Dynamic descending speed limiting device for high altitude cable climbing robot

Abstract

The invention discloses a dynamic descending speed limiting device for a high altitude cable climbing robot. The dynamic descending speed limiting device for the high altitude cable climbing robot comprises a stator, a rotor and a mandrel, wherein a plurality of inclined sliding grooves are uniformly formed in a circumferential direction of the rotor; an inertial block matched with the inclined surface of the inclined sliding groove is placed in each inclined sliding groove; each inertial block is laminated with a sliding disk under an effect of a pressure spring; conical valve cores are arranged on the sliding disks; hydraulic chambers, internal side blind holes and external side blind holes, which are communicated with each other, are formed in the stator; impellers are arranged in the hydraulic chambers; the internal side blind holes comprise conical holes in which steel balls connected with the springs are arranged; and conical valve holes matched with the conical valve cores are arranged in the external side blind holes. After the structure is adopted, the dynamic descending speed limiting device for the high altitude cable climbing robot, disclosed by the invention, is advantaged in that the structure of the dynamic descending speed limiting device is simple and compact, the braking force of the dynamic descending speed limiting device can dynamically self-adaptively change with the change of descending speed; the lower limit speed of the robot is controllable, the braking resistance comes from damping force generated when a fluid flows through a damping hole, pure mechanical friction type thermal decay problem does not exist, the dynamic descending speed limiting device can perform long-time and long-distance braking, and the promotion value of the dynamic descending speed limiting device is high.

Description

technical field [0001] The invention relates to a speed limiting device, in particular to a dynamic descending speed limiting device for a high-altitude cable climbing robot. Background technique [0002] Cable-stayed bridge cable climbing robots work in extreme high-altitude environments. Generally, the climbing and descending of the robot is realized through the control system. There are many unfavorable factors such as wind load and vibration in the high-altitude environment, so the failure of the electrical control system occurs occasionally. When an electrical failure occurs, the robot is in a state of out of control. Under the action of gravity acceleration, it will do free fall and fall from the cable at a very fast speed, which will easily cause extremely serious safety accidents. [0003] To solve this problem, it is very important to design a device that can limit the speed in case of power failure. [0004] The invention combines the research results of mechanic...

AI Technical Summary

Problems solved by technology

[0005] The cables usually have different angles. Most of the existing technologies adopt constant friction braking measures, and the friction force cannot change with the speed of the descent.

The main disadvantage of this constant friction technique is that it cannot adapt to cables with different inclination angles.

If the braking force is set too small, when climbing the vertical cable, the braking force may not be able to achieve the effect of speed limit braking; However, when climbing the inclined cable, due to too much braking force, it may not be possible to return to the ground, or the speed of returning to the ground may be too slow

[0006] In addition, since the braking force cannot be changed according to the change of the descending speed, its descending speed is uncontrollable

[0007] Moreover, the robot needs to fall back to the ground at a height of several hundred meters, so the speed limit braking device needs to work for a long time, and the braking force cannot produce a large attenuation

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