CN203923896U - Cable inspecting robot - Google Patents

Cable inspecting robot Download PDF

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Publication number
CN203923896U
CN203923896U CN201420182131.1U CN201420182131U CN203923896U CN 203923896 U CN203923896 U CN 203923896U CN 201420182131 U CN201420182131 U CN 201420182131U CN 203923896 U CN203923896 U CN 203923896U
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CN
China
Prior art keywords
cable
frame
driving
embracing
inspecting robot
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Expired - Fee Related
Application number
CN201420182131.1U
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Chinese (zh)
Inventor
范进桢
彭力明
高志勇
夏天
叶文亚
卢照辉
华旭
陈磊
王邱嵩
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Ningbo Polytechnic
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Ningbo Polytechnic
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Priority to CN201420182131.1U priority Critical patent/CN203923896U/en
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Publication of CN203923896U publication Critical patent/CN203923896U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of cable inspecting robot, comprise and drive frame and embrace cable frame, 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 motors, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with the pressure strip of embracing in cable frame by embracing cable transmission mechanism, pressure strip 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 plane is the diamond structure that holds around cable, cable inspecting robot also comprises ground control unit, cable inspecting robot is provided with camera.It is poor that it has solved the climbing of cable inspecting robot, 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 inspecting robot
Technical field
The utility model relates to a kind of Industrial Robot Technology field, is specifically related to a kind of cable inspecting 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 installation cost 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 varying load and pollution, inevitably there will be wire rope corrosion, the disconnected stock market-circumstance condition of strain relaxation.For improving the application life of wire rope, drag-line manufacturer 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 wire rope and protect, and finally form sheath at the coated two-layer PE layer of outside pyrocondensation, with air insulated.But As time goes on, PE sheath will be aging, bulge, cracking.Once inner wire 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 one and climbs cable robot, 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, be provided with spring along guide rail direction; 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 drive unit.This robot is that the one of being researched and developed on the basis of climbing cable robot of having specialized in domestic and international prior art by inventor of the present utility model is climbed cable robot, 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 climb the problem of the obstacle detouring poor effect to local disturbance in cable process, but the variable elastic power that this robot relies on spring pair roller to apply solves obstacle detouring problem, in the time encountering the suspension cable that is tied with spiral wire, due to spiral wire, to exceed cable surface more, therefore easily there is the situation of locking or damage cable clad.In addition, this robot adopts the form of structure of a roller of a driven by motor, while adopting single motor to drive, because its power transmission 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 multiple motors to drive, the asynchronous of driving wheel is easy to cause robot to tremble in the appearance of climbing in cable process, 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 section 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 provides a kind of climbing, obstacle climbing ability good compared with the problem of little cable, cable diameters adapts to wide cable inspecting robot.
The utility model for the concrete technical scheme that reaches above-mentioned technical purpose and adopt is: a kind of cable inspecting 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 motors, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped, the cross section 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 be provided with in cable frame can with the pressure strip of header board parallel sliding, embrace cable frame and be provided with an armful cable motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip 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 shift to install in pressure strip both sides and the projection of its axis on horizontal plane 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 plane 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 inspecting robot also comprises ground control unit, described ground control unit connects drive motors and embraces cable motor, on cable inspecting robot, be also provided with camera, camera is arranged on housing, and camera connection layout is as emitter.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 power transmission; And pinch rollers is removable with respect to embracing cable frame, make cable inspecting 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 section of cable, in the time that pressure strip moves to cable, on the moving direction of pinch rollers, there is not driving rolls, pinch rollers on pressure strip can not interfered mutually with driving the driving rolls on frame, and compared with the structure with the four rolling of prior art on the same cross section of cable, the utility model can use 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 compared with the roller of arranging four structures that assume diamond in shape on 2 bites, the same cross section of cable, can, more effectively to utilizing the flexibility of cable itself, be conducive to improve obstacle climbing ability.The wheel face formation of the utility model driving rolls and pinch rollers misplaces up and down and holds around the diamond structure of cable, from the varying cross-section of cable, butt compresses cable surface, angle of friction between roller and cable does not change with cable diameters, therefore it is climbed cable ability and does not change with cable diameters, 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 compliance 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 multiple cylinder roller clip cable modes does not change and keeps constant with cable diameters, therefore multiple cylinder rollers are embraced cable and are had the larger cable friction, capability of climbing.The utility model two is synchronously driven by same drive motors driving rolls, drive each roller of frame one side all to there is power, form and drive structure more, greatly improve 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 driving wheel asynchronous robot causing in the time 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 point 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 motors and the rotation of embracing cable motor, can in far distance, control the activity of cable inspecting robot, can make people just know on the ground the concrete degree of impairment of learning cable and be arranged on camera on cable inspecting robot, and can adopt corresponding counter-measure according to actual conditions, thereby guarantee cable safety.
As preferably, drive motors is arranged on the centre position that drives upper lateral part after frame, the output shaft of drive motors is connected with driven wheel, driven wheel engages with the master gear that is arranged symmetrically in its both sides, the downside of master gear and master 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-belt, 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-belt, bevel gear set, being in transmission connection by linkage between two driving rolls rotating shafts up and down of homonymy, described driving-belt 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 master gear of both sides and the driving wheel coaxial with master gear, driving-belt, 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 of linkage and homonymy top, thereby realize four driving wheels of a driven by motor, because the gearratio of two-way is in full accord, therefore four driving rolls Complete Synchronizations rotate, the cable robot of climbing that has solved prior art trembles climbing easily occurring in cable process, 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 mechanism 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 pressure strip, 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, be connected by Timing Belt, 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 regulating wheel.The utility model rotates to move pressure strip by embracing cable driven by motor two rhizoid bars, embrace the rotation of cable motor by ground control unit control, can control the enclasping force of cable inspecting robot to cable, climbing in cable process, in the time encountering obstruction, can embrace cable motor by rotation and reduce the dynamics of holding tightly and make the smooth obstacle detouring of cable inspecting robot, avoid locking; Otherwise if to climb in cable process cable angle larger, when the dynamics of holding tightly makes cable inspecting robot skid not, can embrace cable motor by rotation increases enclasping force, prevents the landing of cable inspecting robot.And rotation handwheel can conveniently arrange the initial position of pressure strip.
As preferably, feed screw nut is arranged on the middle part of pressure strip both sides, described pressure strip both sides of the edge are provided with some directive wheels of arranging up and down, and the side plate of embracing cable frame is provided with the horizontal elongated slot corresponding with described directive wheel, and directive wheel is embedded in horizontal elongated slot slidably.In pressure strip both sides of the edge, directive wheel is set, directive wheel is embedded in the horizontal elongated slot of side plate slidably, can ensure like this when pressure strip moves parallelly with header board, guarantees the pressure equalizing of pressure strip 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 pressure strip, 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 pressure strip, the two ends of described cammed surface are provided with bearing support, and the rotating shaft of driving rolls and pinch rollers is arranged on bearing support 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 installing 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-belt, be connected with regulating wheel, drive the upper and lower two ends of frame to be respectively provided with a regulating block, described regulating block is connected respectively with near the rolling wheel support that drives frame upper and lower side by adjustment screw, and driving the installing hole of the rolling wheel support being connected with regulating block on frame is mounting hole.Regulating wheel is for tensioning driving-belt, and regulating block pulls open the distance of upper and lower rolling wheel support for tensioning linkage by adjustment screw, thereby avoids affecting because driving-belt and linkage are lax synchronizeing of driving wheel.
As preferably, drive the cross section 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 locking 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 pressure strip 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 under the prerequisite of guaranteeing enclasping force, reduce the damage to cable surface that may occur, especially very little to the cable damage of coated PE sheath; Housing and pressure strip adopt the engraved structure of engineering plastics making, can greatly reduce the own wt of cable inspecting robot.
As preferably, ground control unit is connected drive motors and is embraced cable motor by wireless remote controller or control cables, while adopting wireless remote controller, ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, receiving system is arranged on housing, and drive motors and armful cable motor connect receiving system, and the power supply of drive motors is arranged on the driving frame of drive motors below.The utility model can adopt wireless remote control or cable to connect and control two kinds of working methods, adopt cable to connect while control, between ground control unit and cable inspecting robot, adopt cable to be connected, now drive motors and armful cable motor are by surface power supply, in 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 inspecting 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 observer'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 inspecting 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 motors and the rotation of embracing cable motor, can in far distance, control the activity of cable inspecting robot, can make people just know on the ground the concrete degree of impairment of learning cable and be arranged on camera on cable inspecting robot, and can adopt corresponding counter-measure according to actual conditions, thereby guarantee cable safety, there is very high practical value.
Brief description of the drawings
Fig. 1 is a kind of perspective view of the utility model cable inspecting robot;
Fig. 2 is the front elevation drawing of the utility model cable inspecting robot;
Fig. 3 is the right view of the utility model cable inspecting robot;
Fig. 4 is the top view of the utility model cable inspecting robot;
Fig. 5 is a kind of structural configuration schematic diagram of the utility model cable inspecting robot driving rolls;
Fig. 6 is a kind of structural configuration stereogram of the utility model cable inspecting robot driving rolls;
Fig. 7 is a kind of structural configuration sketch of the utility model cable inspecting robot driving rolls;
Fig. 8 is the top view of Fig. 7;
Fig. 9 is a kind of structural configuration schematic diagram of the utility model cable inspecting robot pinch rollers;
Figure 10 is a kind of structural configuration stereogram of the utility model cable inspecting robot pinch rollers.
In figure: 1. drive frame, 2. armful cable frame, 3. driving rolls, 4. drive motors, 5. header board, 6. side plate, 7. pressure strip, 8. armful cable motor, 9. pinch rollers, 10. cable, 11. power supplies, 12. driven wheels, 13. master gears, 14. driving wheels, 15. driving-belts, 16. bevel gear set, 17. linkages, 18. screw mandrels, 19. feed screw nuts, 20. linkage gears, 21. Timing Belts, 22. handwheels, 23. directive wheels, 24. elongated slots, 25. rolling wheel supports, 26. cammed surface, 27. bearing supports, 28. regulating wheels, 29. regulating blocks, 30. adjustment screw, 31. rear plates, 32. hinges, 33. gear frames, 34. camera 35. image emissions devices.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings the detailed description of the invention 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 inspecting 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 section 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 locking 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 motors 4, drive motors is stepper motor, and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane 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 pressure strip 7(of header board parallel sliding, Figure 10), embrace cable frame and be provided with an armful cable motor 8, embracing cable motor is stepper motor, embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip 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 shift to install in pressure strip both sides and the projection of its axis on horizontal plane 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 plane 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 inspecting robot also comprises ground control unit, described ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, receiving system is arranged on housing, drive motors and armful cable motor connect receiving system.On cable inspecting robot, be also provided with four cameras 34, wherein two cameras are arranged on the top of housing, and two cameras are arranged on the bottom of housing, and four cameras connect respectively independent four image emissions devices 35 that arrange separately.
Drive motors is arranged on the centre position that drives upper lateral part after frame, the power supply 11 of drive motors is arranged on the below of drive motors, power supply adopts jumbo iron lithium phosphate battery, the output shaft of drive motors is connected with driven wheel 12, driven wheel engages (see figure 7) with the master gear 13 that is arranged symmetrically in its both sides, the downside of master gear and master 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 of driving-belt 15, bevel gear set 16 and below, 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-belt, 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-belt and linkage are Timing Belt, on driving-belt, be connected with regulating wheel 28, regulating 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 adjustment screw 30, and the installing hole of the rolling wheel support being connected with regulating block on rear plate is mounting hole.
Embrace the setting of cable motor and embrace lower right outside cable frame header board, the described cable transmission mechanism 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 pressure strip, 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, be connected by Timing Belt 21, 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 regulating wheel 28.
Feed screw nut is arranged on the middle part (seeing Fig. 9, Figure 10) of pressure strip both sides, described pressure strip is the engraved structure that engineering plastics are made, its both sides of the edge are respectively provided with two directive wheels 23 arranging up and down, the directive 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 directive wheel, and directive wheel is embedded in (see figure 3) in horizontal elongated slot slidably.
On the opposite face of driving frame and pressure strip, 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 pressure strip, driving rolls and the cross-shaped corresponding layout of pinch rollers, the two ends of described cammed surface are provided with bearing support 27, the rotating shaft of driving rolls and pinch rollers is arranged on bearing support 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 inspecting robot, adopt cable to be connected, now drive motors is powered to it by cable by ground with embracing cable motor, and in robot, without power supply, all the other are identical with embodiment mono-.
When cable inspecting robot of the present utility model uses, driving frame and an armful cable frame are held around on cable and locking, rotate handwheel, make driving rolls and pinch rollers conflict cable, elasticity between roller and cable taking cable inspecting robot can be on cable not landing as benchmark, the lifting of cable inspecting robot completes by ground control unit control drive motors, and an artificial or automatic control armful cable motor can change the elasticity between roller and cable, cable inspecting robot is surmounted obstacles smoothly, on the scroll cable with anti-exciting function, also can normally work.The utility model is by controlling drive motors and the rotation of embracing cable motor, can in far distance, control the activity of cable inspecting robot, can make people just know on the ground the concrete degree of impairment of learning cable and be arranged on camera on cable inspecting robot, and can adopt corresponding counter-measure according to actual conditions, thereby guarantee cable safety.

Claims (10)

1. a cable inspecting 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 motors (4), and described driving rolls shifts to install in driving frame both sides and the projection of its axis on horizontal plane is inverted V-shaped, the cross section 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 be provided with in cable frame can be with respect to the pressure strip of header board parallel sliding (7), embrace cable frame and be provided with an armful cable motor (8), embracing cable motor is connected with pressure strip by embracing cable transmission mechanism, pressure strip 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 shift to install in pressure strip both sides and the projection of its axis on horizontal plane 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 plane 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 inspecting robot also comprises ground control unit, described ground control unit connects drive motors and embraces cable motor, on cable inspecting robot, be also provided with camera (34), camera is arranged on housing, and camera connection layout is as emitter (35).
2. cable inspecting robot according to claim 1, it is characterized in that: described drive motors is arranged on the centre position that drives upper lateral part after frame, the output shaft of drive motors is connected with driven wheel (12), driven wheel engages with the master gear (13) that is arranged symmetrically in its both sides, the downside of master gear is coaxially provided with driving wheel (14), drives the driving wheel in frame left side to be connected by the driving rolls rotating shaft transmission of driving-belt (15), bevel gear set (16) and below, 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-belt, bevel gear set, being in transmission connection by linkage (17) between two driving rolls rotating shafts up and down of homonymy, described driving-belt and linkage are Timing Belt or chain.
3. cable inspecting 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 mechanism 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 pressure strip, 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, be connected by Timing Belt (21), 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 regulating wheel.
4. cable inspecting robot according to claim 3, it is characterized in that: described feed screw nut is arranged on the middle part of pressure strip both sides, described pressure strip both sides of the edge are provided with some directive 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 directive wheel, and directive wheel is embedded in horizontal elongated slot slidably.
5. cable inspecting 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 inspecting robot according to claim 1, it is characterized in that: on described driving frame and the opposite face of pressure strip, 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 pressure strip, the two ends of described cammed surface are provided with bearing support (27), and the rotating shaft of driving rolls and pinch rollers is arranged on bearing support by bearing.
7. cable inspecting robot according to claim 2, it is characterized in that: on described driving-belt, be connected with regulating 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 respectively with near the rolling wheel support that drives frame upper and lower side by adjustment screw (30), and driving the installing hole of the rolling wheel support being connected with regulating block on frame is mounting hole.
8. cable inspecting robot according to claim 1, it is characterized in that: the cross section 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 locking device.
9. according to the cable inspecting 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 pressure strip are the engraved structure that engineering plastics are made.
10. according to the cable inspecting robot described in claim 1-8 any one, it is characterized in that: ground control unit is connected drive motors and embraced cable motor by wireless remote controller or control cables, while adopting wireless remote controller, ground control unit comprises Digiplex, Digiplex comprises emitter and receiving system, receiving system is arranged on housing, drive motors and armful cable motor connect receiving system, and the power supply (11) of drive motors is arranged on the driving frame of drive motors below.
CN201420182131.1U 2014-04-15 2014-04-15 Cable inspecting robot Expired - Fee Related CN203923896U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105041883A (en) * 2015-06-11 2015-11-11 株洲时代新材料科技股份有限公司 Bearing pedestal and arch bridge walking device with same
CN110792036A (en) * 2019-10-11 2020-02-14 合肥工业大学 Operation method for crawling, deicing and snow removing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105041883A (en) * 2015-06-11 2015-11-11 株洲时代新材料科技股份有限公司 Bearing pedestal and arch bridge walking device with same
CN110792036A (en) * 2019-10-11 2020-02-14 合肥工业大学 Operation method for crawling, deicing and snow removing

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