CN201686939U - Obstacle climbing type continuous movable type cable crawling device - Google Patents
Obstacle climbing type continuous movable type cable crawling device Download PDFInfo
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- CN201686939U CN201686939U CN2010201600768U CN201020160076U CN201686939U CN 201686939 U CN201686939 U CN 201686939U CN 2010201600768 U CN2010201600768 U CN 2010201600768U CN 201020160076 U CN201020160076 U CN 201020160076U CN 201686939 U CN201686939 U CN 201686939U
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Abstract
An obstacle climbing type continuous movable type cable crawling device at least comprises a crawling member (K) composed of an upper rolling wheel (1), an upper U-shaped frame (2), an upper electric push rod (3), an upper rotating shaft (4), an upper connecting piece (5), an upper electric motor (6), an upper positioning plate (7), an upper rotation hinge (8), a connecting rod (9), a lower rotation hinge (10), an lower electric push rod (11), a lower connecting piece (12), a lower electric motor (13), a lower rotating shaft (14), a lower positioning plate (15), a lower rolling wheel (16) and a lower U-shaped frame (17). The utility model has simple structure and convenient mounting and dismounting and is fast and continuous to move along the cable.
Description
Technical field:
The present invention relates to a kind of continuous-moving type cable crawling device that possesses the obstacle detouring function.
Background technology:
Advantages such as in recent years, suspension bridge, cable stayed bridge are relatively low because of cost, and sight is strong, and difficulty of construction is little, and span ability is big have obtained large-scale construction in China.As the cable of load-supporting part, be the safe and reliable assurance of suspension bridge, cable stayed bridge.
But detection, the maintenance work of cable all are by manually finishing at present.For cable stayed bridge, move operating personnel to hundreds of meters work high above the ground by the rope on the Sarasota, cable is carried out operations such as defects detection, anticorrosion with painting material.The rocking of cable, high aerial wind speed bring very big threat for operating personnel's personal safety.Simultaneously, because the inconvenience of work high above the ground has increased working strength of workers, has reduced efficiency.
And the robot crawling device that at present detection, the service equipment of cable is transported to the cable that is in high empty position mostly moves with creeping motion type, and for example: CN 2396935 has announced a kind of Pneumatic creeping cable robot climbing device.But this class is limited with the crawling device translational speed that the wriggling mode moves, and particularly protuberance, cavity etc. occur badly during situation when cable surface, and this class creeping cable robot climbing device just is difficult to cross over.Therefore, study a kind of continuous-moving type cable crawling device that possesses the obstacle detouring function, to automatic detection with safeguard that cable equipment is significant.
Summary of the invention:
The present invention's purpose: propose a kind of obstacle detouring type continuous-moving type cable crawling device, it is convenient to make it simple in structure, assembly and disassembly, is implemented in to clamp on the cable and move continuously fast.
In order to realize the present invention's purpose, intend adopting following technical scheme:
The present invention has at least: upper roller, go up U type frame, go up electric pushrod, go up rotating shaft, upper connector, go up motor, go up location-plate, go up turning joint, connecting rod, turning joint, electric pushrod, connector, motor, lower rotary shaft, location-plate, bottom roller, the parts of creeping that constituted of U type frame down down down down down down, it is characterized in that:
One end of A, last U type frame is fixed with electric pushrod, the other end has been fixed upper connector again, the inboard of last U type frame be provided with by on the upper roller that is connected with last U type frame of rotating shaft, in the arranged outside of last U type frame on motor, the output shaft that should go up motor is connected with last rotating shaft, and motor is to position by last location-plate and the last U type frame that is fixed on the U type frame on this; One end of following U type frame is fixed with down electric pushrod, the other end has been fixed time connector again, inboard in following U type frame is provided with the bottom roller that is connected with following U type frame by lower rotary shaft, in the arranged outside of following U type frame time motor, the output shaft of this time motor is connected with lower rotary shaft, and this time motor is to position with following U type frame by the following location-plate that is fixed on down on the U type frame.
B, upward rotating shaft, lower rotary shaft are in state movingly, and are in the tight fit state with upper roller, bottom roller respectively with last U type frame, following U type frame respectively;
The bottom of C, last U type frame is provided with turning joint, and turning joint is connected with an end of connecting rod on this, and the other end of this connecting rod is connected with the following turning joint that is arranged on down U type upper rack.
The comparison of the present invention and prior art:
The present invention adopted above-mentioned structure design, for can both realize moving continuously the condition of having created under obstacle detouring state and non-obstacle detouring state.The present invention is simple in structure, is convenient to assembly and disassembly.
Description of drawings:
Fig. 1 has illustrated creep a kind of structure of parts of the present invention.
Fig. 2 has illustrated the present invention to be installed in a kind of embodiment on the cable.
The P of Fig. 3 Fig. 2 is to view.
Fig. 4 be illustrated the present invention rise and the decline process in obstacle detouring process when running into obstruction.
1, upper roller; 2, go up U type frame; 3, go up electric pushrod; 4, go up rotating shaft; 5, upper connector; 6, go up motor; 7, go up location-plate; 8, go up turning joint; 9, connecting rod; 10, following turning joint; 11, following electric pushrod; 12, following connector; 13, following motor; 14, lower rotary shaft; 15, following location-plate; 16, bottom roller; 17, following U type frame; A, cable; K, the parts of creeping; M, parts I creeps; N, parts II creeps.
The specific embodiment:
The parts K that creeps of the present invention is provided with U type frame 2 and following U type frame 17, simultaneously, bottom in last U type frame 2 is provided with turning joint 8, and the top of following U type frame 17 is provided with down turning joint 10, and last turning joint 8 is connected by connecting rod 9 with following turning joint 10.End in last U type frame 2 and following U type frame 17 is provided with electric pushrod 3 and following electric pushrod 11 respectively again, the other end is provided with upper connector 5 and following connector 12 respectively, and, inside in last U type frame 2 and following U type frame 17 is respectively arranged with upper roller 1 that is being connected rotating shaft 4 and the bottom roller 16 that is being connected lower rotary shaft 14, and last rotating shaft 4 is connected with the output shaft of last motor 6 and the output shaft of following motor 13 respectively with lower rotary shaft 14.
When the present invention needs work, as schematically shown in Figure 2, two identical creep parts I and the parts II that creep (structure of creep the parts I and the parts II that creeps is identical with the structure of the parts K that creeps) are placed on the both sides of cable A, and the parts I that will creep then carries out tight fit with the parts II that creeps by bolt and is connected.Obviously, because the continuous rotation of motor, it is mobile continuously along cable that the present invention just can be implemented under the non-obstacle detouring state (clear stops in the motion process).Below in conjunction with the description of drawings obstacle detouring state of the present invention concrete course of work of (occurring obstruction in the motion process stops).
Obstacle detouring process schematic diagram when move from bottom to top for the present invention in (1) as shown in Figure 4 ,～(5).
(1) when cable diameters is constant, upper roller 1 and bottom roller 16 are pressed on cable A surface respectively under the driving of last electric pushrod 3 and following electric pushrod 11, simultaneously, last motor 6 drives last rotating shaft 4 and the lower rotary shaft 14 that is being connected upper roller 1 and bottom roller 16 respectively with following motor 13, make upper roller 1 and bottom roller 16 rotate in the same way, at this moment, the present invention moves upward at the effect lower edge cable of upper roller 1 and the bottom roller 16 common power of climbing that produce.
(2) when upper roller 1 during near obstruction, upper roller 1 leaves cable A surface and does not contact with obstruction under the driving of last electric pushrod 3, this moment, upper roller 1 did not produce the power of climbing, and the present invention continues to move upward along cable under the effect of the power of climbing that bottom roller 16 is produced.
(3) after upper roller 1 clears the jumps, upper roller 1 is pressed on cable A surface under the driving of last electric pushrod 3, and at this moment, the present invention continues to move upward under the effect of upper roller 1 and the bottom roller 16 common power of climbing that produce.
(4) when bottom roller 16 during near obstruction, bottom roller 16 leaves cable A surface and does not contact with obstruction under electric pushrod 11 drives down, this moment, bottom roller 16 did not produce the power of climbing, and the present invention continues to move upward along cable under the effect of the power of climbing that upper roller 1 is produced.
(5) after bottom roller 16 clears the jumps, bottom roller 16 is being pressed on cable A surface under electric pushrod 11 drivings down, and at this moment, the present invention continues to move upward under the effect of upper roller 1 and the bottom roller 16 common power of climbing that produce.
Obstacle detouring process when (6)～(10) have illustrated that the present invention runs into obstruction when moving from top to bottom among Fig. 4.
(6) when cable diameters is constant, upper roller 1 and bottom roller 16 are pressed on cable A surface respectively under the driving of last electric pushrod 3 and following electric pushrod 11, simultaneously, last motor 6 drives last rotating shaft 4 and the lower rotary shaft 14 that is being connected upper roller 1 and bottom roller 16 respectively with following motor 13, make upper roller 1 and bottom roller 16 rotate in the same way, at this moment, the present invention moves downward at the effect lower edge cable of upper roller 1 and the bottom roller 16 common driving forces that produce.
(7) when bottom roller 16 during near obstruction, bottom roller 16 leaves cable A surface and does not contact with obstruction under electric pushrod 11 drives down, this moment, bottom roller 16 did not produce driving force, and the present invention continues to move downward along cable under the effect of the driving force that upper roller 1 is produced.
(8) after bottom roller 16 clears the jumps, bottom roller 16 is being pressed on cable A surface under electric pushrod 11 drivings down, and at this moment, the present invention continues to move downward under the effect of upper roller 1 and the bottom roller 16 common driving forces that produce.
(9) when upper roller 1 during near obstruction, upper roller 1 leaves cable A surface and does not contact with obstruction under the driving of last electric pushrod 3, this moment, upper roller 1 did not produce driving force, and the present invention continues to move downward along cable under the effect of the driving force that bottom roller 16 is produced.
(10) after upper roller 1 clears the jumps, upper roller 1 is pressed on cable A surface under the driving of last electric pushrod 3, and at this moment, the present invention continues to move downward under the effect of upper roller 1 and the bottom roller 16 common driving forces that produce.
Whole course of action of the present invention is handled through the control electric wire by ground control cabinet, realizes clamping of the present invention then, the action of creeping.
Claims (3)
1. obstacle detouring type continuous-moving type cable crawling device, it has at least: upper roller (1), go up U type frame (2), go up electric pushrod (3), go up rotating shaft (4), upper connector (5), go up motor (6), go up location-plate (7), go up turning joint (8), connecting rod (9), turning joint (10), electric pushrod (11), connector (12), motor (13), lower rotary shaft (14), location-plate (15), bottom roller (16), the parts of creeping (K) that constituted of U type frame (17) down down down down down down, it is characterized in that:
One end of A, last U type frame (2) is fixed with electric pushrod (3), the other end has been fixed upper connector (5) again, be provided with the upper roller (1) that is connected with last U type frame (2) by last rotating shaft (4) in the inboard of last U type frame (2), in the arranged outside of last U type frame (2) last motor (6), the output shaft that should go up motor (6) is connected with last rotating shaft (4), and motor on this (6) is to position with last U type frame (2) by the last location-plate (7) that is fixed on the U type frame (2); One end of following U type frame (17) is fixed with down electric pushrod (11), the other end has been fixed time connector (12) again, inboard in following U type frame (17) is provided with the bottom roller (16) that is connected with following U type frame (17) by lower rotary shaft (14), in the arranged outside of following U type frame (17) time motor (13), the output shaft of this time motor (13) is connected with lower rotary shaft (14), and this time motor (13) is to position with following U type frame (17) by the following location-plate (15) that is fixed on down on the U type frame (17).
B, upward rotating shaft (4), lower rotary shaft (14) are in state movingly, and are in the tight fit state with upper roller (1), bottom roller (16) respectively with last U type frame (2), following U type frame (17) respectively;
The bottom of C, last U type frame (2) is provided with turning joint (8), should go up turning joint (8) is connected with an end of connecting rod (9), and the other end of this connecting rod (9) is connected with the following turning joint (10) that is arranged on down U type frame (17) top.
2. a kind of obstacle detouring type continuous-moving type cable crawling device according to claim 1 is characterized in that: described going up is provided with a upward motor (6) at least on the U type frame (2).
3. a kind of obstacle detouring type continuous-moving type cable crawling device according to claim 1 is characterized in that: be provided with a following motor (13) at least on the U type frame (17) under described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201600768U CN201686939U (en) | 2010-04-15 | 2010-04-15 | Obstacle climbing type continuous movable type cable crawling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201600768U CN201686939U (en) | 2010-04-15 | 2010-04-15 | Obstacle climbing type continuous movable type cable crawling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201686939U true CN201686939U (en) | 2010-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201600768U Expired - Fee Related CN201686939U (en) | 2010-04-15 | 2010-04-15 | Obstacle climbing type continuous movable type cable crawling device |
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| Country | Link |
|---|---|
| CN (1) | CN201686939U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102587270A (en) * | 2012-02-29 | 2012-07-18 | 华中科技大学 | Climbing device for cables of cable-stayed bridge |
| CN105329331A (en) * | 2015-10-29 | 2016-02-17 | 南京邮电大学 | Probe type obstacle detection device for high-altitude cable climbing robot |
-
2010
- 2010-04-15 CN CN2010201600768U patent/CN201686939U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102587270A (en) * | 2012-02-29 | 2012-07-18 | 华中科技大学 | Climbing device for cables of cable-stayed bridge |
| CN102587270B (en) * | 2012-02-29 | 2013-10-30 | 华中科技大学 | Climbing device for cables of cable-stayed bridge |
| CN105329331A (en) * | 2015-10-29 | 2016-02-17 | 南京邮电大学 | Probe type obstacle detection device for high-altitude cable climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Yuan Keming Document name: Notification of Termination of Patent Right |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101229 Termination date: 20110415 |