CN201671068U - Electrically-driven peristaltic cable robot - Google Patents
Electrically-driven peristaltic cable robot Download PDFInfo
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- CN201671068U CN201671068U CN2010201897702U CN201020189770U CN201671068U CN 201671068 U CN201671068 U CN 201671068U CN 2010201897702 U CN2010201897702 U CN 2010201897702U CN 201020189770 U CN201020189770 U CN 201020189770U CN 201671068 U CN201671068 U CN 201671068U
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- conical drogue
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Abstract
The utility model discloses an electrically-driven peristaltic cable robot, which comprises a climbing device, a clamping mechanism (5), a clamping mechanism (10), an internal taper sleeve regulating device (2) and an internal taper sleeve regulating sleeve (9). The climbing device comprises a drive motor (11), an upper machine board (7), a lower machine board (12), a driving screw rod (4), a nut (6), a polished rod (13), a sensor (16), a trigger plate (15) and a sensor (3). The clamping mechanism (5) or the clamping mechanism (10) consists of an external taper sleeve (27), a pressed pin (31), an internal taper sleeve (28), a bottom cover (30), a pressure spring (29) and an upper short shaft (26) fixedly connected on the internal taper sleeve (28). The internal taper sleeve regulating device (2) or the internal taper sleeve regulating sleeve (9) consists of a motor (21), a screw rod (23), a tapered wedge nut (24), a bracket (22) and a bracket (25); the internal taper sleeve regulating device (2) and the internal taper sleeve regulating sleeve (9) are respectively fixed on the upper machine board (7) and the lower machine board (12) by the brackets (22) and the brackets (25). The electrically-driven peristaltic cable robot has the advantages of compact structure, easy manufacturing and low power of the drive motor and is suitable for maintenance operations of carrying out detection, coating, cleaning and the like on a cable.
Description
Technical field
The present invention relates to a kind of cable robot, relate in particular to a kind of electric-drive creeping type cable robot that is used for operation on the hawser of long-span cable-stayed bridge, belong to the Robotics field.
Background technology
Cable stayed bridge has worldwide obtained using widely as the new model of modern bridge.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, brings serious problems such as rust staining, fracture of wire for the steel tendon in the sheath; Because RANDOM WIND is shaken, rain shakes, make the steel wire in the cable produce little friction simultaneously, cause serious fracture of wire problem then, bury serious hidden danger to cable stayed bridge.Because cable stayed bridge is the new bridge type that just rises nearest decades, the cable-maintaining measure that matches with the main bearing member cable of cable stayed bridge is still far from perfect.At present, to the maintenance of cable mostly adopt hoist engine drag the hanging basket dolly with artificial mode to suspension cable clean, application.There is serious problem in this hanging basket dolly operating type: dolly weight is big, the hanging basket dolly adds that two staff weigh seven or eight hundred kilograms, and in order to reduce lifting force, adopted hard nylon wheel to be pressed on the cable, this not only can wipe scratch coat off, and can abrade the PE overcoat on cable surface, when serious even can cut off steel wire; Construction period is long, cost is high, and the duration of cleaning whole cables on bridge of application reaches the several months long, and various expense is higher; The environment of workman work is exceedingly odious, and the staff not only faces strong wind, is difficult to the situation of communication, and have the generation of personnel casualty accidents more than 100 meters work high above the ground.
Cable stayed bridge cable absolute altitude height, distance, 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 degree of disturbing.
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 bigger cable, its climbing ability is obviously not enough.III number of the outer robot of series pipe that the Japanese quick man in Feitian etc. developed analyzed in IEEE robotics in 1987 and automation international conference, its tractive force is little, speed 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, but the rugosity of electric wire obviously can not be compared with the cable on the bridge with gradient.Pneumatic, the electronic cable robot of being developed by Shanghai Communications University in recent years of many moneys has bigger improvement than before in addition, satisfies general instructions for use substantially, but complex structure is also arranged, the shortcoming that rises, descends and all need to consume a large amount of energy.
Summary of the invention
The objective of the invention is to provide a kind of electric-drive creeping type cable maintaining robot any gradient cable rope climbing, simple in structure, easy to loading and unloading that is applicable to, realizing a series of activities such as detection, maintenance effectively, alleviate labor strength, improve the quality, reduce purposes such as cost thereby reach to cable.
This electric-drive creeping type cable robot is achieved by the following technical programs:
A kind of electric-drive creeping type cable robot, comprise climbing device, clamp mechanism 5 and clamp mechanism 10, inner conical drogue adjusting device 2 and inner conical drogue adjusting device 9, described climbing device comprises drive motors 11, last machine plate 7, following machine plate 12, drive leading screw 4, nut 6, polished rod 13, sensor 16, trigger sheet 15, sensor 3 is formed, drive motors 11 is connected with driving leading screw 4 by shaft coupling, and connect firmly by excessive cover and following machine plate 12, nut 6 is connected with last machine plate 7, nut 6 screws with driving leading screw 4, polished rod 13 1 ends are fixed on down on the machine plate 12, the other end passes fairlead 14, and in fairlead 14, slide, polished rod 13 upper ends are connected and trigger sheet 15, fairlead 14 is fixed on the machine plate 7, sensor 16 is fixed on the machine plate 7, sensor 3 is fixed on machine plate 7 or the following machine plate 12, drive motors 11, sensor 16, sensor 3 is connected to console by lead, console rotates and reverse according to the signal control motor that sensor 16 or sensor 3 send, and realizes the vermicular movement of robot;
Described clamp mechanism 5 or clamp mechanism 10 comprise external conical sleeve 27, tight lifting pin 31, inner conical drogue 28, bottom 30, stage clip 29 and connect firmly minor axis 26 compositions on inner conical drogue 28, clamping body 31 slides in inner conical drogue 28, stage clip 29 1 ends withstand on the bottom 30, the other end withstands on inner conical drogue 28 lower surfaces, inner conical drogue 28 is inserted in the external conical sleeve 27, clamping body 31 1 end jam-packeds are at the external surface of cable 1, and the other end is squeezed on the inner conical surface of external conical sleeve 27; Clamp mechanism 5 and clamp mechanism 10 are separately fixed on machine plate 7 and the following machine plate 12;
Described inner conical drogue adjusting device 2 or inner conical drogue adjusting device 9 comprise by motor 21, leading screw 23, tapered wedges nut 24, support 22 and support 25 and constituting, stepper motor 21 connects firmly with support 22, and be connected with leading screw 23 by shaft coupling, leading screw 23 screws with tapered wedges nut 24, leading screw 23 1 ends are connected with motor 21 output shafts by shaft coupling, the other end is supported on the support 25, and the inclined-plane of tapered wedges nut 24 is against on the minor axis 26; Inner conical drogue adjusting device 2 and inner conical drogue adjusting device 9 are fixed on machine plate 7 and the following machine plate 12 by support 22 and support 25 respectively.
The present invention also can comprise speed feedback device 8, it holds out against frame 18, roller 19 and encoder 20 by bracing frame 17, roller and forms, bracing frame 17 is fixed on the machine plate 7, roller holds out against frame 18 and is connected on the bracing frame 17, roller 19 is fixed on roller and holds out against on the frame 18, roller 19 external surfaces hold out against on cable 1, and encoder 20 is fixed on roller and holds out against on the frame 18;
The invention has the beneficial effects as follows: (1) compact conformation, be easy to make, cost is low; (2) adopt the tapered sleeve clamp mechanism, in the process of climbing, the normal pressure between clamping body 31 and the cable 1 is little, so the power of drive motors is little, and power consumption is little, helps carrying the energy; (3) clamp mechanism is in self-locking state when work, and when off-position, robot can be self-locking on the cable.
Description of drawings
Fig. 1 is a front view of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the structural representation of clamp mechanism 5 of the present invention and inner conical drogue adjusting device 2.
Fig. 4 is the structural representation of clamp mechanism 10 of the present invention and inner conical drogue adjusting device 9.
The specific embodiment
Describe technical scheme of the present invention below by way of embodiments and drawings in detail.
Electric-drive creeping type cable robot of the present invention, comprise climbing device, clamp mechanism 5 and clamp mechanism 10, speed feedback device 8 and inner conical drogue adjusting device 2 and inner conical drogue adjusting device 9, described climbing device comprises drive motors 11, last machine plate 7, following machine plate 12, drive leading screw 4, nut 6, polished rod 13, sensor 16, trigger sheet 15, sensor 3 is formed, drive motors 11 is connected with driving leading screw 4 by shaft coupling, and connect firmly by excessive cover and following machine plate 12, nut 6 is connected with last machine plate 7, nut 6 screws with driving leading screw 4, polished rod 13 1 ends are fixed on down on the machine plate 12, the other end passes fairlead 14, and in fairlead 14, slide, polished rod 13 upper ends are connected and trigger sheet 15, fairlead 14 is fixed on the machine plate 7, and sensor 16 is fixed on the machine plate 7, and sensor 3 is fixed on machine plate 7 or the following machine plate 12; Clamp mechanism 5 is fixed on the machine plate 7, and clamp mechanism 10 is fixed on down on the machine plate 12, and speed feedback device 8 is fixed on down on the machine plate 12, also can be fixed on the back side of machine plate 7; Inner conical drogue adjusting device 2 is fixed on the machine plate 7 by support 22, and inner conical drogue adjusting device 9 is fixed on down on the machine plate 12 by support 25; Described clamp mechanism clamp mechanism 5 or clamp mechanism 10 comprise external conical sleeve 27, tight lifting pin 31, inner conical drogue 28, bottom 30, stage clip 29 and connect firmly minor axis 26 compositions on inner conical drogue 28, clamping body 31 slides in inner conical drogue 28, stage clip 29 1 ends withstand on the bottom 30, the other end withstands on inner conical drogue 28 lower surfaces, inner conical drogue 28 is inserted in the external conical sleeve 27, clamping body 31 1 end jam-packeds are at the external surface of cable 1, and the other end is squeezed on the inner conical surface of external conical sleeve 27; Described speed feedback device 8 comprises that bracing frame 17, roller hold out against frame 18, roller 19 and encoder 20 and form, bracing frame 17 is fixed on down on the machine plate 12, roller holds out against frame 18 and is connected on the bracing frame 17, roller 19 is fixed on roller and holds out against on the frame 18, roller 19 external surfaces hold out against on cable 1, and encoder 20 is fixed on roller and holds out against on the frame 18; Described inner conical drogue adjusting device 2 or inner conical drogue adjusting device 9 comprise by motor 21, leading screw 23, tapered wedges nut 24, support 22 and support 25 and constituting, stepper motor 21 connects firmly with support 22, and be connected with leading screw 23 by shaft coupling, leading screw 23 screws with tapered wedges nut 24, leading screw 23 1 ends are connected with motor 21 output shafts by shaft coupling, the other end is supported on the support 25, and the inclined-plane of tapered wedges nut 24 is against on the minor axis 26.
The course of work of this electric-drive creeping type cable robot is such: at first this robot is installed on the cable, at this moment, inner conical drogue 28 is under the promotion of stage clip 29, and clamping body 31 1 ends in inner conical drogue 28 contact with the inner conical surface of external conical sleeve 27, an end with contact with cable 1 surperficial jam-packed.
During the wriggling uphill process: console sends signal, and the motor 21 in control inner conical drogue adjusting device 2 and the inner conical drogue adjusting device 9 drives screw mandrel 23 rotations, and tapered wedges nut 24 stops after breaking away from minor axis 26 slightly; Console control drive motors 11 is rotated in the forward, make, distance increases between the following machine plate, clamping body 31 in the clamp mechanism 10 in the following machine plate 12 is becoming tight with the cable surface under the effect of frictional force and the inner conical drogue 28 and external conical sleeve 27 conical surfaces, and formation self-locking, machine plate 12 and cable 1 are fixedly clamped, the continuing of drive motors 11 is rotated in the forward, make machine plate 7 be subjected to thrust upwards by driving leading screw 4 and nut 6, clamping body 31 in the inner conical drogue 28 in clamp mechanism 5, under the effect of the inner conical surface of frictional force and external conical sleeve 27 with the cable surface pine that becomes, and along the easily slip of cable 1 surface, therefore, last machine plate 7 rises along cable 1, when microswitch 16 detects triggering sheet 15, send feedback signal to console, 11 reverse rotations of console control drive motors.When drive motors 11 reverse rotations, make between the lower body apart from reducing, clamping body 31 in the clamp mechanism 5 in the last machine plate 7 is becoming tight with the cable surface under the effect of frictional force, inner conical drogue 28, external conical sleeve 27, and forms self-locking, and machine plate and cable are fixed; Following machine plate 12 has been subjected to the pulling force that makes progress, at this moment, clamping body 31 in the inner conical drogue 28 in the clamp mechanism 10, under the effect of the inner conical surface of frictional force, external conical sleeve 27,, and easily slide, at this moment along cable 1 surface with the cable surface pine that becomes, following machine plate 7 rises along cable 1, when travel switch 3 detects down machine plate 12 and rises to specified altitude assignment (haptic element of travel switch 3 is run into position on the encoder 20 among Fig. 1), send feedback signal to console, control drive motors 11 able to programme is rotated in the forward again.So go round and begin again and finish the wriggling uphill process.
During wriggling decline process: console sends signal, and the motors 21 in the control inner conical drogue adjusting device 2 drive screw mandrels 23 and are rotated in the forward, tapered wedges nut 24 moved to left and depress minor axis 26, clamping body 31 under the drive of inner conical drogue 28 with the cable surface pine that becomes; At this moment the motor 21 in the inner conical drogue adjusting device 9 is slack.Control drive motors 11 reverse rotations make that distance reduces between the upper and lower machine plate, go up machine plate 7 and realize moving down thereby drive; When travel switch 3 detects machine plate 7 and drops to specified altitude assignment, send feedback signal to console, drive motors 11 stops the rotation; Behind the time-delay certain hour, motor 21 reverse rotations in the control inner conical drogue adjusting device 2 able to programme drive screw mandrel 23 rotations, and tapered wedges nut 24 stops (going up the machine plate is locked) after moving to right and breaking away from minor axis 26 slightly; Behind the time-delay certain hour, the motors 21 in the control inner conical drogue adjusting device 9 drive screw mandrels 23 and are rotated in the forward, tapered wedges nut 24 moved to left and depress minor axis 26, the clamping body 31 in the clamp mechanism 10 under the drive of inner conical drogue 28 with the cable surface pine that becomes; Control drive motors 11 is rotated in the forward, and makes distance increase between the upper and lower machine plate, and machine plate 12 moves down thereby drive down; When microswitch 16 triggers with triggering sheet 15, illustrate down that machine plate 12 drops to specified altitude assignment, promptly send feedback signal to console, drive motors 11 stops the rotation; Behind the time-delay certain hour, motor 21 reverse rotations in the control inner conical drogue adjusting device 10 able to programme drive screw mandrel 23 rotations, and tapered wedges nut 24 stops (following machine plate is locked) after moving to right and breaking away from minor axis 26 slightly; Behind the time-delay certain hour, the motors 21 in the control inner conical drogue adjusting device 2 drive screw mandrels 23 and are rotated in the forward, tapered wedges nut 24 moved to left and depress minor axis 26, clamping body 31 under the drive of inner conical drogue 28 with the cable surface pine that becomes; Control drive motors 11 reverse rotations make that distance reduces between the upper and lower machine plate, go up machine plate 7 and realize moving down thereby drive; So go round and begin again and finish wriggling decline process.
In one embodiment of the invention, the power of engineering prototype is 0.5KW, conduct oneself with dignity 80 kilograms, but 150 kilograms of load-carryings, the climbing speed scope is adjustable between 1 meter to 10 meters of per minutes, operational effect is good, this electric-drive creeping type cable robot in the decline process to cable detect, maintenance work such as application and cleaning, have application value.
Claims (8)
1. electric-drive creeping type cable robot, it is characterized in that, comprise climbing device, clamp mechanism (5) and clamp mechanism (10), inner conical drogue adjusting device (2) and inner conical drogue adjusting device (9), described climbing device comprises drive motors (11), last machine plate (7), following machine plate (12), drive leading screw (4), nut (6), polished rod (13), sensor (16), trigger sheet (15), sensor (3) is formed, drive motors (11) is connected with driving leading screw (4) by shaft coupling, and by excessively cover and following machine plate (12) connect firmly, nut (6) is connected with last machine plate (7), nut (6) screws with driving leading screw (4), polished rod (13) one ends are fixed on down on the machine plate (12), the other end passes fairlead (14), and in fairlead (14), slide, polished rod (13) upper end is connected and triggers sheet (15), fairlead (14) is fixed on the machine plate (7), sensor (16) is fixed on the machine plate (7), sensor (3) is fixed on machine plate (7) or the following machine plate (12), drive motors (14), sensor (16), sensor (3) is connected to console by lead, console rotates and reverse according to the signal control motor that sensor (16) or sensor (3) send, and realizes the vermicular movement of robot;
Described clamp mechanism (5) or clamp mechanism (10) comprise by external conical sleeve (27), tight lifting pin (31), inner conical drogue (28), bottom (30), stage clip (29) and connect firmly at the last minor axis (26) of inner conical drogue (28) and form, clamping body (31) slides in inner conical drogue (28), stage clip (29) one ends withstand on the bottom (30), the other end withstands on inner conical drogue (28) lower surface, inner conical drogue (28) is inserted in the external conical sleeve (27), clamping body (31) one end jam-packeds are at the external surface of cable (1), and the other end is squeezed on the inner conical surface of external conical sleeve (27); Clamp mechanism (5) and clamp mechanism (10) are separately fixed on machine plate (7) and the following machine plate (12);
Described inner conical drogue adjusting device (2) or inner conical drogue adjusting device (9) comprise by motor (21), leading screw (23), tapered wedges nut (24), support (22) and support (25) formation, stepper motor (21) connects firmly with support (22), and be connected with leading screw (23) by shaft coupling, leading screw (23) screws with tapered wedges nut (24), leading screw (23) one ends are connected with motor (21) output shaft by shaft coupling, the other end is supported on the support (25), and the inclined-plane of tapered wedges nut (24) is against on the minor axis (26); Inner conical drogue adjusting device (2) and inner conical drogue adjusting device (9) are fixed on machine plate (7) and the following machine plate (12) by support (22) and support (25) respectively.
2. according to claims 1 described electric-drive creeping type cable robot, it is characterized in that, comprise speed feedback device (8), it holds out against frame (18), roller (19) and encoder (20) by bracing frame (17), roller and forms, bracing frame (17) is fixed on down on the machine plate (12), roller holds out against frame (18) and is connected on the bracing frame (17), roller (19) is fixed on roller and holds out against on the frame (18), roller (19) external surface holds out against on cable (1), and encoder (20) is fixed on roller and holds out against on the frame (18).
3. according to claims 1 described electric-drive creeping type cable robot, it is characterized in that described drive motors (11) is common alternating current generator or common DC motor or stepper motor.
4. according to claims 1 described electric-drive creeping type cable robot, it is characterized in that described drive motors (11) connects firmly reducer.
5. according to claims 1 described electric-drive creeping type cable robot, it is characterized in that described motor (21) is stepper motor or common alternating current generator or common DC motor.
6. according to claims 1 described electric-drive creeping type cable robot, it is characterized in that described sensor (16) is a microswitch.
7. according to claims 1 described electric-drive creeping type cable robot, it is characterized in that described sensor (3) is a travel switch.
8. according to claims 1 described electric-drive creeping type cable robot, it is characterized in that described clamping body (31) is steel ball or rectangular pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201897702U CN201671068U (en) | 2010-04-26 | 2010-04-26 | Electrically-driven peristaltic cable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201897702U CN201671068U (en) | 2010-04-26 | 2010-04-26 | Electrically-driven peristaltic cable robot |
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| Publication Number | Publication Date |
|---|---|
| CN201671068U true CN201671068U (en) | 2010-12-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201897702U Expired - Fee Related CN201671068U (en) | 2010-04-26 | 2010-04-26 | Electrically-driven peristaltic cable robot |
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| Country | Link |
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| CN (1) | CN201671068U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104528568A (en) * | 2014-12-31 | 2015-04-22 | 东莞市天楠光电科技有限公司 | Lifting robot system |
| CN108517772A (en) * | 2018-03-30 | 2018-09-11 | 彭云秋 | A kind of bridge construction bridge stay cable cleaning equipment |
-
2010
- 2010-04-26 CN CN2010201897702U patent/CN201671068U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104528568A (en) * | 2014-12-31 | 2015-04-22 | 东莞市天楠光电科技有限公司 | Lifting robot system |
| CN108517772A (en) * | 2018-03-30 | 2018-09-11 | 彭云秋 | A kind of bridge construction bridge stay cable cleaning equipment |
| CN108517772B (en) * | 2018-03-30 | 2020-11-20 | 东阳市晖宏环境工程有限公司 | Bridge suspension cable cleaning equipment for bridge construction |
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Legal Events
| Date | Code | Title | Description |
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| 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: 20101215 Termination date: 20110426 |