Closed high-altitude cable rope climbing robot

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...

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 the driven wheel is not the same. And the language, therefore, the actual obstacle-crossing ability is usually very poor

In addition, in order to improve the climbing ability, the positive pressure between the roller and the cable is increased, and the internal force of the mechanism is very large. During the actual climbing process, the wheel is damaged very seriously. Even after climbing back and forth, the wheel is damaged, which has a great impact on the climbing ability.

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