Closed high-altitude cable rope climbing robot

A robot and cable technology, which is applied in the field of cable-stayed bridge cable detection robot, can solve the problems that the driving wheel and the driven wheel have different obstacle-surmounting capabilities, the climbing ability is also greatly affected, and the internal force of the mechanism is large, so as to achieve the load capacity. Strong, good thermal stability, strong ability to overcome obstacles

Active Publication Date: 2016-02-24
NANJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. Usually the suspension spring is short. When the wheel encounters an obstacle, even a small obstacle will cause a large change in the spring force, which is extremely unfavorable for overcoming the obstacle.
[0005] 2. The wheels are independent of each other. A driving wheel needs a driving motor; and there are many wheels, and basically one driving wheel or a small number of driving wheels are used, and the obstacle surmounting ability of the driving wheel and th

Method used

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  • Closed high-altitude cable rope climbing robot
  • Closed high-altitude cable rope climbing robot
  • Closed high-altitude cable rope climbing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] Such as Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the descending speed limiting device includes a suspension 41 , a speed increaser 42 , a brake housing 46 , a brake rotor 43 , a centrifugal spring 45 and a centrifugal block 44 .

[0079] The brake rotor, the centrifugal spring and the centrifugal block are all arranged in the brake casing, the centrifugal block and the brake rotor are hinged, and the centrifugal spring is arranged between the centrifugal block and the brake rotor.

[0080] The fixed frame is arranged on the left side of the speed increaser, and is sleeved on the axle end of the wheel shaft, which is fixedly connected with the left input end of the speed increaser, and the output shaft end of the speed increaser is fixedly connected with the brake rotor. Wherein, the speed increaser may be set according to actual needs, and may not be present.

[0081] When the speed is low, the inertial force is small, and under the action of the sp...

Embodiment 2

[0083] Such as Figure 8 and Figure 9 As shown, the descending speed limiting device includes a stator 52 , an impeller 53 , a compression spring 54 , a fixed disc 51 , a ball valve 56 , a speed increaser 42 and an adjusting bolt 512 . The speed increaser can be set according to actual needs, and it is not necessary.

[0084] The speed increaser 42 , the stator 52 , the fixed plate 51 and the adjusting bolt 512 are sequentially coaxially sleeved on the outer periphery of the axle end 21 of the wheel shaft.

[0085] A side of the fixed disk 51 adjacent to the stator 52 is provided with several conical valve cores 511 along the circumferential direction, preferably two.

[0086] Such as Figure 10 As shown, the stator 52 is sequentially provided with a hydraulic chamber 521 , an inner blind hole 522 and an outer blind hole 523 which communicate with each other from the inside to the outside; the hydraulic chamber 521 is provided with an impeller 53 set on the axle end 21 of ...

Embodiment 3

[0089] Such as Figure 11 As shown, the descending speed limiting device also includes a rotor 57 and an inertia block 58 in addition to all the components in Embodiment 2. The rotor 57 is sleeved on the axle shaft end 21 on the right side of the fixed disk 51 . The left side of the rotor is provided with several inclined chute 571 along the circumferential direction, and each inclined chute 571 is provided with an inertia block 58 , and each inertia block 58 has an inclined surface 581 matched with the inclined chute 571 .

[0090] When the fluid flows through the above-mentioned damping holes, resistance is generated, and the magnitude of the resistance is related to the opening degree of the damping holes. When rising, the fluid passes through the inner blind hole and flows from the right side of the steel ball to the left side, and the damping hole has no effect. When descending, the inner blind hole is cut off by the steel ball (effect of spring force), the fluid passes...

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Abstract

The invention discloses a closed high-altitude cable rope climbing robot which comprises three idler wheel sets, side supports, a descent speed limiting device and obstacle induction devices. The side supports are symmetrically arranged on the two sides of the three idler wheel sets and a closed structure is formed by the three idler wheel sets through the side supports. Each idler wheel set comprises at least one idler wheel and can serve as a drive wheel set. By the adoption of the structure, the whole robot is an elastic mechanism, the situation that each wheel is independently and elastically suspended is avoided, and therefore the robot obstacle crossing function is facilitated greatly. The descending speed can be adjusted through the descent speed limiting device, and when the robot climbs cable ropes at different inclination angles, the actual significance is higher. The fluid damping function is achieved, and compared with mechanical friction braking, thermal stability is good, the robot is suitable for being braked for a long time at a long distance, and braking force cannot be attenuated. Meanwhile, the braking force is increased along with the increase of the descending speed, the descending speed and the braking force are in a dynamic balanced process, and the robot can descend at a constant speed or nearly a constant speed.

Description

technical field [0001] The present invention relates to a cable-stayed bridge cable detection robot, in particular to a robot for fault detection of long-span cable-stayed bridge cables or other high-altitude poles and transmission lines, especially a closed high-altitude cable climbing robot. Background technique [0002] In the prior art, high-altitude cable climbing robots usually use four or more wheels, and each wheel set is used as a separate suspension, which has better flexibility and better obstacle-surmounting ability. The basic principle is that the mechanism itself is Rigid, just make the suspension part of the wheel elastic. [0003] Yet above-mentioned multi-wheel high-altitude cable climbing robot has following deficiency: [0004] 1. Usually the suspension spring is short. When the wheel encounters an obstacle, even a small obstacle will cause a large change in the spring force, which is extremely unfavorable for overcoming the obstacle. [0005] 2. The wh...

Claims

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Application Information

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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 徐丰羽胡金龙申景金
Owner NANJING UNIV OF POSTS & TELECOMM
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