
| CN107841946B (en) * | 2017-12-04 | 2023-05-02 | 哈尔滨工业大学深圳研究生院 | Crawler-type rope crawling mechanism |
| CN109179235A (en) * | 2018-08-17 | 2019-01-11 | 上海宇航系统工程研究所 | Special-shaped chain clamps device for climbing rope |
| CN109179235B (en) * | 2018-08-17 | 2020-09-08 | 上海宇航系统工程研究所 | Special-shaped chain clamping rope climbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100519 Termination date: 20180413 |