CN2396936Y - Electric power driven cable service robot climbing device - Google Patents

Electric power driven cable service robot climbing device Download PDF

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Publication number
CN2396936Y
CN2396936Y CN 99252056 CN99252056U CN2396936Y CN 2396936 Y CN2396936 Y CN 2396936Y CN 99252056 CN99252056 CN 99252056 CN 99252056 U CN99252056 U CN 99252056U CN 2396936 Y CN2396936 Y CN 2396936Y
Authority
CN
China
Prior art keywords
cable
frame
climbing
maintaining
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 99252056
Other languages
Chinese (zh)
Inventor
吕恬生
王殿臣
罗均
张国瑞
王鸿志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jianye Technology Engineering Co., Ltd.
Original Assignee
Shanghai Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University filed Critical Shanghai Jiaotong University
Priority to CN 99252056 priority Critical patent/CN2396936Y/en
Application granted granted Critical
Publication of CN2396936Y publication Critical patent/CN2396936Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a climbing mechanism for electric power driven cable maintaining robots, which uses a cylindrical frame structure, wherein three traveling dollies are evenly distributed along the circumferential direction of a cable in the frame and are pressed on the cable by a clamping mechanism. The dollies are driven by a frequency conversion motor by a speed reducer. An inner frame and an outer frame are connected by a bearing, and the clamping mechanism is provided with a regulating plate and a regulating and can adapt to various cables. The utility model has the advantages of reasonable structure and high climbing speed, can be used in robots of large cable-stayed bridge cables for maintenance work such as painting work, cleaning work, detecting work, etc., and can be used for maintaining wire poles, etc.

Description

The electrical cable-maintaining robot climbing device
A kind of electrical cable-maintaining robot climbing device is mainly used in the robot of striding operation on the cable-stayed bridge cable greatly, belongs to the Robotics field.
Cable-stayed bridge is new as modern bridge, has worldwide obtained using widely.Particularly in construction during the span bridge, cable-stayed bridge has become the bridge pattern for first-selection.As the cable long term exposure of one of cable-stayed bridge three big primary structure members (bridge tower, bridge floor and bridge rope) in air, through the wind and weather Exposure to Sunlight, the pe sheath on cable surface will produce sclerosis and cracking phenomena in various degree, bring serious problems such as rust staining, fracture of wire can for the steel tendon in the sheath, simultaneously, because RANDOM WIND is shaken, rain shakes, make the steel wire in the cable produce little friction, then cause serious fracture of wire problem, all can bury serious hidden danger to cable-stayed bridge.Because cable-stayed bridge is the new bridge type that just rises nearest decades, the maintenance measure that matches with the main bearing member cable of cable-stayed bridge is still far from perfect.In the prior art, outer robot and electric wire detection machine people are existing to be studied to managing, and the general tractive force of these robots is little, translational speed is slow, only adapt to rigid conduit,, absolute altitude higher and flexible bigger cable big for this gradient of cable-stayed bridge, its climbing ability is obviously not enough.According to international online retrieval, yet there are no the report of cable-maintaining robot.
The purpose of this utility model is to develop a kind of cable-maintaining robot climbing device that is applicable to any gradient cable rope climbing, to finish the maintenance work to cable, to reach purposes such as reducing labor intensity, improve the quality, reduce cost.
For realizing such purpose, the electrical cable-maintaining robot climbing device that the utility model provides, body adopts the cylindrical frame structure of being made by square tube, and this not only helps reducing the influence that upper-level winds shakes, but also has improved the integral rigidity of body.In the framework along uniform three travelling cars of cable circumferencial direction, provide enough clamping forces respectively three dollies to be pressed on the cable by clamp mechanism, three motors at the uniform velocity climb along rope by three dollies of transmission mechanism driving respectively on the dolly, translational speed can be controlled and be adjusted by ground control cabinet, and climbing device is worked on cable can not damage the original coating and the pe sheath on cable surface.
Below by way of embodiments and drawings the technical solution of the utility model is described in further detail.
Fig. 1 is an overall structure schematic diagram of the present utility model.
As shown in the figure, climbing device partly is made up of travelling car, clamp mechanism, cylindrical frame structure and the relative rotating mechanism of internal and external frame etc.The cylindrical frame of climbing device (I) adopts bearing type of attachment between the internal and external frame, make it to rotate flexibly mutually, in the inner frame 9 along uniform three travelling cars 12 of cable circumferencial direction, sprocket wheel 3, front-wheel 4, sprocket wheel 10, trailing wheel 11 after the chain transmission drives again before motor 1 in every dolly drives by worm type of reduction gearing 2 and chain transmission.Clamp mechanism on the dolly is connected on the inner frame 9, forms by adjustable plate, clamping body 6, adjusting nut 7 etc., and at two guide posts 8 of the both sides of spring 5 configuration.Three dollies hug on cable 13 and at the uniform velocity climb, and are monitored by ground control cabinet.Can also fasten steel wire rope 14 on the robot climbing device, its effect is the deadweight of carrying cable and pulls robot under unexpected situation.
Fig. 2 is the right TV structure schematic diagram of the utility model.
As shown in the figure, inner frame 9 has adopted cylindrical structural, in the inner frame 9 along uniform three travelling cars 12 of cable 13 circumferencial directions, clamp mechanism is provided with adjustable plate 15 and adjusting nut 7, thickness (adapting to diameter of wire cord φ 90~φ 200) according to cable diameters, selecting suitable rough segmentation shelves hole to be fixed in pin on the support plate 16 on the adjustable plate 15, adjusting nut 7 is finely tuned then, makes travelling car 12 and cable 13 keep certain pressure.
Fig. 3 is the enlarged drawing of the relative rotating mechanism of internal and external frame for I place among Fig. 1.
As seen, cylinder inner frame 9 is connected with outside framework 18 through bearing 17 among the figure, and internal and external frame can rotate each other flexibly.
Fig. 4 is climbing speed control principle figure of the present utility model.
As shown in the figure, three variable-frequency motors 1 of frequency converter 19 controls are regulated motor speed by job requirements.
The utility model compact conformation, reasonable, three travelling cars of circumference uniform distribution produce the frictional force that is enough to overcome deadweight and load under the clamp mechanism effect, under the driving of three ponderomotive forces, can at the uniform velocity climb with higher speed along the cable of any gradient.The robot climbing device adopts the column type frame form, can reduce the influence that upper-level winds shakes.Internal and external frame adopts relative rotating mechanism, rotates flexibly each other, can keep the robot stable working state.The utility model can be used for the maintaining robot of large-scale cable-stayed bridge cable, mixes applying mechanism, can carry out upkeep operations such as cable application, cleaning and detection, can also be used for the maintenance of other cylindrical bars such as electric pole etc.
In an embodiment of the present utility model, the power of engineering prototype is 1.1KW, and deadweight is 150 kilograms, but 280 kilograms of load-carryings, and the climbing speed scope is between 1 meter to 10 meters of per minutes.This model machine is obtained good effect in engineering test, have application value.

Claims (3)

1, a kind of electrical cable-maintaining robot climbing device, it is characterized in that adopting the cylindrical frame structure, in the framework along uniform three travelling cars 12 of cable circumferencial direction, be pressed on the cable by clamp mechanism, sprocket wheel 3, front-wheel 4 and back sprocket wheel 10, trailing wheel 11 before motor 1 connects by decelerator 2 in the car, inner frame 9 is connected with outside framework 18 through bearing 17.
2, a kind of as the said electrical cable-maintaining robot climbing device of claim 1, it is characterized in that clamp mechanism is provided with adjustable plate 15 and adjusting nut 7, and at two guide posts 8 of the both sides of spring 5 configuration.
3, a kind of as claim 1 or 2 said electrical cable-maintaining robots, it is characterized in that also having in the robot reaching the steel wire rope 14 that under unexpected situation, pulls robot in order to the carrying cable deadweight.
CN 99252056 1999-12-10 1999-12-10 Electric power driven cable service robot climbing device Expired - Fee Related CN2396936Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 99252056 CN2396936Y (en) 1999-12-10 1999-12-10 Electric power driven cable service robot climbing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 99252056 CN2396936Y (en) 1999-12-10 1999-12-10 Electric power driven cable service robot climbing device

Publications (1)

Publication Number Publication Date
CN2396936Y true CN2396936Y (en) 2000-09-20

Family

ID=34036368

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 99252056 Expired - Fee Related CN2396936Y (en) 1999-12-10 1999-12-10 Electric power driven cable service robot climbing device

Country Status (1)

Country Link
CN (1) CN2396936Y (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101734300B (en) * 2009-12-02 2011-06-29 中国计量学院 Continuous movable type cable climbing device
CN102795273A (en) * 2012-04-01 2012-11-28 宁波市公路管理局 Cable climbing robot
CN103016904A (en) * 2011-09-20 2013-04-03 中国石油天然气集团公司 Floating driving mechanism for airtight automatic de-rusting machine for pipeline repaired port
CN104153290A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable maintenance robot
CN104153294A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable climbing robot
CN104153293A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable examination robot
CN104153291A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Rope inspection robot
CN104153292A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable lifting robot
CN105819307A (en) * 2016-05-07 2016-08-03 北京工业大学 Steel rope climbing robot
US10059349B2 (en) 2016-04-29 2018-08-28 Sujay A. Phadke Ropeway vehicles
US10144436B2 (en) 2016-04-29 2018-12-04 Sujay A. Phadke Ropeway vehicle transportation network
CN112012113A (en) * 2020-08-19 2020-12-01 姚华 Multifunctional bridge detection robot and working method

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101734300B (en) * 2009-12-02 2011-06-29 中国计量学院 Continuous movable type cable climbing device
CN103016904B (en) * 2011-09-20 2015-09-23 中国石油天然气集团公司 Floating driving mechanism for enclosed automatic deruster of pipeline joint coatings
CN103016904A (en) * 2011-09-20 2013-04-03 中国石油天然气集团公司 Floating driving mechanism for airtight automatic de-rusting machine for pipeline repaired port
CN102795273A (en) * 2012-04-01 2012-11-28 宁波市公路管理局 Cable climbing robot
CN102795273B (en) * 2012-04-01 2014-07-16 宁波市公路管理局 Cable climbing robot
CN104153290B (en) * 2014-04-15 2016-01-06 宁波职业技术学院 Cable maintains machinery people
CN104153293A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable examination robot
CN104153291A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Rope inspection robot
CN104153292A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable lifting robot
CN104153294A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable climbing robot
CN104153290A (en) * 2014-04-15 2014-11-19 宁波职业技术学院 Cable maintenance robot
CN104153294B (en) * 2014-04-15 2016-01-06 宁波职业技术学院 Climb cable robot
CN104153293B (en) * 2014-04-15 2016-01-06 宁波职业技术学院 Cable inspection machine people
CN104153291B (en) * 2014-04-15 2016-01-06 宁波职业技术学院 Cable inspecting robot
CN104153292B (en) * 2014-04-15 2016-01-06 宁波职业技术学院 Cable hoisting machine people
US10059349B2 (en) 2016-04-29 2018-08-28 Sujay A. Phadke Ropeway vehicles
US10144436B2 (en) 2016-04-29 2018-12-04 Sujay A. Phadke Ropeway vehicle transportation network
CN105819307A (en) * 2016-05-07 2016-08-03 北京工业大学 Steel rope climbing robot
CN105819307B (en) * 2016-05-07 2018-02-23 北京工业大学 Cable wire climbing robot
CN112012113A (en) * 2020-08-19 2020-12-01 姚华 Multifunctional bridge detection robot and working method

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20080222

Address after: No. 999 Shen Qiang Road, Shanghai, Minhang District: 201108

Patentee after: Shanghai Jianye Technology Engineering Co., Ltd.

Address before: No. 1954, Huashan Road, Shanghai, China: 200030

Patentee before: Shanghai Jiao Tong University

C41 Transfer of patent application or patent right or utility model
ASS Succession or assignment of patent right

Owner name: SHANGHAI JIANYE TECHNOLOGY ENGINEERING CO., LTD.

Free format text: FORMER OWNER: SHANGHAI JIAOTONG UNIV.

Effective date: 20080222

C19 Lapse of patent right due to non-payment of the annual fee
CF01 Termination of patent right due to non-payment of annual fee