CN204530471U - Climb cable robot - Google Patents
Climb cable robot Download PDFInfo
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- CN204530471U CN204530471U CN201520092512.5U CN201520092512U CN204530471U CN 204530471 U CN204530471 U CN 204530471U CN 201520092512 U CN201520092512 U CN 201520092512U CN 204530471 U CN204530471 U CN 204530471U
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- outside framework
- brace plate
- clamping brace
- guide
- ball
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Abstract
One climbs cable robot, comprises outside framework and inner climbing mechanism, wherein: connect the contrary ball-screw of two ends rotation direction by bearing between outside framework each side vertical rod, counter ball leading screw is driven by a motor; The each side of outside framework arranges the balladeur train that a cross bar connects two montants, and the balladeur train guide wheel of montant upper and lower side contacts with the push rod bottom bar of outside framework; All fixing and feed screw nut outside two montants; Two pairs of clamping brace plates are individually fixed on two pairs of relative cross bars, and the guide peg of clamping brace plate inner opposite end hinge strip directive wheel, has extension spring between guide peg and clamping brace plate, and the other end is by installing guide rod; One end that guide rod inwardly stretches out and equalizer bar hinged, guide rod is fit pressure sensor and Compress Spring between equalizer bar and clamping brace plate; The driving wheel that the upper and lower side of equalizer bar is separately installed with driven pulley and is connected with drive motors.This robot can be used for the large cable of diameter difference, and clamping force is good, climbs cable and obstacle climbing ability is strong.
Description
Technical field
The utility model relates to a kind of robot, be specifically related to check cable and operation climb cable robot.
Background technology
Along with the fast development of bridge construction industry, the scale of cable stayed bridge is increasing, at present, and the cable stayed bridge of main span more than 200 meters nearly more than 200 seats in the world.The detection being increased to bridge of cable stayed bridge number size brings more challenge.Whether cable is the main supporting member of cable stayed bridge, and in being chronically exposed to and exposing to the weather, easily occur damaged situation about even rupturing, need timing to detect its surface complete.Cable suspension, may up to hundred meters in the both sides of cable stayed bridge, and general hand inspection method takes time and effort, and can not ensure personal safety, although utilize hoist engine to detect cable ensure that personal security to a certain extent, still there is the problem of inefficiency.Under this background, climb cable robot technology to be suggested.This technology is exactly utilize the industrial robot designed and produced especially to carry detection system to detect and operation cable.Existing cable robot of climbing mainly contains pneumatic worming, electronic continous way and spiral climbing formula.Compare, electronic continous way climb cable robot have motion continuously reliable, small volume, can wireless remote control and the advantage such as bearing capacity is better, become the direction climbing cable robot main development.
Cable surface is coated with one deck hank knotting usually, and hank knotting can produce in Long-Time Service that some are larger raised or sunken, sometimes cable also can install some small detector elements or ornament, climb cable robot in the course of the work, need to cross these obstacles.Consult that domestic several moneys are up-to-date climbs cable robot, as China Patent Publication No. CN201437247, publication date is on April 14th, 2010, the name that utility model is created is called robot capable of crawling cable, that application discloses a kind of robot capable of crawling cable, connected by three connecting rod racks that three dollies form, three summits place upper push-rod chain connection lower push-rod of tripod, upper lower push-rod is equipped with a driving wheel and a driven pulley respectively.Upper push-rod and lower push-rod all produce contact force by oblique pull spring and cable, and whole robot becomes equilateral triangle structure.The cable robot of this utility model has following deficiency.The first, designed triangular frame structure is fixed, so can not be applied on the excessive cable of diameter difference.The second, although use oblique pull spring to have certain obstacle climbing ability, when roller is by larger obstruction, still there is problem that may be stuck.3rd, due to structure restriction, cannot change the enclasping force of robot to cable in the course of the work, when robot is in height stuck or skidding in the air, the uncontrollable robot in ground reclaims.Above problem climbs ubiquity in cable robot in the electronic continous way of existing kind.
Utility model content
The purpose of this utility model is to provide a kind of for climbing cable robot to cable inspection and operation.This robot can be used for the large cable of diameter difference, good to the clamping force of cable, and it is strong to climb cable ability and obstacle climbing ability, and can avoid stuck and skid.
The utility model realizes the technical scheme that its goal of the invention takes: one climbs cable robot, and comprise outside framework and inner climbing mechanism, its structure is:
Outside framework is cube frame, and between the vertical rod of each side of outside framework, connect the contrary ball-screw of two ends rotation direction by bearing, two relative ball-screws are fixed on the driving stepper motor on outside framework by one;
Each side of outside framework arranges a balladeur train, and the concrete formation of balladeur train is: two montants are connected by a cross bar, and the upper and lower side of montant is all provided with balladeur train guide wheel, and the balladeur train guide wheel of upper and lower side contacts with bottom bar with the push rod of outside framework respectively; The feed screw nut coordinated with ball-screw is all fixed with outside two montants;
Described climbing mechanism is fixed on the cross bar of balladeur train, and its concrete formation is:
A pair clamping brace plate is fixed on two relative cross bars, upper end thereof guide peg inside clamping brace plate, the other end of guide peg installs directive wheel, be connected with extension spring between the middle and upper part of guide peg and the middle and upper part of clamping brace plate, the lower end of clamping brace plate is provided with guide rod by linear bearing;
Another is fixed on relative another two cross bars to clamping brace plate, the hinged guide peg in lower end inside clamping brace plate, the other end of guide peg installs directive wheel, be connected with extension spring between the middle and lower part of guide peg and the middle and lower part of clamping brace plate, the upper end of clamping brace plate is provided with guide rod by linear bearing;
One end that described guide rod inwardly stretches out and equalizer bar hinged, the position of guide rod between equalizer bar and clamping brace plate is sheathed with pressure sensor and Compress Spring; The upper and lower side of equalizer bar is separately installed with driven pulley and driving wheel, is connected with Timing Belt between driven pulley and driving wheel, and driving wheel is connected with the drive motors be fixed on equalizer bar.
Compared with prior art, the beneficial effects of the utility model are:
One, clamp cable by the directive wheel of two pairs of balladeur trains and correspondence thereof, driving wheel and driven pulley from four direction, its clamping force is large, and firmly, it is strong to climb cable ability in clamping.
Two, relative ball-screw regulates the distance between corresponding relative balladeur train, and the sliding distance of balladeur train is large, adaptation the diameter range of cable large.
Three, two pairs of balladeur trains are respectively by two stepper motors drive separately, and the displacement between two pairs of balladeur trains can be different, thus can adapt to the cable of tabular; And by unclamping a pair balladeur train, can be clamped another to balladeur train, successfully can avoid cable side, or the various component that relative both sides are installed, its obstacle climbing ability is strong, good by property.
Four, conveniently by the control to stepper motor, can realize controlling cable clamping force, can either ensure that clamping is firmly, avoid skidding, can avoid again stuck simultaneously, good by property.
Five, balladeur train is provided with directive wheel, driving wheel and driven pulley, a balladeur train and cable have three contact points, ensure that with the contact of cable firm, clamping force is good, is connected between driving wheel and driven pulley by equalizer bar simultaneously, and the middle part of equalizer bar is connected with clamping brace plate by Compress Spring and linear bearing, driving wheel (driven pulley) can be rotated around the hinge of equalizer bar, and the retrogressing of whole equalizer bar and resilience, make its obstacle climbing ability strong, clamping force is good simultaneously.
Six, the directive wheel on adjacent balladeur train one on the other, driving wheel and driven pulley are also one on the other, make cable bearing up-down force even, and uplink and downlink are creeped, Shi Junyou creeps the strong driving wheel of ability and driven pulley front, the good directive wheel of guidance capability, rear, makes all have good ability of creeping and guidance capability during its uplink and downlink.
Further, two ball-screws relatively described in the utility model by the stepper motor driven concrete structure that is fixed on outside framework are: stepper motor is connected with a ball-screw by reducer, and described ball-screw is connected by Timing Belt with another ball-screw.
Like this, by the simplest structure, the clamping and release synchronism stability that have effectively achieved two relative balladeur trains runs.
Further, the concrete structure that driving wheel described in the utility model is connected with the drive motors be fixed on equalizer bar is: drive motors is connected with driving wheel by reducer, Timing Belt successively.
Like this, by the connection of Timing Belt, control rotating and the velocity of rotation of drive motors, robot crawling direction and creep speed can be manipulated.
Further, drive motors described in the utility model is brshless DC motor.
This motor is lightweight and volume is little, and the linearity of mechanical property and control characteristic is good, and speed adjustable range is wide, and the life-span is long, easy to maintenance, and noise is little.
Further, outside framework top described in the utility model is provided with the installing rack of operation and checkout gear.
Like this, can as required, detecting instrument or apparatus for work be fixed on installing rack.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 be the utility model embodiment face structural representation.
Fig. 2 is the A-A generalized section of Fig. 1.
Fig. 3 is the side-looking structural representation of the utility model embodiment.
Fig. 4 is the plan structure schematic diagram of the utility model embodiment.
Detailed description of the invention
Embodiment
Fig. 1-4 illustrates, a kind of detailed description of the invention of the present utility model is: one climbs cable robot, and comprise outside framework 400 and inner climbing mechanism, its structure is:
Outside framework 400 is cube frame, and between the vertical rod of each side of outside framework 400, connect the contrary ball-screw 401 of two ends rotation direction by bearing, two relative ball-screws 401 are driven by the stepper motor 402 that is fixed on outside framework 400;
Each side of outside framework 400 arranges a balladeur train 200, the concrete formation of balladeur train 200 is: two montants are connected by a cross bar, the upper and lower side of montant is all provided with balladeur train guide wheel 201, and the balladeur train guide wheel 201 of upper and lower side contacts with bottom bar with the push rod of outside framework 300 respectively; The feed screw nut 202 coordinated with ball-screw 301 is all fixed with outside two montants;
Described climbing mechanism is fixed on the cross bar of balladeur train 200, and its concrete formation is:
A pair clamping brace plate 301 is fixed on two relative cross bars, upper end thereof guide peg 302 inside clamping brace plate 301, the other end of guide peg 302 installs directive wheel 303, be connected with extension spring 304 between the middle and upper part of guide peg 302 and the middle and upper part of clamping brace plate 301, the lower end of clamping brace plate 301 is provided with guide rod 306 by linear bearing 305;
Another is fixed on relative another two cross bars to clamping brace plate 301, the hinged guide peg 302 in lower end inside clamping brace plate 301, the other end of guide peg 302 installs directive wheel 303, be connected with extension spring 304 between the middle and lower part of guide peg 302 and the middle and lower part of clamping brace plate 301, the upper end of clamping brace plate 301 is provided with guide rod 306 by linear bearing 305;
One end that described guide rod 306 inwardly stretches out and equalizer bar 307 hinged, the position of guide rod 306 between equalizer bar 307 and clamping brace plate 301 is sheathed with pressure sensor 308 and Compress Spring 309; The upper and lower side of equalizer bar 307 is separately installed with driven pulley 310 and driving wheel 311, is connected with Timing Belt between driven pulley 310 and driving wheel 311, and driving wheel 311 is connected with the drive motors 312 be fixed on equalizer bar 307.
The concrete structure that two relative ball-screws 401 described in this example are driven by the stepper motor 402 that is fixed on outside framework 400 is: stepper motor 402 is connected with a ball-screw 401 by reducer 403, and described ball-screw 401 is connected by Timing Belt with another ball-screw 401.
The concrete structure that driving wheel 311 described in this example is connected with the drive motors 312 be fixed on equalizer bar 307 is: drive motors 312 is by being connected with driving wheel 311 by reducer 313, Timing Belt successively.
Drive motors 312 described in this example is brshless DC motor.
Outside framework 400 top described in this example is provided with the installing rack 100 of operation and checkout gear.
Claims (5)
1. climb a cable robot, comprise outside framework (400) and inner climbing mechanism, it is characterized in that:
Outside framework (400) is cube frame, between the vertical rod of outside framework (400) each side, connect the contrary ball-screw (401) of two ends rotation direction by bearing, two relative ball-screws (401) are driven by the stepper motor (402) that is fixed on outside framework (400);
Each side of outside framework (400) arranges a balladeur train (200), the concrete formation of balladeur train (200) is: two montants are connected by a cross bar, the upper and lower side of montant is all provided with balladeur train guide wheel (201), and the balladeur train guide wheel (201) of upper and lower side contacts with bottom bar with the push rod of outside framework (400) respectively; The feed screw nut (202) coordinated with ball-screw (401) is all fixed with outside two montants;
Described climbing mechanism is fixed on the cross bar of balladeur train (200), and its concrete formation is:
A pair clamping brace plate (301) is fixed on two relative cross bars, the upper end thereof guide peg (302) of clamping brace plate (301) inner side, the other end of guide peg (302) installs directive wheel (303), be connected with extension spring (304) between the middle and upper part of guide peg (302) and the middle and upper part of clamping brace plate (301), the lower end of clamping brace plate (301) is provided with guide rod (306) by linear bearing (305);
Another is fixed on relative another two cross bars to clamping brace plate (301), the hinged guide peg in the lower end (302) of clamping brace plate (301) inner side, the other end of guide peg (302) installs directive wheel (303), be connected with extension spring (304) between the middle and lower part of guide peg (302) and the middle and lower part of clamping brace plate (301), the upper end of clamping brace plate (301) is provided with guide rod (306) by linear bearing (305);
One end that described guide rod (306) inwardly stretches out and equalizer bar (307) hinged, the position of guide rod (306) between equalizer bar (307) and clamping brace plate (301) is sheathed with pressure sensor (308) and Compress Spring (309); The upper and lower side of equalizer bar (307) is separately installed with driven pulley (310) and driving wheel (311), be connected with Timing Belt between driven pulley (310) and driving wheel (311), driving wheel (310) is connected with the drive motors (312) be fixed on equalizer bar (307).
2. one according to claim 1 climbs cable robot, it is characterized in that: the concrete structure that described two relative ball-screws (401) are driven by the stepper motor (402) that is fixed on outside framework (400) is: stepper motor (402) is connected with a ball-screw (401) by reducer (403), and described ball-screw (401) is connected by Timing Belt with another ball-screw (401).
3. one according to claim 1 climbs cable robot, it is characterized in that: the concrete structure that described driving wheel (311) is connected with the drive motors (312) be fixed on equalizer bar (307) is: drive motors (312) is by being connected with driving wheel (311) by reducer (313), Timing Belt successively.
4. one according to claim 1 climbs cable robot, it is characterized in that: described drive motors (312) is brshless DC motor.
5. one according to claim 1 climbs cable robot, it is characterized in that: described outside framework (400) top is provided with the installing rack (100) of operation and checkout gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520092512.5U CN204530471U (en) | 2015-02-10 | 2015-02-10 | Climb cable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520092512.5U CN204530471U (en) | 2015-02-10 | 2015-02-10 | Climb cable robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204530471U true CN204530471U (en) | 2015-08-05 |
Family
ID=53744493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520092512.5U Withdrawn - After Issue CN204530471U (en) | 2015-02-10 | 2015-02-10 | Climb cable robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204530471U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104652263A (en) * | 2015-02-10 | 2015-05-27 | 西南交通大学 | Cable climbing robot |
| CN105329331A (en) * | 2015-10-29 | 2016-02-17 | 南京邮电大学 | Probe type obstacle detection device for high-altitude cable climbing robot |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN113533368A (en) * | 2021-05-24 | 2021-10-22 | 国网河北省电力有限公司衡水供电分公司 | Electric pole crack detection device, control method and control terminal |
| CN114396021A (en) * | 2022-03-08 | 2022-04-26 | 招商局重庆交通科研设计院有限公司 | Assembled deep sea pier buffer stop |
-
2015
- 2015-02-10 CN CN201520092512.5U patent/CN204530471U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104652263A (en) * | 2015-02-10 | 2015-05-27 | 西南交通大学 | Cable climbing robot |
| CN104652263B (en) * | 2015-02-10 | 2016-08-17 | 西南交通大学 | One climbs cable robot |
| CN105329331A (en) * | 2015-10-29 | 2016-02-17 | 南京邮电大学 | Probe type obstacle detection device for high-altitude cable climbing robot |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN108216409B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Flexible peristaltic climbing robot |
| CN113533368A (en) * | 2021-05-24 | 2021-10-22 | 国网河北省电力有限公司衡水供电分公司 | Electric pole crack detection device, control method and control terminal |
| CN114396021A (en) * | 2022-03-08 | 2022-04-26 | 招商局重庆交通科研设计院有限公司 | Assembled deep sea pier buffer stop |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150805 Effective date of abandoning: 20160817 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |