CN214831912U

CN214831912U - Novel crawler-type cable climbing device

Info

Publication number: CN214831912U
Application number: CN202120665799.1U
Authority: CN
Inventors: 王鹏峰; 李运堂; 胡伟杰; 李孝禄
Original assignee: China Jiliang University
Current assignee: China Jiliang University
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2021-11-23
Anticipated expiration: 2031-03-25

Abstract

A novel crawler-type cable climbing device comprises: the climbing mechanism comprises a flange bearing I, a side plate, a worm fixing seat, a coupler, a motor fixing seat, a track I, V-shaped guide wheel, a driven synchronizing wheel I, a flange bearing II, a driving synchronizing wheel I, a worm, a turbine, a driving synchronizing wheel II, a track II, a turbine shaft, a flange bearing III, a tension wheel I, a clamp spring, a driven synchronizing wheel II, a driven wheel shaft, a flange bearing IV, a worm fixing bearing I, a worm fixing bearing II, a turbine fixing flat key and a motor fixing screw, the realization is convenient.

Description

Novel crawler-type cable climbing device

The technical field is as follows:

the invention relates to a novel crawler-type cable climbing device, which is mainly used for detecting and maintaining a cable of a cable-stayed bridge and belongs to the technical field of engineering.

Background art:

the cable-stayed bridge is a novel bridge, is widely applied to bridge construction of various countries due to the unique advantages of large span, attractive appearance, high cost performance and the like, particularly, the cable-stayed bridge in China develops rapidly, becomes one of main bridge types, and is a country with the largest number of cable-stayed bridges in the world.

As a main stressed component of the cable-stayed bridge, the cable is influenced by sunshine and rain due to long-term exposure in the air, and the cable of the sea-crossing bridge is also easily corroded by the air. Therefore, to ensure the safety of the cable-stayed bridge, the cable has to be regularly inspected, maintained, or even replaced. At present, the detection and maintenance of the cable are generally carried out by adopting a manual method, so that the working strength is high, the efficiency is low, and the safety is poor, therefore, the actual requirement of the cable climbing device for the detection and maintenance of the cable is generated.

The existing climbing robot has the problems of excessively complex structure, large volume, heaviness, complex assembly when a cable is replaced and the like, so that the development of a small, light, safe and efficient climbing device of the cable detection robot applied to cable-stayed bridge cable detection is of great significance.

The invention content is as follows:

the purpose of the invention is:

the utility model provides a novel crawler-type cable climbing device can regard as the motion carrier of equipment such as cable detection, maintenance, has fast, takes advantages such as load capacity reinforce, solves that manual work exists that intensity of labour is big, the security is not high and current cable climbing device adaptability is poor scheduling problem.

In order to realize the purpose of the invention, the following technical scheme is adopted:

the invention comprises the following steps: the climbing unit that frame and constitute by pretension mechanism and crawl mechanism, pretension mechanism includes: anchor clamps mechanism and stretch mechanism, anchor clamps mechanism includes: anchor clamps rotate hinge I, anchor clamps and rotate hinge II, connecting rod, anchor clamps and rotate hinge III, push-and-pull rod, adjusting nut, pretension spring, handle, base and adjusting bolt, and the mechanism that stretches includes: push rod fixing base I, push rod rotate hinge I, push rod rotate hinge II, push rod fixing base II, push rod rotate hinge III, push rod II, push rod rotate hinge IV, push rod III, push rod rotate hinge V, push rod rotate hinge VI, linear bearing, lift movable plate and polished rod, the mechanism of crawling includes: flange bearing I, the curb plate, the worm fixing base, the shaft coupling, including a motor, an end cap, a controller, and a cover plate, the motor fixing base, track I, V shape leading wheel I, driven synchronizing wheel I, flange bearing II, initiative synchronizing wheel I, the worm, the turbine, initiative synchronizing wheel II, track II, the turbine shaft, flange bearing III, take-up pulley I, the jump ring, V-arrangement leading wheel II, driven synchronizing wheel II, V-arrangement leading wheel III, take-up pulley II, the driven wheel axle, flange bearing IV, worm fixing bearing I, worm fixing bearing II, the flat key is fixed to the turbine and motor set screw, its characterized in that: in the clamp mechanism, a handle is arranged on a base through a clamp rotating hinge, the handle is arranged on a connecting rod through the clamp rotating hinge, the connecting rod is arranged on a push-pull rod through a clamp rotating hinge III, the push-pull rod is arranged on the base, an adjusting bolt is arranged on the push-pull rod, an adjusting nut and a pre-tightening spring are arranged on the adjusting bolt, in the stretching mechanism, a linear bearing is arranged on a polished rod, a lifting moving plate is fixed on the linear bearing, a push rod III is arranged on the lifting moving plate through a push rod rotating hinge VI, a push rod fixing seat II is fixed on the polished rod, a push rod II is arranged on a push rod fixing seat II through the push rod rotating hinge III, the push rod I is arranged on the push rod fixing seat I through the push rod rotating hinge I, the adjusting bolt is arranged in a hole E of the lifting moving mechanism, a worm fixing seat and a motor moving plate fixing seat are fixed on a side plate, and a motor is fixed on the motor fixing seat through a motor fixing screw, the worm is coaxially connected with the motor through a coupler, the worm is arranged on a worm fixing seat through a worm fixing bearing I, a worm fixing bearing II and a clamp spring, the worm and the worm are installed in a meshed mode, the worm is fixed on a turbine shaft through a worm fixing flat key, a driving synchronizing wheel I and a driving synchronizing wheel II are fixed on the turbine shaft, the turbine shaft is arranged on a side plate through a flange bearing I and a flange bearing III, a V-shaped guide wheel I, V-shaped guide wheel II, a V-shaped guide wheel III, a tension wheel I and a tension wheel II are arranged on the side plate, a driven wheel shaft is arranged on the side plate through a flange bearing II and a flange bearing IV, a driven synchronizing wheel I and a driven synchronizing wheel II are arranged on the driven wheel shaft, a crawler I is arranged on a V-shaped guide wheel I, V-shaped guide wheel II, a V-shaped guide wheel III, a tension wheel I, a tension wheel II, a driving synchronizing wheel I and a driven synchronizing wheel I, and the crawler II is arranged on the V-shaped guide wheel I, V-arrangement leading wheel II, V-arrangement leading wheel III, take-up pulley I, take-up pulley II, initiative synchronizing wheel II and driven synchronizing wheel II, fixture mechanism's base is fixed in the frame, the polished rod of the mechanism that stretches is fixed in the frame, fixture mechanism's push rod fixing base I is fixed in the frame, pretension mechanism's push rod I rotates hinge II through the push rod and sets up on the hole B of the curb plate of the mechanism of crawling, the push rod II of the mechanism that stretches rotates hinge III through the push rod and sets up on the hole D of the curb plate of the mechanism of crawling, the push rod III2-2-9 of the mechanism that stretches rotates hinge IV through the push rod and sets up on the hole C of the curb plate of the mechanism of crawling, above-mentioned frame sets up three unit of climbing at least.

The invention has the characteristics that:

the invention adopts at least three motors to drive synchronously, the climbing force is large, and the operation is stable; in order to prevent the climbing device from falling caused by sudden power failure of a system, insufficient driving force, mechanical failure and other accidents during aloft work, the worm and gear transmission is adopted in the climbing device, and the transmission part has a self-locking function, so that the safety guarantee is improved; in order to realize the installation on the cable without disassembly and assembly, the frame adopts an annular frame with a notch and is directly installed on the cable; in order to realize convenient and rapid pre-tightening, a clamp mechanism is combined with a stretching mechanism, so that the pre-tightening efficiency is improved; in order to avoid overlarge or insufficient pretightening force, the pretightening force is self-adaptive and fine-tuned, and the adaptability of the cable climbing device is improved; in order to improve the climbing load capacity, each group of climbing units adopts double crawler belts distributed in a V shape, the contact area between the climbing units and a cable is increased, and meanwhile, the double crawler belts distributed in the V shape have a guiding function to prevent deviation; the invention has simple structure, easy control and convenient realization.

Drawings

Fig. 1 illustrates the overall structure of the present invention.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a schematic view of a climbing unit K according to the invention.

Fig. 4 is a front view of fig. 3.

Fig. 5 is a view of the a-a side mechanism of fig. 4.

Fig. 6 is a view of the B-B side mechanism of fig. 4.

Figure 7 illustrates a cross-sectional view of the clamping mechanism.

Fig. 8 illustrates the stretching mechanism.

Fig. 9 illustrates a crawling mechanism.

Fig. 10 is a top view of fig. 9.

Fig. 11 is an elevational sectional view of fig. 9.

1. A frame; 2. a pre-tightening mechanism; 3. a crawling mechanism; 2-1-1, a clamp rotating hinge; 2-1-2, a clamp rotating hinge II; 2-1-3, connecting rod; 2-1-4, a clamp rotating hinge III; 2-1-5, push-pull rod; 2-1-6, adjusting nut; 2-1-7, pre-tightening the spring; 2-1-8, a handle; 2-1-9, a base; 2-1-10, adjusting bolt; 2-2-1, a push rod fixing seat I; 2-2-2, a push rod rotating hinge I; 2-2-3, a push rod I; 2-2-4, a push rod rotating hinge II; 2-2-5, a push rod fixing seat II; 2-2-6, a push rod rotating hinge III; 2-2-7, a push rod II; 2-2-8, a push rod rotating hinge IV; 2-2-9, push rod III; 2-2-10, a push rod rotating hinge V; 2-2-11, a push rod rotating hinge VI; 2-2-12, linear bearing; 2-2-13, lifting and moving the plate; 2-2-14, a polish rod; 3-1, flange bearing I; 3-2, side plates; 3-3, fixing a worm; 3-4, a coupler; 3-5, a motor; 3-6, motor fixing seats; 3-7, a crawler I; 3-8, a V-shaped guide wheel I; 3-9, a driven synchronizing wheel I; 3-10 parts of flange bearing II; 3-11, a driving synchronous wheel I; 3-12, worm; 3-13, turbine; 3-14, a driving synchronous wheel II; 3-15, a crawler belt II; 3-16, turbine shaft; 3-17, flange bearing III; 3-18, a tensioning wheel I; 3-19, a clamp spring; 3-20, a V-shaped guide wheel II; 3-21, driven synchronizing wheel II; 3-22, a V-shaped guide wheel III; 3-23, a tensioning wheel II; 3-24, driven wheel shaft; 3-25, flange bearing IV; 3-26, fixing a bearing I by a worm; 3-27, fixing a bearing II by a worm; 3-28, turbine fixing flat keys; 3-29, fixing a screw by a motor; A. a cable; K. a climbing unit.

The specific implementation mode is as follows:

the specific working process of the invention is described below with reference to the accompanying drawings.

The invention is characterized in that at least three climbing units K are arranged on a rack 1, in a clamp mechanism 2-1 of each climbing unit K, a handle 2-1-8 is arranged on a base 2-1-9 through a clamp rotating hinge I2-1-1, the handle 2-1-8 is arranged on a connecting rod 2-1-3 through a clamp rotating hinge II2-1-2, the connecting rod 2-1-3 is arranged on a push-pull rod 2-1-5 through a clamp rotating hinge III2-1-4, the push-pull rod 2-1-5 is arranged on the base 2-1-9, an adjusting bolt 2-1-10 is arranged on the push-pull rod 2-1-5, an adjusting nut 2-1-6 and a pre-tightening spring 2-1-7 are arranged on the adjusting bolt 2-1-10, in the extension mechanism 2-2, a linear bearing 2-2-12 is arranged on a polished rod 2-2-14, a lifting moving plate 2-2-13 is fixed on the linear bearing 2-2-12, a push rod III2-2-9 is arranged on the lifting moving plate 2-2-13 through a push rod rotating hinge VI2-2-11, a push rod fixing seat II2-2-5 is fixed on the polished rod 2-2-14, a push rod II2-2-7 is arranged on a push rod fixing seat II2-2-5 through a push rod rotating hinge III2-2-6, a push rod I2-2-3 is arranged on a push rod fixing seat I2-2-1 through a push rod rotating hinge I2-2-2, an adjusting bolt 2-1-10 is arranged in a hole E of the lifting moving plate 2-2-13, in the crawling mechanism 3, a worm fixing seat 3-3 and a motor fixing seat 3-6 are fixed on a side plate 3-2, a motor 3-5 is fixed on the motor fixing seat 3-6 through a motor fixing screw 3-29, a worm 3-12 is coaxially connected with the motor 3-5 through a coupler 3-4, the worm 3-12 is arranged on the worm fixing seat 3-3 through a worm fixing bearing I3-26, a worm fixing bearing II3-27 and a clamp spring 3-19, a turbine 3-13 is meshed with the worm 3-12, the turbine 3-13 is fixed on a turbine shaft 3-16 through a turbine fixing flat key 3-28, a driving synchronizing wheel I3-11 and a driving synchronizing wheel II3-14 are fixed on the turbine shaft 3-16, the turbine shaft 3-16 is arranged on the side plate 3-2 through a flange bearing I3-1 and a flange bearing III3-17, v-shaped guide wheels I3-8, V-shaped guide wheels II3-20, V-shaped guide wheels III3-22, tensioning wheels I3-18 and tensioning wheels II3-23 are arranged on the side plates 3-2, driven wheel shafts 3-24 are arranged on the side plates 3-2 through flange bearings II3-10 and flange bearings IV3-25, driven synchronizing wheels I3-9 and driven synchronizing wheels II3-21 are arranged on the driven wheel shafts 3-24, tracks I3-7 are arranged on the V-shaped guide wheels I3-8, V-shaped guide wheels II3-20, V-shaped guide wheels III3-22, tensioning wheels I3-18, tensioning wheels II3-23, driving synchronizing wheels I3-11 and driven synchronizing wheels I3-9, tracks II3-15 are arranged on the V-shaped guide wheels I3-8, V-shaped guide wheels II3-20, V-III-26-6722 and V-3-6722, The device comprises a tension wheel I3-18, a tension wheel II3-23, a driving synchronous wheel II3-14 and a driven synchronous wheel II3-21, wherein a base 2-1-9 of a clamp mechanism 2-1 is fixed on a rack 1, a polished rod 2-2-14 of a stretching mechanism 2-2 is fixed on the rack 1, a push rod fixing seat I2-2-1 of the clamp mechanism 2-1 is fixed on the rack 1, a push rod I2-2-3 of a pre-tightening mechanism 2 is arranged on a hole B of a side plate 3-2 of a crawling mechanism 3 through a push rod rotating hinge II2-2-4, a push rod II2-2-7 of the stretching mechanism 2-2 is arranged on a hole D of the side plate 3-2 of the crawling mechanism 3 through a push rod rotating hinge III2-2-6, and a push rod III2-2-9 of the stretching mechanism 2-2 is arranged on the crawling machine through a push rod rotating hinge IV2-2-8 At least three climbing units K are arranged on the frame 1 on a hole C of a side plate 3-2 of the mechanism 3.

When the cable climbing is carried out, the clamp mechanism 2-1 pushes the stretching mechanism 2-2 to be stretched, the stretching mechanism 2-2 pushes the crawling mechanism 3 to press the cable A tightly, the motor 3-5 drives the crawling mechanism 3 to compress the cable A through the coupler 3-4, the worm 3-12, the turbine shaft 3-16, the driving synchronizing wheel I3-11, the driving synchronizing wheel II3-14, the driven synchronizing wheel I3-9, the driven synchronizing wheel II3-21, the V-shaped guide wheel I3-8, the V-shaped guide wheel II3-20, the V-shaped guide wheel III3-22, the tensioning wheel I3-18 and the tensioning wheel II3-23 to drive the crawler I3-7 and the crawler II3-15 to rotate, so that the cable climbing device is driven to move along the cable A, when the climbing process encounters a small obstacle, the pretightening spring 2-1-7 can be utilized for self adaptability, the obstacle crossing of the invention is realized.

Claims

1. A novel crawler-type cable climbing device comprises: the climbing device comprises a rack (1) and a climbing unit (K) consisting of a pre-tightening mechanism (2) and a climbing mechanism (3), wherein the pre-tightening mechanism (2) comprises a clamp mechanism (2-1) and a stretching mechanism (2-2), the clamp mechanism (2-1) comprises a clamp rotating hinge I (2-1-1), a clamp rotating hinge II (2-1-2), a connecting rod (2-1-3), a clamp rotating hinge III (2-1-4), a push-pull rod (2-1-5), an adjusting nut (2-1-6), a pre-tightening spring (2-1-7), a handle (2-1-8), a base (2-1-9) and an adjusting bolt (2-1-10), and the stretching mechanism (2-2) comprises, a push rod fixing seat I (2-2-1), a push rod rotating hinge I (2-2-2), a push rod I (2-2-3), a push rod rotating hinge II (2-2-4), a push rod fixing seat II (2-2-5), a push rod rotating hinge III (2-2-6), a push rod II (2-2-7), a push rod rotating hinge IV (2-2-8), a push rod III (2-2-9), a push rod rotating hinge V (2-2-10), a push rod rotating hinge VI (2-2-11), a linear bearing (2-2-12), a lifting movable plate (2-2-13) and a polished rod (2-2-14), wherein the crawling mechanism (3) comprises a flange bearing I (3-1), Side plate (3-2), worm fixing seat (3-3), coupling (3-4), motor (3-5), motor fixing seat (3-6), crawler I (3-7), V-shaped guide wheel I (3-8), driven synchronizing wheel I (3-9), flange bearing II (3-10), driving synchronizing wheel I (3-11), worm (3-12), turbine (3-13), driving synchronizing wheel II (3-14), crawler II (3-15), turbine shaft (3-16), flange bearing III (3-17), tensioning wheel I (3-18), snap spring (3-19), V-shaped guide wheel II (3-20), driven synchronizing wheel II (3-21), V-shaped guide wheel III (3-22), tensioning wheel II (3-23), Driven wheel axle (3-24), flange bearing IV (3-25), worm fixing bearing I (3-26), worm fixing bearing II (3-27), turbine fixing flat key (3-28) and motor set screw (3-29), its characterized in that: in the clamp mechanism (2-1), a handle (2-1-8) is arranged on a base (2-1-9) through a clamp rotating hinge I (2-1-1), the handle (2-1-8) is arranged on a connecting rod (2-1-3) through a clamp rotating hinge II (2-1-2), the connecting rod (2-1-3) is arranged on a push-pull rod (2-1-5) through a clamp rotating hinge III (2-1-4), the push-pull rod (2-1-5) is arranged on the base (2-1-9), an adjusting bolt (2-1-10) is arranged on the push-pull rod (2-1-5), an adjusting nut (2-1-6) and a pre-tightening spring (2-1-7) are arranged on the adjusting bolt (2-1-10), in the stretching mechanism (2-2), a linear bearing (2-2-12) is arranged on a polish rod (2-2-14), a lifting moving plate (2-2-13) is fixed on the linear bearing (2-2-12), a push rod III (2-2-9) is arranged on the lifting moving plate (2-2-13) through a push rod rotating hinge VI (2-2-11), a push rod fixing seat II (2-2-5) is fixed on the polish rod (2-2-14), a push rod II (2-2-7) is arranged on a push rod fixing seat II (2-2-5) through a push rod rotating hinge III (2-2-6), a push rod I (2-2-3) is arranged on a push rod fixing seat I (2-2-1) through a push rod rotating hinge I (2-2-2), the adjusting bolts (2-1-10) are arranged in holes (E) of the lifting moving plates (2-2-13), in the crawling mechanism (3), the worm fixing seats (3-3) and the motor fixing seats (3-6) are fixed on the side plates (3-2), the motors (3-5) are fixed on the motor fixing seats (3-6) through motor fixing screws (3-29), the worms (3-12) are coaxially connected with the motors (3-5) through couplers (3-4), the worms (3-12) are arranged on the worm fixing seats (3-3) through worm fixing bearings I (3-26), worm fixing bearings II (3-27) and snap springs (3-19), the turbines (3-13) are meshed with the worms (3-12), the turbine (3-13) is fixed on the turbine shaft (3-16) through a turbine fixing flat key (3-28), the driving synchronous wheel I (3-11) and the driving synchronous wheel II (3-14) are fixed on the turbine shaft (3-16), the turbine shaft (3-16) is arranged on the side plate (3-2) through a flange bearing I (3-1) and a flange bearing III (3-17), the V-shaped guide wheel I (3-8), the V-shaped guide wheel II (3-20), the V-shaped guide wheel III (3-22), the tension wheel I (3-18) and the tension wheel II (3-23) are arranged on the side plate (3-2), the driven wheel shaft (3-24) is arranged on the side plate (3-2) through the flange bearing II (3-10) and the flange bearing IV (3-25), driven synchronizing wheels I (3-9) and driven synchronizing wheels II (3-21) are arranged on driven wheel shafts (3-24), tracks I (3-7) are arranged on V-shaped guide wheels I (3-8), V-shaped guide wheels II (3-20), V-shaped guide wheels III (3-22), tensioning wheels I (3-18), tensioning wheels II (3-23), driving synchronizing wheels I (3-11) and driven synchronizing wheels I (3-9), tracks II (3-15) are arranged on the V-shaped guide wheels I (3-8), the V-shaped guide wheels II (3-20), the V-shaped guide wheels III (3-22), the tensioning wheels I (3-18), the tensioning wheels II (3-23), the driving synchronizing wheels II (3-14) and the driven synchronizing wheels II (3-21), a base (2-1-9) of a clamp mechanism (2-1) is fixed on a rack (1), a polish rod (2-2-14) of a stretching mechanism (2-2) is fixed on the rack (1), a push rod fixing seat I (2-2-1) of the clamp mechanism (2-1) is fixed on the rack (1), a push rod I (2-2-3) of a pre-tightening mechanism (2) is arranged on a hole (B) of a side plate (3-2) of a crawling mechanism (3) through a push rod rotating hinge II (2-2-4), a push rod II (2-2-7) of the stretching mechanism (2-2) is arranged on a hole (D) of the side plate (3-2) of the crawling mechanism (3) through a push rod rotating hinge III (2-2-6), and a push rod III (2-2-9) of the stretching mechanism (2-2) is arranged on a hole (D) of the side plate (3-2) of the crawling mechanism (3) through a push rod rotating hinge IV (2-2) -2-8) are arranged on the holes (C) of the side plates (3-2) of the crawling mechanism (3).

2. The novel crawler-type cable climbing device according to claim 1, wherein: the linear bearing (2-2-12) is arranged on the polish rod (2-2-14) to form a moving pair.

3. The novel crawler-type cable climbing device according to claim 1, wherein: the motors (3-5) can be brushless direct current motors or stepping motors or servo motors.

4. The novel crawler-type cable climbing device according to claim 1, wherein: the frame (1) is provided with at least three climbing units (K).