CN205100101U - Can rotatory device that climbs - Google Patents
Can rotatory device that climbs Download PDFInfo
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- CN205100101U CN205100101U CN201520857750.0U CN201520857750U CN205100101U CN 205100101 U CN205100101 U CN 205100101U CN 201520857750 U CN201520857750 U CN 201520857750U CN 205100101 U CN205100101 U CN 205100101U
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- revolvable
- climbing device
- driven unit
- needle
- drive assembly
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Abstract
The utility model discloses a can rotatory device that climbs, including the three drive assembly and the obstacle induction system that are triangle setup, three drive assembly is respectively: a drive assembly, the 2nd drive assembly and the 3rd drive assembly, every drive assembly all includes two gyro wheels, every gyro wheel homoenergetic and cable surface pressure tight fit, two gyro wheels among every drive assembly are the drive wheel, can syntropy or antiport. After adopting above -mentioned structure, through to two side roller rotational speeds and the control that turns to the change to the realization is climbed and the stack of two motions of rotate, and then realizes the measuring on the whole outer face of cylinder, compact structure, and light in weight, control installation are conveniently. Simultaneously, the pipe diameter is suitable for can the reinforce, and obstacle climbing ability is strong, has reserved out the space that is favorable to striding across the perk steel wire between two corresponding gyro wheels, and the gyro wheel can have the roll extrusion effect to the perk steel wire, can not be hung firmly, can return ground smoothly.
Description
Technical field
The utility model relates to a kind of cable-stayed bridge cable measuring robots, specifically, relates to a kind of robot, particularly a kind of revolvable climbing device for long-span cablestayed bridges drag-line or other high-altitude bar class, the fault detect of power line class formation.
Background technology
The robot of prior art is all that rotary freedom is uncontrollable, therefore can not complete whole external cylindrical surface and detect.
In addition, existing robot mostly complex structure, weight is large, and climbing ability is not strong, and obstacle climbing ability is not strong yet; Adjust trouble when adapting to different tube diameters, as when caliber is different, the attitude of mechanism is different, and the extended length of spring is different, and for guarantee roller compression power is constant, need often to change spring, adjustment quite bothers.
In addition, cable is due to Long-Time Service, and bad environments, surface protecting layer often occurs breakage, causes inner wire to disconnect and sticks up.Climbing robot, very easily being tangled through these obstacles, is forced to rest on overhead calbe, successfully cannot returns to ground.And climbing robot rests on overhead calbe, inherently danger close.
Utility model content
The technical problems to be solved in the utility model is for above-mentioned the deficiencies in the prior art, and provides a kind of compact conformation, lightweight, controls easy for installation, and load capacity is strong, and caliber compliance is good, the revolvable climbing device that obstacle climbing ability is strong.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
A kind of revolvable climbing device, comprise three driven units of setting triangular in shape, three driven units are respectively: the first driven unit, the second driven unit and the 3rd driven unit; Each driven unit includes two rollers, each roller all can with cable surface pressure tight fit; Two rollers in each driven unit are driving wheel, can in the same way or rotate backward.
Two rollers in described first driven unit are separately positioned on two blocks of vertical supporting plates; Two rollers being positioned at homonymy in second driven unit and the 3rd driven unit are separately positioned on one block of cross binding plate; Every bottom of block vertical supporting plate and the middle part of cross binding plate are hinged.
Two blocks of described cross binding plates are parallel to each other, and are connected by least one support bar.
Two blocks of described vertical supporting plates are arranged in parallel, and are connected by least one support bar.
Each described roller is all tapered, and the taper bus of roller is straight line or camber line.
The side that each roller contacts with cable is provided with turning rolls, and each turning rolls is along the circumferential direction evenly provided with several rollers.
Also comprise obstacle induction installation, obstacle induction installation is fixedly installed on top and/or the bottom of three driven units.
Described obstacle induction installation comprises at least two inductive switches, each inductive switch includes probe and switch body, every root probe comprises one section of arcuate probe and at least one needle-valve, one end of needle-valve is fixedly connected with arcuate probe, the other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection; At least two sections of arcuate probe are coaxially arranged, and can enclose formation circulus.
Needle-valve described in every root is all coaxially arranged with several spherical point contacts, in switch body, is provided with the ball-and-socket equal with spherical point contacts quantity; The volume of ball-and-socket is greater than the volume of spherical point contacts, when spherical point contacts contacts with ball-and-socket any point, and all conductings of energy touch switch body breaker in middle amount signal.
Described switch body comprises inductive switch contiguous block and is coaxially fixedly installed on two elasticity contiguous blocks at inductive switch contiguous block two ends, ball-and-socket is coaxially arranged in inductive switch contiguous block, needle-valve is fixedly connected with elasticity contiguous block, is provided with elastic deformation cavity in each elasticity contiguous block.
After the utility model adopts said structure, there is following Advantageous Effects:
1. two rollers in above-mentioned each driven unit are driving wheel, can in the same way or rotate backward.Therefore, when rotating in same direction, robot climbs; When turned reversely, robot does not climb, rotate around cable center angular velocity, rotary steerable, by to two side wheel rotating speeds and the control turning to change, thus realize the superpositions of two motions of climbing and rotating, and then realize the detection of whole external cylindrical surface, detect more comprehensively complete, have great importance.Meanwhile, number of parts is few, and compact conformation is lightweight, controls easy for installation.
2. to be suitable for ability strong for caliber: adapt to different calibers by the spacing adjusting two rollers in each driven unit, in the adjustable range of mechanism, cable and roller center distance remain unchanged.Namely climb various outer diameter cable time, the attitude of mechanism is constant, can keep-spring power invariable, this point for stable climb particularly important.
3. obstacle climbing ability is strong: when cable surface protecting layer occurs damaged, during as inner wire disconnection tilting, is easy to robot to tangle, makes it rest on high-altitude and can not return to ground.In the application, in each driven unit, two rollers are provided separately, centre does not directly connect, very large space is reserved between two corresponding rollers, this space strides across being conducive to the steel wire sticked up, and the obstacle such as steel wire of sticking up of pair of rollers, also there is roll extrusion effect, can not be tangled, ground can be returned to smoothly.
4. the setting of above-mentioned obstacle induction installation, can cover the whole excircle of cable, can to cable external cylindrical surface carry out 360 ° all-round to fault detect, detect without dead angle.Meanwhile, the obstacle that any shape encountered by inductive switch all can be triggered delicately, produces alarm switch amount signal.And overall structure is small and exquisite, reliably, lightweight, be conducive to work high above the ground.
Accompanying drawing explanation
Fig. 1 shows the structural representation of a kind of revolvable climbing device of the utility model;
Fig. 2 shows the structural representation of two blocks of cross binding plates and annexation thereof;
Fig. 3 shows the structural representation of two blocks of vertical supporting plates and annexation thereof;
Fig. 4 shows the structural representation of roller;
Fig. 5 shows the structural representation of the turning rolls being provided with roller;
Fig. 6 shows roller and the hinged structural representation of turning rolls;
Fig. 7 shows structural representation during roller obstacle detouring;
Fig. 8 shows the utility model overhead calbe robot climbing device obstacle climbing ability and analyzes schematic diagram;
Fig. 9 shows the structural representation of the overhead calbe robot climbing device being provided with obstacle induction installation;
Figure 10 shows the structural representation of obstacle induction installation;
Figure 11 shows the structural representation of inductive switch;
Figure 12 shows the cross-sectional view of inductive switch;
Figure 13 shows structural representation when two side wheel rotating in same directions climb;
Figure 14 shows structural representation when two side wheels rotate backward rotation;
Figure 15 shows structural representation during cable face of cylinder detection in prior art;
Figure 16 shows structural representation during cable periphery detection in the application.
Wherein have:
1. the first driven unit; 11. vertical supporting plates;
2. the second driven unit; 21. cross binding plates;
3. the 3rd driven unit;
4. roller; 41. turning rollss; 42. rollers;
5. support bar;
6. obstacle induction installation;
61. arcuate probe; 62. needle-valves; 621. arc shaped contact; 63. inductive switch contiguous blocks; 631. ball-and-socket; 64. elasticity contiguous blocks; 641. elastic deformation cavitys; 65. supports;
7. tilt steel wire.
Detailed description of the invention
Below in conjunction with accompanying drawing and concrete better embodiment, the utility model is described in further detail.
As shown in Fig. 1 and Fig. 9, a kind of revolvable climbing device, comprises three driven units and obstacle induction installation 6, also can according to actual needs, induction installation 6 of not placing obstacles.
Three driven unit settings triangular in shape, three driven units are respectively: the first driven unit 1, second driven unit 2 and the 3rd driven unit 3.
Each driven unit includes two rollers 4, each roller 4 all can with cable surface pressure tight fit.Preferably, make roller compression on cable surface by spring, spring provides the internal force of whole climbing device.
Two rollers 4 in above-mentioned first driven unit 1 are separately positioned on two blocks of vertical supporting plates 11.As shown in Figure 3, two blocks of vertical supporting plates 11 are preferably arranged in parallel, and are connected by least one support bar 5.
Two rollers 4 being positioned at homonymy in second driven unit 2 and the 3rd driven unit 3 are separately positioned on one block of cross binding plate 21.As shown in Figure 2, arranged in parallel between two blocks of cross binding plates 21, and be connected by least one support bar 5, be preferably two.
The two ends of above-mentioned every root support bar 5 and vertical supporting plate 11 or cross binding plate 2 can be hinged, also can for being fixedly connected with.
The bottom of every block vertical supporting plate 11 is hinged with the middle part of corresponding cross binding plate 21, certainly, also can be fixedly connected with.
In addition, the support bar 5 in each driven unit all coaxially can be arranged with two rollers.Now, the two ends of every root support bar 5 are hinged with corresponding roller 4 respectively.Also namely, support bar 5 do not affect two rollers in driven unit in the same way or rotate backward.
Further, each roller 4 is all preferably tapered, and the taper bus of roller is straight line or camber line.
As shown in Figure 4, Figure 5 and Figure 6, the side that each roller 4 contacts with cable is provided with turning rolls 41, and each turning rolls 41 is along the circumferential direction evenly provided with several rollers 42.Each roller 42 preferably and turning rolls 41 be hinged.
In addition, in Fig. 4 and Fig. 5, A is the angle of two rollers 42 on diagram plane of projection, the angle that B for the roller conical surface is, and C is the angle on diagram plane of projection between roller 42 and turning rolls radial direction.
Roller yawing moment on two side wheels is contrary, and deflection angle can be the same or different.
Two rollers 4 in each driven unit are driving wheel, can in the same way or rotate backward.
As shown in figure 13, the synchronized in the same way driving of two side wheels, roller counter roller frame is now static, then robot realizes speed V and climbs.
As shown in figure 14, the reverse constant speed of two side wheels, now left and right sides roller counter roller frame angular velocity rotates, and robot does not climb, and rotates around cable center angular velocity.
In figure, ω 0 is the velocity of rotation of robot relative to cable, and ω 1 is the rotating speed of turning rolls, and ω 2 is the rotating speed of roller relative to turning rolls, and V is climbing speed.
As shown in figure 15, prior art (even if joining multiple probe), uncontrollable owing to rotating, therefore only can realize the detection of straight line.
As shown in figure 16, and the utility model is due to rotary steerable, can realize the detection of whole external cylindrical surface.By two side wheel rotating speeds, with the change turned to, the superposition of two motions of climbing and rotating can be realized, and then realize the detection of whole external cylindrical surface, detect more comprehensively complete, have great importance.
In addition, cable surface protecting layer occurs damaged, and having inner wire time serious can disconnect, and sticks up, and is easy to robot to tangle, and makes it rest on high-altitude and can not return to ground.
In the application, left and right sides roller is provided separately, and middle without being interconnected, reserve very large space between two rollers, this space may be used for passing through of obstacle.
As shown in Figure 7 and Figure 8, cable is except with except 4 of roller contact, there is the space that distance is " H " in above-below direction distance frame, there is the space that distance is " W " in left and right directions and frame, be convenient to stride across and tilt steel wire 7, when roller encounters tilting steel wire 7 obstacle such as grade, then there is roll extrusion effect, generally can not be tangled, so this case technical scheme can not exist the problem tangled by tilting steel wire, ground can be returned to smoothly.
Above-mentioned obstacle induction installation 6 can be fixedly installed on the top of three driven units, also can be arranged on the bottom of three driven units, also can be arranged on top and the bottom of three driven units simultaneously.
As shown in Figure 10, Figure 11 and Figure 12, obstacle induction installation 6 comprises at least two inductive switches and a support, and the quantity of inductive switch is preferably three.
Several connectors that support comprises annulus and is fixedly installed along annulus circumference, inductive switch is preferably fixed on annulus.The other end of connector is fixed on climbing robot.
Each inductive switch includes probe and switch body.
Probe has the following two kinds preferred embodiment.
Embodiment 1: every root probe comprises one section of arcuate probe and a needle-valve.
Embodiment 2: every root probe comprises one section of arcuate probe and two needle-valves arranged in parallel.
As replacement, the quantity of needle-valve can also be more than 3 or 3, all within the protection domain of the application.
One end of above-mentioned every root needle-valve is fixedly connected with arcuate probe, and the top of preferred needle-valve is fixedly connected with the middle part of arcuate probe.
The other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection.
Above-mentioned arcuate probe is all coaxially arranged, and can enclose formation circulus.Preferably, the head and the tail of arcuate probe splice mutually, form an annulus.As replacement, also can be only close to each other without splicing relation between the head and the tail of arcuate probe, or arcuate probe decentraction is arranged, but coaxially arrange, have coincidence etc. between the head and the tail of arcuate probe, also all within the protection domain of the application.
Arcuate probe encloses the circulus of formation, can cover the whole excircle of cable, can to cable external cylindrical surface carry out 360 ° all-round to fault detect, detect without dead angle.
Every root needle-valve is all coaxially arranged with several spherical point contacts, is preferably two.
Switch body comprises inductive switch contiguous block and is coaxially fixedly installed on two elasticity contiguous blocks at inductive switch contiguous block two ends.Elastic deformation cavity is preferably provided with in each elasticity contiguous block.
The ball-and-socket equal with spherical point contacts quantity is coaxially arranged with in inductive switch contiguous block; The volume of ball-and-socket is greater than the volume of spherical point contacts.Therefore, when inductive switch does not touch obstacle, spherical point contacts can be positioned at the center of ball-and-socket, and does not contact with ball-and-socket.
When spherical point contacts contacts with ball-and-socket any point, all conductings of energy touch switch body breaker in middle amount signal.
Above-mentioned needle-valve is fixedly connected with elasticity contiguous block, the elastomeric bearing that can carry out floating between needle-valve with inductive switch contiguous block is connected, the motion of 6 degree of freedom in energy implementation space under the elastomeric bearing effect of elasticity contiguous block, this guarantees probe when touching the obstacle of arbitrary shape at an arbitrary position, spherical point contacts can contact with the ball-and-socket of any attitude with inductive switch contiguous block inside at an arbitrary position, produces on-off model.
More than describe preferred embodiment of the present utility model in detail; but; the utility model is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present utility model; can carry out multiple equivalents to the technical solution of the utility model, these equivalents all belong to protection domain of the present utility model.
Claims (10)
1. a revolvable climbing device, is characterized in that: three driven units comprising setting triangular in shape, and three driven units are respectively: the first driven unit, the second driven unit and the 3rd driven unit; Each driven unit includes two rollers, each roller all can with cable surface pressure tight fit; Two rollers in each driven unit are driving wheel, can in the same way or rotate backward.
2. revolvable climbing device according to claim 1, is characterized in that: two rollers in described first driven unit are separately positioned on two blocks of vertical supporting plates; Two rollers being positioned at homonymy in second driven unit and the 3rd driven unit are separately positioned on one block of cross binding plate; Every bottom of block vertical supporting plate and the middle part of cross binding plate are hinged.
3. revolvable climbing device according to claim 2, is characterized in that: two blocks of described cross binding plates are parallel to each other, and are connected by least one support bar.
4. revolvable climbing device according to claim 2, is characterized in that: two blocks of described vertical supporting plates are arranged in parallel, and are connected by least one support bar.
5. revolvable climbing device according to claim 1, is characterized in that: each described roller is all tapered, and the taper bus of roller is straight line or camber line.
6. revolvable climbing device according to claim 1 or 5, it is characterized in that: the side that each roller contacts with cable is provided with turning rolls, each turning rolls is along the circumferential direction evenly provided with several rollers.
7. revolvable climbing device according to claim 1, is characterized in that: also comprise obstacle induction installation, obstacle induction installation is fixedly installed on top and/or the bottom of three driven units.
8. revolvable climbing device according to claim 7, it is characterized in that: described obstacle induction installation comprises at least two inductive switches, each inductive switch includes probe and switch body, every root probe comprises one section of arcuate probe and at least one needle-valve, one end of needle-valve is fixedly connected with arcuate probe, the other end of needle-valve and switch body floating connection, the conducting of needle-valve energy touch switch body breaker in middle amount signal and disconnection; At least two sections of arcuate probe are coaxially arranged, and can enclose formation circulus.
9. revolvable climbing device according to claim 8, is characterized in that: needle-valve described in every root is all coaxially arranged with several spherical point contacts, is provided with the ball-and-socket equal with spherical point contacts quantity in switch body; The volume of ball-and-socket is greater than the volume of spherical point contacts, when spherical point contacts contacts with ball-and-socket any point, and all conductings of energy touch switch body breaker in middle amount signal.
10. revolvable climbing device according to claim 9, it is characterized in that: described switch body comprises inductive switch contiguous block and is coaxially fixedly installed on two elasticity contiguous blocks at inductive switch contiguous block two ends, ball-and-socket is coaxially arranged in inductive switch contiguous block, needle-valve is fixedly connected with elasticity contiguous block, is provided with elastic deformation cavity in each elasticity contiguous block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520857750.0U CN205100101U (en) | 2015-10-29 | 2015-10-29 | Can rotatory device that climbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520857750.0U CN205100101U (en) | 2015-10-29 | 2015-10-29 | Can rotatory device that climbs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205100101U true CN205100101U (en) | 2016-03-23 |
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ID=55515891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520857750.0U Active CN205100101U (en) | 2015-10-29 | 2015-10-29 | Can rotatory device that climbs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205100101U (en) |
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2015
- 2015-10-29 CN CN201520857750.0U patent/CN205100101U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Jiangsu Nanyou IOT Technology Park Ltd. Assignor: Nanjing Post & Telecommunication Univ. Contract record no.: 2016320000216 Denomination of utility model: Can rotatory device that climbs Granted publication date: 20160323 License type: Common License Record date: 20161117 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Jiangsu Nanyou IOT Technology Park Ltd. Assignor: Nanjing Post & Telecommunication Univ. Contract record no.: 2016320000216 Date of cancellation: 20180116 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: X2020980007094 Denomination of utility model: A climbing device that can rotate Granted publication date: 20160323 License type: Common License Record date: 20201026 |
|
| EE01 | Entry into force of recordation of patent licensing contract |