CN203920962U - Cable-maintaining robot - Google Patents

Cable-maintaining robot Download PDF

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Publication number
CN203920962U
CN203920962U CN201420183207.2U CN201420183207U CN203920962U CN 203920962 U CN203920962 U CN 203920962U CN 201420183207 U CN201420183207 U CN 201420183207U CN 203920962 U CN203920962 U CN 203920962U
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CN
China
Prior art keywords
cable
frame
driving
motor
drive
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Expired - Fee Related
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CN201420183207.2U
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Chinese (zh)
Inventor
彭力明
高志勇
卢照辉
陈磊
范进桢
夏天
叶文亚
华旭
王邱嵩
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Ningbo Polytechnic
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Ningbo Polytechnic
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Priority to CN201420183207.2U priority Critical patent/CN203920962U/en
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Publication of CN203920962U publication Critical patent/CN203920962U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a kind of cable-maintaining robot, comprise and drive frame and embrace cable frame, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive frame both sides to be respectively provided with a pair of cylindrical drive roller of arranging up and down, two pairs of driving rollss are synchronously driven by same drive motor, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with keep plate by embracing cable transmission device, keep plate is respectively provided with a pair of cylindrical pinch rollers of arranging up and down near the one side both sides that drive frame, while driving frame and an armful cable frame closure to hold around cable, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal surface is the diamond structure that holds around cable, cable-maintaining robot also comprises ground control unit, cable-maintaining robot is provided with camera and spray equipment.It is poor that it has solved cable-maintaining robot climbing, the obstacle climbing ability of prior art effectively, and the problem that cannot climb the cable that diameter is less, has very high practical value.

Description

Cable-maintaining robot
Technical field
The utility model relates to a kind of Industrial Robot Technology field, is specifically related to a kind of cable-maintaining robot for cable Inspection and maintenance.
Background technology
Cable-stayed bridge has the plurality of advantages such as span is large, handsome in appearance, construction is convenient, as the new model of modern bridge, is worldwide widely used.One of main bearing member of cable-stayed bridge is cable, and its manufacture and cost of installation account for 25% left and right of bridge investment.Due to cable for a long time in wind shake, rain shakes, in the environment of variable load and pollution, inevitably there will be steel rope corrosion, the disconnected stock market-circumstance condition of strain relaxation.For improving the service life of steel rope, drag-line maker has increased corrosion protection system on wirerope.What adopt at present extensively is that first every little steel wire adopts zinc-plated and be coated with oil guard, and then many little steel wires are made and are wound around outside high-strength polyester band after steel rope and protect, and finally externally the coated two-layer PE layer of pyrocondensation forms sheath, with air insulated.But As time goes on, PE sheath will be aging, bulge, cracking.Once inner steel rope exposes to the open air and touches air, cable will very fast corrosion fracture.Open day is on November 28th, 2012, publication number is that the patent document of CN102795273 A discloses a kind of cable robot of climbing, comprise along symmetrically arranged two dollies of cable circumferencial direction and be arranged on two dollies for holding the enclasp device of cable tightly, described enclasp device comprises the guide rail being parallel to each other being separately positioned on two dolly front and rears, and guide rail and cable axis are perpendicular; On described each guide rail, be slidably provided with two rolling wheel supports, between each rolling wheel support and the car body of dolly, along guide rail direction, be provided with spring; Described each rolling wheel support is provided with the roller rotating around the axis, and described axes of rotation skew setting is also perpendicular with cable axis; Described roller forms four-point supporting clamping on cable; In described roller, have at least a roller to be provided with actuating device.This robot is to specialize in by contriver of the present utility model a kind of cable robot of climbing of researching and developing on the basis of climbing cable robot of domestic and international prior art, although this structure has solved to a certain extent embracing of cable detecting robot in prior art again and has pulled poor effect, easily produce spiral and climb cable, poor stability, and the problem of climbing the obstacle detouring poor effect of cable process Zhong Dui local disturbance, but the variable elastic power that this robot relies on spring pair roller to apply solves obstacle detouring problem, when encountering the suspension cable that is tied with spiral wire, due to spiral wire, to exceed cable surface more, therefore the situation that easily occurs locking or damage cable clad.In addition, this robot adopts the version of a roller of a driven by motor, while adopting single motor to drive, because its transmission of power is subject to the restriction of spring force, spring tension affects obstacle climbing ability, spring is crossed pine can not provide the enough cable power of climbing, and cannot climb the cable that angle is larger; And while adopting a plurality of motors to drive, the asynchronous of drive wheel is easy to cause the appearance of robot in climbing cable process to tremble, cause skidding and the cable clad that weares and teares, simultaneously also impact climbing performance.In addition,, because roller forms four-point supporting clamping on the same cross-sectional plane of cable, not only affected the raising of robot obstacle climbing ability, and cannot climb the cable that diameter is less.
Utility model content
The purpose of this utility model be for solve prior art climb cable robot climbing, obstacle climbing ability is poor, and cannot climb diameter and compared with the problem of little cable, provides a kind of climbing, obstacle climbing ability good, cable diameters adapts to wide cable-maintaining robot.
The utility model is to reach the concrete technical scheme that above-mentioned technical purpose adopts to be: a kind of cable-maintaining robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving frame and embraces a cable frame, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive frame both sides to be respectively provided with a pair of cylindrical drive roller of arranging up and down, two pairs of driving rollss are synchronously driven by same drive motor, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal surface is inverted V-shaped, the cross-sectional plane of described armful of cable frame takes the shape of the letter U, comprise a header board and be arranged on the side plate of header board dual-side, embrace in cable frame, be provided with can with the keep plate of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with keep plate by embracing cable transmission device, keep plate is respectively provided with a pair of cylindrical pinch rollers of arranging up and down near the one side both sides that drive frame, described pinch rollers in keep plate both sides, shift to install and the projection of its axis on horizontal surface V-shaped, when driving frame and embracing cable frame closure, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal surface is the diamond structure that holds around cable, driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, cable-maintaining robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises feedway and receiving device, drive motor and armful cable motor connect receiving device, on cable-maintaining robot, be also provided with camera and spray equipment, camera and spray equipment are all arranged on housing upper end, and camera connection diagram is as feedway, and spray equipment connects receiving device.The utility model arranges respectively driving rolls and pinch rollers in driving frame and armful cable frame, and driving rolls is substantially fixing with respect to driving frame, is convenient to transmission of power; And pinch rollers is removable with respect to embracing cable frame, make cable-maintaining robot adapt to the cable of sizes; On the other hand, because driving rolls is driving frame both sides to shift to install, therefore the utility model only has a pair roller on the same cross-sectional plane of cable, when keep plate moves to cable, on the moving direction of pinch rollers, there is not driving rolls, pinch rollers on keep plate can not interfered mutually with driving the driving rolls on frame, and the structure with the four rolling of prior art on the same cross section of cable is compared, and the utility model can be used on the less cable of diameter.In addition, the utility model cable longitudinally on four bites are set, on each bite, distribute two rollers, this with documents cable longitudinally on arrange and on 2 bites, the same cross-sectional plane of cable, arrange that the roller of four structures that assume diamond in shape compares, can, more effectively to utilizing the flexibility of cable itself, be conducive to improve obstacle climbing ability.The wheel face of the utility model driving rolls and pinch rollers forms the diamond structure that dislocation up and down holds around cable, from the varying cross-section of cable, butt compresses cable surface, friction angle between roller and cable does not change with cable diameters, therefore it is climbed cable ability and with cable diameters, is not changed, this structure and bilateral, it is more reliable that three limit rollers are embraced cable, aerial statue is more stable, have than the better cable diameters comformability of arc wheel simultaneously, in addition, adopt four limit rollers to hold tightly, prevent that robot from climbing the anti-deflection ability of rotating around cable in cable process stronger, groove face tribology principle has proved that the equlvalent coefficient of friction of arc wheel folder cable mode can change with cable diameters, the equlvalent coefficient of friction of a plurality of cylinder roller clip cable modes does not change and keeps constant with cable diameters, therefore a plurality of cylinder rollers are embraced cable and are had the larger cable friction, capability of climbing.Two pairs of driving rollss of the utility model are synchronously driven by same drive motor, drive each roller of frame one side all to there is power, form and drive structure more, greatly improved the cable ability of climbing of robot, therefore robot of the present utility model not only has the enough cable power of climbing, can be for the climbing of vertical cables, and because synchronous driving avoided drive wheel asynchronous robot causing when working of prior art to tremble, cause skidding between roller and cable and the problem of the cable clad that weares and teares, simultaneously the also problem of impact climbing performance.In addition, between driving rolls of the present utility model and pinch rollers and housing, there is not elastic construction, its armful of cable thrust regulates setting by ground control unit by embracing cable motor, only need armful cable motor one spot control just can complete the cable of different-diameter is applied to the different cable power of embracing, and can adjust at any time according to the practical operation situation of robot, avoid that enclasping force is excessive to be affected obstacle climbing ability or occur locking, damage the situation of cable or the too small problem of skidding of occurring of enclasping force.Driving frame of the present utility model and embrace cable frame be oppositely arranged can opening and closing structure, on-the-spot installation or removal are very simple, convenient and swift.The utility model is by controlling drive motor and the rotation of embracing cable motor, can in far distance, control the activity of cable-maintaining robot, and the camera being arranged on cable-maintaining robot can make people just know on the ground the concrete degree of impairment of learning cable, and correspondingly at cable appearance damage location, spray waterproof gasket cement or other coating is repaired by spray equipment, to delay the aging speed of cable rope jacket; Also can, to the cable attended operation such as spray paint, extend the service life of cable, thereby guarantee cable safety.The utility model is arranged on housing upper end by camera and spray equipment, is to consider that spraying operation need to carry out conventionally from high to low, and roller can not touch the position of having repaired like this.
As preferably, drive motor is arranged on the midway location that drives upper lateral part after frame, the output shaft of drive motor is connected with driven wheel, driven wheel and the main gear engagement that is arranged symmetrically in its both sides, the downside of main gear and main gear are coaxially provided with driving wheel, drive the driving wheel in frame left side to be connected with the driving rolls rotating shaft transmission of below, driving frame left side by driving band, bevel gear set; Drive the driving wheel on frame right side to be connected with the driving rolls rotating shaft transmission of top, driving frame right side by driving band, bevel gear set, being in transmission connection by linkage between two driving rolls rotating shafts up and down of homonymy, described driving band and linkage are Timing Belt or chain.The utility model adopts the form of four driving rollss of single motor driving, guarantees the climbing ability of robot.The driven wheel of motor is by the main gear of both sides and the driving wheel coaxial with main gear, driving band, bevel gear set is in transmission connection with rotating shaft one end of down either side driving rolls respectively, and the other end of this driving rolls rotating shaft is in transmission connection by the driving rolls above linkage and homonymy, thereby realize four drive wheels of a driven by motor, because the transmitting ratio of two-way is in full accord, therefore four driving rolls Complete Synchronizations rotate, cable robot easily the occurring in climbing cable process of climbing that has solved prior art trembles, cause skidding and wear and tear cable clad, also affect the problem of climbing performance simultaneously.
As preferably, embrace the setting of cable motor and embrace cable frame outside, the described cable transmission device of embracing comprises that two are set in parallel in the horizontal lead screw of embracing in cable frame, one end of two rhizoid bars is spirally connected with the feed screw nut who is arranged on keep plate, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable frame, screw axis is provided with linkage gear, between two rhizoid bars, by Timing Belt, be connected, wherein the screw axis end of a rhizoid bar is connected with an armful cable motor-driven, the end of another rhizoid bar is provided with handwheel, embraces cable frame middle part and is provided with Timing Belt tension wheel.The utility model rotates mobile keep plate by embracing cable driven by motor two rhizoid bars, by ground control unit, control the rotation of embracing cable motor, can control the enclasping force of cable-maintaining robot to cable, in climbing cable process, when encountering obstacle, can embrace cable motor by rotation and reduce the dynamics of holding tightly and make the smooth obstacle detouring of cable-maintaining robot, avoid locking; Otherwise if cable angle is larger in climbing cable process, when the dynamics of holding tightly makes cable-maintaining robot skid not, can embrace cable motor by rotation increases enclasping force, prevents cable-maintaining robot landing.And rotation handwheel can conveniently arrange the initial position of keep plate.
As preferably, feed screw nut is arranged on the middle part of keep plate both sides, described keep plate both sides of the edge are provided with some track adjusting wheels of arranging up and down, and the side plate of embracing cable frame is provided with the horizontal elongated slot corresponding with described track adjusting wheel, and track adjusting wheel is embedded in horizontal elongated slot slidably.In keep plate both sides of the edge, track adjusting wheel is set, track adjusting wheel is embedded in the horizontal elongated slot of side plate slidably, can guarantee like this when keep plate moves parallelly with header board, guarantees the equalization of pressure of keep plate to its upper and lower pinch rollers.
As preferably, be positioned at the screw axis end of embracing cable frame right side screw mandrel by bevel gear set with embrace a cable motor-driven and be connected, handwheel be located on the left of the screw axis end of screw mandrel.
As preferably, on the opposite face of driving frame and keep plate, be equipped with rolling wheel support, the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface driving on frame, pinch rollers is arranged in the rolling wheel support cammed surface on keep plate, the two ends of described cammed surface are provided with bearing seat, and the rotating shaft of driving rolls and pinch rollers is arranged on bearing seat by bearing.The utility model adopts the support of right-angled triangle wedge-like that driving rolls and pinch rollers are installed, make the driving rolls and the pinch rollers that drive frame and compress in frame can form the diamond structure that holds around cable, conventionally right-angled triangle adopts isosceles right triangle, and the angle between inclined-plane and the adapter plate of installation rolling wheel support is 45 degree.Rhombus described in the utility model might not be a complete diamond shape, and hour, the opposite face outline line of driving rolls and pinch rollers can form a complete diamond shape to the area enclosing when driving rolls and pinch rollers; And the area that driving rolls and pinch rollers enclose is when larger, the opposite face outline line of driving rolls and pinch rollers is a part for rhombus.
As preferably, on driving band, be connected with tension wheel, drive the upper and lower two ends of frame to be respectively provided with a regulating block, described regulating block is connected with the rolling wheel support near driving frame upper and lower side respectively by set screw, and driving the mounting hole of the rolling wheel support being connected with regulating block on frame is waist shaped hole.Tension wheel is for tensioning driving band, and regulating block pulls open the distance of upper and lower rolling wheel support for tensioning linkage by set screw, thereby avoids affecting because driving band and linkage are lax synchronizeing of drive wheel.
As preferably, drive the cross-sectional plane of frame to take the shape of the letter U, comprise a rear plate and be arranged on the side plate of rear plate both sides, drive a side board of frame hinged by hinge with the respective side side plate of embracing cable frame, drive between the opposite side side plate of frame and the side plate of armful cable frame respective side and be provided with latching device.Drive frame to adopt similar structure to embracing cable frame, can reduce production costs.
As preferably, the wheel face of pinch rollers and driving rolls adopts polyurethane material to make, and described housing and keep plate are the engraved structure that engineering plastics are made.Polyurethane material is made pinch rollers and its wheel face of driving rolls has suitable elasticity, can, guaranteeing to reduce the damage to cable surface that may occur under the prerequisite of enclasping force, especially to the cable of coated PE sheath, damage very little; Housing and keep plate adopt the engraved structure of engineering plastics making, can greatly reduce the own wt of cable-maintaining robot.
As preferably, ground control unit is connected drive motor, is embraced cable motor and spray equipment by wireless remote controller or control cables, while adopting wireless remote controller, ground control unit comprises Digiplex, Digiplex comprises feedway and receiving device, receiving device is arranged on housing, and drive motor, armful cable motor and spray equipment connect receiving device, and the power supply of drive motor is arranged on the driving frame of drive motor below.The utility model can adopt wireless remote control or cable to connect and control two kinds of mode of operation, adopt cable to connect while controlling, between ground control unit and cable-maintaining robot, adopt cable to be connected, now drive motor and armful cable motor are by surface power supply, on robot without power supply, thereby can greatly alleviate the weight of robot, robot is not affected by electric quantity of power supply simultaneously, can work long hours.
Here it should be noted that, the utility model is worked and is carried out position statement according to cable-maintaining robot on vertically disposed cable, statement is only used to the convenience in those skilled in the art's understanding like this, and be not the concrete restriction to its positional structure, in fact agent structure of the present utility model can be inverted, be that upper-lower position can exchange, position all around also can change because viewer's position is different, does not therefore have the absolute qualified relation of position up and down or all around.
The beneficial effects of the utility model are: it effectively solved prior art climb cable robot climbing, obstacle climbing ability is poor, and cannot climb the problem of the cable that diameter is less, cable-maintaining robot of the present utility model is climbed, obstacle climbing ability is good, can climb up the wide-angle cable that approaches 90 °, and the adaptation of cable diameters is wide, cable damage to coated PE sheath is little, there will not be high-altitude to embrace the situation that cable is stuck or climbing is skidded.The utility model is by controlling drive motor and the rotation of embracing cable motor, can in far distance, control the activity of cable-maintaining robot, and the camera being arranged on cable-maintaining robot can make people just know on the ground the concrete degree of impairment of learning cable, and correspondingly at cable appearance damage location, spray waterproof gasket cement or other coating is repaired by spray equipment, to delay the aging speed of cable rope jacket, there is very high practical value.
Accompanying drawing explanation
Fig. 1 is a kind of perspective view of the utility model cable-maintaining robot;
Fig. 2 is the front elevation of the utility model cable-maintaining robot;
Fig. 3 is the right elevation of the utility model cable-maintaining robot;
Fig. 4 is the birds-eye view of the utility model cable-maintaining robot;
Fig. 5 is a kind of structural arrangement schematic diagram of the utility model cable-maintaining robot driving rolls;
Fig. 6 is a kind of structural arrangement block diagram of the utility model cable-maintaining robot driving rolls;
Fig. 7 is a kind of structural arrangement sketch of the utility model cable-maintaining robot driving rolls;
Fig. 8 is the birds-eye view of Fig. 7;
Fig. 9 is a kind of structural arrangement schematic diagram of the utility model cable-maintaining robot pinch rollers;
Figure 10 is a kind of structural arrangement block diagram of the utility model cable-maintaining robot pinch rollers.
In figure: 1. drive frame, 2. armful cable frame, 3. driving rolls, 4. drive motor, 5. header board, 6. side plate, 7. keep plate, 8. armful cable motor, 9. pinch rollers, 10. cable, 11. power supplies, 12. driven wheels, 13. main gears, 14. driving wheels, 15. driving bands, 16. bevel gear set, 17. linkages, 18. screw mandrels, 19. feed screw nuts, 20. linkage gears, 21. Timing Belts, 22. handwheels, 23. track adjusting wheels, 24. elongated slots, 25. rolling wheel supports, 26. cammed surface, 27. bearing seats, 28. tension wheels, 29. regulating blocks, 30. set screw, 31. rear plates, 32. hinges, 33. gear frames, 34. camera 35. image emissions devices.
The specific embodiment
Below by embodiment, and by reference to the accompanying drawings the specific embodiment of technical solutions of the utility model is further described.
Embodiment 1
In the embodiment 1 shown in Fig. 1 Fig. 2, a kind of cable-maintaining robot, comprise housing and be arranged on the roller devices in housing, described housing comprises driving frame 1 and embraces a cable frame 2, drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive frame to be with embracing cable frame the engraved structure that engineering plastics are made, its cross-sectional plane all takes the shape of the letter U, and driving frame comprises a rear plate 31 and is arranged on the side plate 6 of rear plate both sides; Embrace the side plate that cable frame comprises a header board 5 and is arranged on header board both sides, one side board of driving frame is hinged by hinge 32 with the side plate of embracing cable frame respective side, drives between the opposite side side plate of frame and the side plate of armful cable frame respective side and is provided with latching device (not shown).Drive frame both sides to be respectively provided with a pair of cylindrical drive roller 3(arranging up and down and see Fig. 5, Fig. 6, Fig. 7), driving rolls is arranged on rear plate, two pairs of driving rollss are synchronously driven by same drive motor 4, drive motor is stepping motor, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal surface is inverted V-shaped (seeing Fig. 4, Fig. 8).Embrace in cable frame and be provided with and can see Fig. 9 with respect to the keep plate 7(of header board parallel sliding, Figure 10), embrace cable frame and be provided with an armful cable motor 8, embracing cable motor is stepping motor, embracing cable motor is connected with keep plate by embracing cable transmission device, keep plate is respectively provided with a pair of cylindrical pinch rollers 9 of arranging up and down near the one side both sides that drive frame, described pinch rollers in keep plate both sides, shift to install and the projection of its axis on horizontal surface V-shaped, when driving frame and embracing cable frame closure, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal surface is the diamond structure that holds around cable 10, driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, cable-maintaining robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises feedway and receiving device, drive motor and armful cable motor connect receiving device, on cable-maintaining robot, be also provided with two cameras 34 and two spray equipments 36, camera and spray equipment are all arranged on housing upper end, and two cameras connect respectively independent two image emissions devices 35 that arrange separately, and spray equipment connects receiving device.
Drive motor is arranged on the midway location that drives upper lateral part after frame, the power supply 11 of drive motor is arranged on the below of drive motor, power supply adopts high-capacity iron lithium phosphate battery, the output shaft of drive motor is connected with driven wheel 12, driven wheel and the main gear 13 engagement (see figure 7)s that are arranged symmetrically in its both sides, the downside of main gear and main gear are coaxially provided with driving wheel 14, drive the driving wheel in frame left side to be connected by the driving rolls rotating shaft transmission below driving band 15, bevel gear set 16 and driving frame left side; Drive the driving wheel on frame right side to be connected with the driving rolls rotating shaft transmission of top, driving frame right side by driving band, bevel gear set, being in transmission connection by linkage 17 between two driving rolls rotating shafts up and down of the same side, described driving band and linkage are Timing Belt, on driving band, be connected with tension wheel 28, tension wheel is arranged on gear frame 33.Rear plate is respectively provided with a regulating block 29 in two ends Shang Xia 31, and described regulating block is connected with the rolling wheel support near rear plate upper and lower side respectively by set screw 30, and the mounting hole of the rolling wheel support being connected with regulating block on rear plate is waist shaped hole.
Embrace the setting of cable motor and embrace lower right outside cable frame header board, the described cable transmission device of embracing comprises that two are set in parallel in the horizontal lead screw 18 of embracing in cable frame, one end of two rhizoid bars is spirally connected with the feed screw nut 19 who is arranged on keep plate, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable frame, screw axis is provided with linkage gear 20, between two rhizoid bars, by Timing Belt 21, be connected, the screw axis end that is positioned at armful cable frame right side screw mandrel is connected with an armful cable motor-driven by bevel gear set 16, the screw axis end of left side screw mandrel is provided with handwheel 22, embrace cable frame middle part and be provided with Timing Belt tension wheel 28.
Feed screw nut is arranged on the middle part (seeing Fig. 9, Figure 10) of keep plate both sides, described keep plate is the engraved structure that engineering plastics are made, its both sides of the edge are respectively provided with two track adjusting wheels 23 of arranging up and down, the track adjusting wheel dislocation of both sides is arranged, every side board of embracing cable frame is provided with two the horizontal elongated slots 24 corresponding with described track adjusting wheel, and track adjusting wheel is embedded in (see figure 3) in horizontal elongated slot slidably.
On the opposite face of driving frame and keep plate, be equipped with rolling wheel support 25, the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface 26 driving on frame, pinch rollers is arranged in the rolling wheel support cammed surface on keep plate, driving rolls and the cross-shaped corresponding layout of pinch rollers, the two ends of described cammed surface are provided with bearing seat 27, the rotating shaft of driving rolls and pinch rollers is arranged on bearing seat by bearing, and the wheel face of pinch rollers and driving rolls adopts polyurethane material to make.
Embodiment 2
In embodiment 2, between ground control unit and cable-maintaining robot, adopt cable to be connected, now drive motor is powered to it by cable by ground with embracing a cable motor, and on robot, without power supply, all the other are identical with embodiment mono-.
When cable-maintaining robot of the present utility model is used, driving frame and an armful cable frame are held around on cable and locking, rotate handwheel, make driving rolls and pinch rollers conflict cable, it can not landing be benchmark that elasticity between roller and cable be take cable-maintaining robot on cable, the lifting of cable-maintaining robot is controlled drive motor by ground control unit and is completed, and an artificial or automatic control armful cable motor can change the elasticity between roller and cable, make the smooth clear an obstacle of cable-maintaining robot, on the scroll cable with anti-exciting function, also can normally work.The utility model is by controlling drive motor and the rotation of embracing cable motor, can in far distance, control the activity of cable-maintaining robot, and the camera being arranged on cable-maintaining robot can make people just know on the ground the concrete degree of impairment of learning cable, and correspondingly at cable appearance damage location, spray waterproof gasket cement or other coating is repaired by spray equipment, to delay the aging speed of cable rope jacket; Also can, to the cable attended operation such as spray paint, extend the service life of cable, thereby guarantee cable safety.

Claims (10)

1. a cable-maintaining robot, comprise housing and be arranged on the roller devices in housing, it is characterized in that, described housing comprises driving frame (1) and embraces cable frame (2), drive frame and embrace cable frame be oppositely arranged can opening and closing structure, drive the both sides of frame to be respectively provided with a pair of cylindrical drive roller (3) of arranging up and down, two pairs of driving rollss are synchronously driven by same drive motor (4), and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal surface is inverted V-shaped, the cross-sectional plane of described armful of cable frame takes the shape of the letter U, comprise a header board (5) and be arranged on the side plate (6) of header board both sides, embrace that in cable frame, be provided with can be with respect to the keep plate (7) of header board parallel sliding, embrace cable frame and be provided with an armful cable motor (8), embracing cable motor is connected with keep plate by embracing cable transmission device, keep plate is respectively provided with a pair of cylindrical pinch rollers (9) of arranging up and down near the one side both sides that drive frame, described pinch rollers in keep plate both sides, shift to install and the projection of its axis on horizontal surface V-shaped, when driving frame and embracing cable frame closure, the projection of the wheel face inner side of driving rolls and pinch rollers on horizontal surface is the diamond structure that holds around cable (10), driving rolls and pinch rollers be the corresponding both sides that are positioned at cable one by one, cable-maintaining robot also comprises ground control unit, described ground control unit connects drive motor and embraces cable motor, on cable-maintaining robot, be also provided with camera (34) and spray equipment (36), camera and spray equipment are all arranged on housing upper end, and camera connection diagram is as feedway (35), and spray equipment connects ground control unit.
2. cable-maintaining robot according to claim 1, it is characterized in that: described drive motor is arranged on the midway location that drives upper lateral part after frame, the output shaft of drive motor is connected with driven wheel (12), driven wheel and main gear (13) engagement that is arranged symmetrically in its both sides, the downside of main gear is coaxially provided with driving wheel (14), drives the driving wheel in frame left side to pass through driving band (15), bevel gear set (16) and drive the driving rolls rotating shaft transmission of below, frame left side to be connected; Drive the driving wheel on frame right side to be connected with the driving rolls rotating shaft transmission of top, driving frame right side by driving band, bevel gear set, being in transmission connection by linkage (17) between two driving rolls rotating shafts up and down of homonymy, described driving band and linkage are Timing Belt or chain.
3. cable-maintaining robot according to claim 1, it is characterized in that: cable frame outside is embraced in the described cable motor setting of embracing, the described cable transmission device of embracing comprises that two are set in parallel in the horizontal lead screw (18) of embracing in cable frame, one end of two rhizoid bars is spirally connected with the feed screw nut (19) who is arranged on keep plate, the other end of two rhizoid bars is provided with and extends the screw axis of embracing cable frame, screw axis is provided with linkage gear (20), between two rhizoid bars, by Timing Belt (21), be connected, wherein the screw axis end of a rhizoid bar is connected with an armful cable motor-driven, the end of another rhizoid bar is provided with handwheel (22), embrace cable frame middle part and be provided with Timing Belt tension wheel.
4. cable-maintaining robot according to claim 3, it is characterized in that: described feed screw nut is arranged on the middle part of keep plate both sides, described keep plate both sides of the edge are provided with some track adjusting wheels (23) of arranging up and down, the side plate of embracing cable frame is provided with the horizontal elongated slot (24) corresponding with described track adjusting wheel, and track adjusting wheel is embedded in horizontal elongated slot slidably.
5. cable-maintaining robot according to claim 3, is characterized in that: the screw axis end that is positioned at armful cable frame right side screw mandrel is connected with an armful cable motor-driven by bevel gear set, and handwheel is located at the screw axis end of left side screw mandrel.
6. cable-maintaining robot according to claim 1, it is characterized in that: on described driving frame and the opposite face of keep plate, be equipped with rolling wheel support (25), the rectangular triangle wedge-like of rolling wheel support, driving rolls is arranged in the rolling wheel support cammed surface (26) driving on frame, pinch rollers is arranged in the rolling wheel support cammed surface on keep plate, the two ends of described cammed surface are provided with bearing seat (27), and the rotating shaft of driving rolls and pinch rollers is arranged on bearing seat by bearing.
7. cable-maintaining robot according to claim 2, it is characterized in that: on described driving band, be connected with tension wheel (28), drive the upper and lower two ends of frame to be respectively provided with a regulating block (29), described regulating block is connected with the rolling wheel support near driving frame upper and lower side respectively by set screw (30), and driving the mounting hole of the rolling wheel support being connected with regulating block on frame is waist shaped hole.
8. cable-maintaining robot according to claim 1, it is characterized in that: the cross-sectional plane of described driving frame takes the shape of the letter U, comprise a rear plate (31) and be arranged on the side plate (6) of rear plate both sides, one side board of driving frame is hinged by hinge (32) with the respective side side plate of embracing cable frame, drives between the side plate of frame opposite side and the side plate of armful cable frame respective side and is provided with latching device.
9. according to the cable-maintaining robot described in claim 1-8 any one, it is characterized in that: the wheel face of pinch rollers and driving rolls adopts polyurethane material to make; Described housing and keep plate are the engraved structure that engineering plastics are made.
10. according to the cable-maintaining robot described in claim 1-8 any one, it is characterized in that: ground control unit is connected drive motor, embraced cable motor and spray equipment by wireless remote controller or control cables, while adopting wireless remote controller, ground control unit comprises Digiplex, Digiplex comprises feedway and receiving device, receiving device is arranged on housing, drive motor, armful cable motor and spray equipment connect receiving device, and the power supply of drive motor (11) is arranged on the driving frame of drive motor below.
CN201420183207.2U 2014-04-15 2014-04-15 Cable-maintaining robot Expired - Fee Related CN203920962U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420183207.2U CN203920962U (en) 2014-04-15 2014-04-15 Cable-maintaining robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420183207.2U CN203920962U (en) 2014-04-15 2014-04-15 Cable-maintaining robot

Publications (1)

Publication Number Publication Date
CN203920962U true CN203920962U (en) 2014-11-05

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420183207.2U Expired - Fee Related CN203920962U (en) 2014-04-15 2014-04-15 Cable-maintaining robot

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Country Link
CN (1) CN203920962U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2759519A1 (en) * 2018-11-08 2020-05-11 Fcc Ind E Infraestructuras Energeticas S A U Robotic system and methods for maintenance tasks on lampposts and conical vertical structures (Machine-translation by Google Translate, not legally binding)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2759519A1 (en) * 2018-11-08 2020-05-11 Fcc Ind E Infraestructuras Energeticas S A U Robotic system and methods for maintenance tasks on lampposts and conical vertical structures (Machine-translation by Google Translate, not legally binding)

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