CN201933407U - Cable detecting robot - Google Patents
Cable detecting robot Download PDFInfo
- Publication number
- CN201933407U CN201933407U CN2011200059717U CN201120005971U CN201933407U CN 201933407 U CN201933407 U CN 201933407U CN 2011200059717 U CN2011200059717 U CN 2011200059717U CN 201120005971 U CN201120005971 U CN 201120005971U CN 201933407 U CN201933407 U CN 201933407U
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- China
- Prior art keywords
- dolly
- driven
- wheel
- trolley
- driven dolly
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- 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
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- D—TEXTILES; PAPER
- D07—ROPES; CABLES OTHER THAN ELECTRIC
- D07B—ROPES OR CABLES IN GENERAL
- D07B7/00—Details of, or auxiliary devices incorporated in, rope- or cable-making machines; Auxiliary apparatus associated with such machines
- D07B7/16—Auxiliary apparatus
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Abstract
The utility model relates to a cable detecting robot, which comprises a driving trolley (1) and a driven trolley (2), wherein the driving trolley (1) and the driven trolley (2) are mutually connected through a connecting mechanism (8), the driven trolley (2) is provided with four tensioning mechanisms (12), the tensioning mechanism (12) comprises an adjusting screw rod (14), and the adjusting screw rod (14) is provided with an adjusting nut (13) and an adjusting spring (15); the driving trolley (1) is provided with a climbing device which comprises a pair of bevel gears matched in a right angle, a direct-current motor (5) and a transmission chain (6), the direct-current motor (5) is connected with one wheel of the driving trolley (1) through the pair of bevel gears matched in the right angle, and the wheel is connected with another wheel of the driving trolley (1) through the transmission chain (6); and the wheels of the driving trolley (1) and the driven trolley (2) are all provided with V-shaped grooves, and the outer surfaces of the V-shaped grooves are processed into rugged continuous arcs (16). The cable detecting robot is suitable for the surfaces of various cable bodies, has good generality and is suitable for a high-altitude operating environment.
Description
Technical field
The utility model relates to a kind of novel cable detection machine people, is mainly used in to detect cable cable body surface PE layer damaged condition, belongs to the robot field.
Technical background
In recent years, various new-type rope bridges are developed widely.Cable mainly is to be zinc-coated wire by internal layer, outerly is PE topping composition, as this type of bridge mainly be subjected to force mechanisms, its quality is directly determining the application life of bridge.And the PE topping is exposed in the air on river, sea as the first pipe protection barrier of cable cable body throughout the year, is standing the aging sclerosis such as timeliness of destructions such as moisture laden air, sunshine, the temperature difference, wind and rain shake and material itself.And development along with bridge construction, overlength degree, large diameter cable are applied, and be suitable for to slowing down the wind and rain shake to destruction of bridge, and the process modification that the cable body surface is carried out is to higher requirements of aspect proposition such as the persistence of the use of robot, detection efficiencies.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, and a kind of simple in structure, cable detecting robot of being fit to any gradient cable and high-altitude cable body operating environment is provided, and reaches the raising detection efficiency, reduces production costs and alleviates labor strength.
The purpose of this utility model is achieved in that a kind of cable detecting robot, described robot comprises an active dolly and a driven dolly, initiatively dolly and driven dolly are symmetrically arranged, initiatively dolly and driven dolly all have two wheels, initiatively interconnect by bindiny mechanism between dolly and the driven dolly, driven dolly is provided with four strainers, per two one group of this strainer, be fixed on the two ends of driven each wheel of dolly, this strainer includes an adjusting screw(rod), described adjusting screw(rod) one end is connected with the axletree of driven dolly, and the other end is connected with driven dolly car body, is provided with adjusting nut and regulating spring at this adjusting screw(rod); The active dolly is provided with a climbing device, this climbing device comprises a pair of helical gear, dc motor and the driving chain that meets at right angles and cooperate, direct current generator is by the power supply of lithium electricity electric supply installation, direct current generator links to each other with a wherein wheel of active dolly by the helical gear that described a pair of right angle cooperates, and links to each other by driving chain between this wheel and another wheel of active dolly; Be provided with " V " font groove on the wheel of described active dolly and driven dolly, the external surface of " V " font groove is processed into rough continuous camber line.
The utility model cable detecting robot is equipped with camera head on described active dolly and driven dolly, on described driven dolly the image store conveyer is housed.
The beneficial effects of the utility model are:
Implement a kind of cable detecting robot of the present utility model, be fit to multiple cable body surface, versatility is good, and detection speed is adjustable, satisfies rise detection, and finishes the controlled ground that drops to after the testing.Adopt lithium battery power supply, be fit to high-altitude, complex environment operation.Simple in structure, in light weight, easy to operate, security of operation.In a case history of the present utility model, weight is less than 20kg, and cable body diameter usage range is at 60～250mm, and the wireless remote control distance can reach 3km.
Description of drawings
Fig. 1 is the structural representation of the utility model cable detecting robot.
Fig. 2 is a strainer schematic diagram of the present utility model.
Fig. 3 is that " V " of the present utility model type wheel groove contacts schematic diagram with the cable body surface.
Fig. 4 is the I enlarged drawing of Fig. 3.
Reference numeral among the figure:
Active dolly 1, driven dolly 2, cable body 3, lithium electricity electric supply installation 4, dc motor 5, driving chain 6, wheel 7, bindiny mechanism 8, camera head 9, hand-held handle 10, image store conveyer 11, strainer 12, adjusting nut 13, adjusting screw(rod) 14, regulating spring 15, continuous arc 16.
The specific embodiment
Referring to Fig. 1, Fig. 1 is the structural representation of the utility model cable detecting robot.As seen from Figure 1, the utility model cable detecting robot, comprise an active dolly 1 and a driven dolly 2, initiatively dolly 1 and driven dolly 2 are symmetrically arranged, initiatively dolly 1 and driven dolly 2 all have two wheels 7, initiatively interconnect by bindiny mechanism 8 between dolly 1 and the driven dolly 2, driven dolly 2 is provided with four strainers 12, per two one group of this strainer, be fixed on the two ends of driven each wheel of dolly, the structure of this strainer 12 such as Fig. 2, include an adjusting screw(rod) 14, described adjusting screw(rod) 14 1 ends are connected with the axletree of driven dolly, and the other end is connected with driven dolly car body, be provided with adjusting nut 13 and regulating spring 15 at this adjusting screw(rod) 14, by screwing and unclamp adjusting nut 13, the compression and the elongation of control and regulation spring 15, the degree of tightness that combines of regulating an end with the cable body of driven dolly wheel, four strainers 12 are regulated the two ends of two wheels of driven dolly 2 respectively, realize the clamping with cable body.
Active dolly 1 is provided with a climbing device, this climbing device comprises a pair of helical gear, dc motor 5 and the driving chain 6 that meets at right angles and cooperate, direct current generator 5 is by 4 power supplies of lithium electricity electric supply installation, direct current generator 5 links to each other with a wherein wheel of active dolly 1 by the helical gear that described a pair of right angle cooperates, and links to each other by driving chain 6 between this wheel and active dolly 1 another wheel.
Be provided with " V " font groove on the wheel 7 of described active dolly 1 and driven dolly 2.Its V " the font groove opens grade width and the degree of depth under the cooperation of strainer, the cable body surface of the multiple shape of can creeping.The external surface of " V " font groove is processed into rough continuous camber line 16, structure such as Fig. 3 and Fig. 4.Increase the frictional force of creeping, reduce robot because of extraneous factors such as terrestrial gravitation, wind cause along the cable body circumferential movement.
The utility model can also be equipped with camera head 9 on described active dolly 1 and driven dolly 2, image store conveyer 11 and hand-held handle 10 are housed on driven dolly 2.
Described cable detecting robot is controlled by man-machine interface intelligence, realizes that detection speed according to the detection case remote control adjustment, improves detection efficiency.
The ground handling personnel can pass through remote control, the rotating of control direct current generator, and realization detects the tasks such as recovery with robot.
The driven dolly afterbody of the utility model cable detecting robot is equipped with magnet adhesive device, and when robot breaks down can't reclaim the time, rescue robot is by being pulled together with detection machine people collision, and by rescue robot the detection machine people being dragged can ground.
The utility model cable detecting robot adopts high strength alumin ium alloy to make foundation framework, alleviates the robot deadweight.
During use, initiatively dolly and driven dolly are symmetrically distributed along the cable body circumference, encircle cable body by bindiny mechanism, by described strainer, regulate the adjusting nut at driven dolly two wheel two ends respectively, the compression and the elongation of control and regulation spring make two dollies hold cable body tightly.These four adjusting devices when running into the cable body obstacle, can drive wheel or the wherein folding of an end by the compression and the elongation of arbitrary spring in two dollies climb process simultaneously, guarantee holding tightly in real time of two dollies and cable body.The climbing device increase that connects by driving chain of two wheels of the dolly power that climbs initiatively.
Claims (2)
1. cable detecting robot, it is characterized in that described robot comprises an active dolly (1) and a driven dolly (2), initiatively dolly (1) and driven dolly (2) are symmetrically arranged, initiatively dolly (1) and driven dolly (2) all have two wheels (7), initiatively interconnect by bindiny mechanism (8) between dolly (1) and the driven dolly (2), driven dolly (2) is provided with four strainers (12), per two one group of this strainer, be fixed on the two ends of each wheel of driven dolly (2), this strainer (12) includes an adjusting screw(rod) (14), described adjusting screw(rod) (14) one ends are connected with the axletree of driven dolly, the other end is connected with driven dolly car body, is provided with adjusting nut (13) and regulating spring (15) at this adjusting screw(rod) (14); Active dolly (1) is provided with a climbing device, this climbing device comprises a pair of helical gear, dc motor (5) and the driving chain (6) that meets at right angles and cooperate, direct current generator (5) is by lithium electricity electric supply installation (4) power supply, the helical gear that direct current generator (5) cooperates by described a pair of right angle links to each other with the wherein wheel of dolly (1) initiatively, links to each other by driving chain (6) between this wheel and another wheel of active dolly (1); Be provided with " V " font groove on the wheel (7) of described active dolly (1) and driven dolly (2), the external surface of " V " font groove is processed into rough continuous camber line (16).
2. a kind of cable detecting robot according to claim 1 is characterized in that on described active dolly (1) and driven dolly (2) camera head (9) being housed, and image store conveyer (11) is housed on described driven dolly (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200059717U CN201933407U (en) | 2011-01-11 | 2011-01-11 | Cable detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200059717U CN201933407U (en) | 2011-01-11 | 2011-01-11 | Cable detecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201933407U true CN201933407U (en) | 2011-08-17 |
Family
ID=44444934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200059717U Expired - Fee Related CN201933407U (en) | 2011-01-11 | 2011-01-11 | Cable detecting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201933407U (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102795273A (en) * | 2012-04-01 | 2012-11-28 | 宁波市公路管理局 | Cable climbing robot |
| CN103018166A (en) * | 2011-09-23 | 2013-04-03 | 北京九通衢道桥工程技术有限公司 | Bridge cable creep detection device |
| CN103194967A (en) * | 2013-04-03 | 2013-07-10 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Detecting system of bridge cable |
| CN104153292A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable lifting robot |
| CN104153301A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104153290A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104153294A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable climbing robot |
| CN104153291A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Rope inspection robot |
| CN104153293A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable examination robot |
| CN104894957A (en) * | 2014-03-03 | 2015-09-09 | 长沙大方精密机电有限公司 | Regulable climbing device with deviation prevention function for detecting defect of bridge guy cable |
| CN105576563A (en) * | 2016-02-05 | 2016-05-11 | 国网浙江新昌县供电公司 | Cable conduit patrol robot |
| CN105692481A (en) * | 2016-04-07 | 2016-06-22 | 中国长江三峡集团公司 | Steel wire rope climbing device |
| CN105865695A (en) * | 2016-05-05 | 2016-08-17 | 郑州大学 | Method for measuring cable-stayed bridge cable tension by means of GPS receiver |
| CN106289189A (en) * | 2016-07-25 | 2017-01-04 | 浙江大学 | A kind of motor-driven cable system ocean profile instrument |
| CN106289163A (en) * | 2016-07-25 | 2017-01-04 | 浙江大学 | A kind of cable system ocean profile instrument of buoyancy-driven |
| CN106959183A (en) * | 2017-03-23 | 2017-07-18 | 武汉理工大学 | A kind of cable stress detection device |
| CN107053128A (en) * | 2017-04-24 | 2017-08-18 | 张红星 | A kind of overhead calbe maintenance engineering robot |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN109374329A (en) * | 2018-11-08 | 2019-02-22 | 安徽理工大学 | A kind of frictional car washer detection jet flow laboratory apparatus |
| CN112281651A (en) * | 2020-10-21 | 2021-01-29 | 哈尔滨理工大学 | Cable climbing robot |
-
2011
- 2011-01-11 CN CN2011200059717U patent/CN201933407U/en not_active Expired - Fee Related
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103018166A (en) * | 2011-09-23 | 2013-04-03 | 北京九通衢道桥工程技术有限公司 | Bridge cable creep detection device |
| CN102795273B (en) * | 2012-04-01 | 2014-07-16 | 宁波市公路管理局 | Cable climbing robot |
| CN102795273A (en) * | 2012-04-01 | 2012-11-28 | 宁波市公路管理局 | Cable climbing robot |
| CN103194967A (en) * | 2013-04-03 | 2013-07-10 | 中铁大桥局集团武汉桥梁科学研究院有限公司 | Detecting system of bridge cable |
| CN104894957A (en) * | 2014-03-03 | 2015-09-09 | 长沙大方精密机电有限公司 | Regulable climbing device with deviation prevention function for detecting defect of bridge guy cable |
| CN104894957B (en) * | 2014-03-03 | 2016-10-26 | 长沙大方精密机电有限公司 | Anti-bias adjustable climbing device for bridge cable defects detection |
| CN104153294B (en) * | 2014-04-15 | 2016-01-06 | 宁波职业技术学院 | Climb cable robot |
| CN104153292A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable lifting robot |
| CN104153291A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Rope inspection robot |
| CN104153293A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable examination robot |
| CN104153290A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104153301B (en) * | 2014-04-15 | 2015-11-25 | 宁波职业技术学院 | Cable-maintaining robot |
| CN104153290B (en) * | 2014-04-15 | 2016-01-06 | 宁波职业技术学院 | Cable maintains machinery people |
| CN104153291B (en) * | 2014-04-15 | 2016-01-06 | 宁波职业技术学院 | Cable inspecting robot |
| CN104153301A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable maintenance robot |
| CN104153293B (en) * | 2014-04-15 | 2016-01-06 | 宁波职业技术学院 | Cable inspection machine people |
| CN104153292B (en) * | 2014-04-15 | 2016-01-06 | 宁波职业技术学院 | Cable hoisting machine people |
| CN104153294A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Cable climbing robot |
| CN105576563A (en) * | 2016-02-05 | 2016-05-11 | 国网浙江新昌县供电公司 | Cable conduit patrol robot |
| CN105692481A (en) * | 2016-04-07 | 2016-06-22 | 中国长江三峡集团公司 | Steel wire rope climbing device |
| CN105865695A (en) * | 2016-05-05 | 2016-08-17 | 郑州大学 | Method for measuring cable-stayed bridge cable tension by means of GPS receiver |
| CN106289189A (en) * | 2016-07-25 | 2017-01-04 | 浙江大学 | A kind of motor-driven cable system ocean profile instrument |
| CN106289163A (en) * | 2016-07-25 | 2017-01-04 | 浙江大学 | A kind of cable system ocean profile instrument of buoyancy-driven |
| CN106959183A (en) * | 2017-03-23 | 2017-07-18 | 武汉理工大学 | A kind of cable stress detection device |
| CN107053128A (en) * | 2017-04-24 | 2017-08-18 | 张红星 | A kind of overhead calbe maintenance engineering robot |
| CN108562531A (en) * | 2018-01-29 | 2018-09-21 | 鲁东大学 | A kind of bridge stay cable rust detection equipment |
| CN109374329A (en) * | 2018-11-08 | 2019-02-22 | 安徽理工大学 | A kind of frictional car washer detection jet flow laboratory apparatus |
| CN112281651A (en) * | 2020-10-21 | 2021-01-29 | 哈尔滨理工大学 | Cable climbing robot |
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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 |
Granted publication date: 20110817 Termination date: 20160111 |