Balanced clamping and shock-absorbing device for cable-stayed cable inspection robot

Abstract

The present invention discloses a balanced clamping shock-absorbing device for use on a cable-stayed detection robot, comprising a robot frame and two walking units arranged on the robot frame, wherein the two walking units are clamped on the cable in a relative manner, and the walking units comprise: a first lever arm bracket rotatably arranged at the upper end of the robot frame; a second lever arm bracket rotatably arranged at the lower end of the robot frame, the second lever arm bracket being provided with the roller, the roller abutting against the cable; a hinge device, the hinge device being hinged between the first lever arm bracket and the second lever arm bracket; and an electric push rod, the electric push rod being hinged between the first lever arm bracket and the second lever arm bracket. The balanced clamping shock-absorbing device for use on a cable-stayed detection robot of the present invention simplifies the components of the shock-absorbing device, making the structure compact; and can detect a larger range of cable diameter changes.

Description

Technical Field

[0001] The invention belongs to the technical field of cable climbing mechanical equipment and facilities, and in particular relates to a balancing clamping and shock absorbing device used on a cable-stayed cable detection robot. Background Art

[0002] The cable is the main load-bearing component that directly transfers the weight of the main beam and bridge deck of the cable-stayed bridge to the tower. The cable material of the cable-stayed bridge is usually steel cable, and the steel cable is covered with a PE sheath. The cable inspection robot is an automated device that can automatically climb along the cable and check the appearance of the PE sheath of the cable through the camera mounted on the robot. In recent years, with the increasing number of cable-stayed bridges built in various places, the inspection of the cable has become increasingly important.

[0003] The shock-absorbing device of the existing inclined cable detection robot connects the movable base and the wheel bracket through a spring, and adopts a three-sided clamping method to clamp the robot on the cable, and drives the wheels to climb or descend through a motor. During operation, when the wheel rolls over the winding wind and rain line of the cable and other small obstacles, the shock-absorbing device will automatically adjust the wheel extension and retraction, thereby ensuring the friction between the wheel and the cable without damaging the wind and rain line and reducing wheel wear.

[0004] However, the existing technology has the following technical problems in actual application:

[0005] Since the spring force of the shock absorber is perpendicular to the surface of the cable, the clamping method of the robot is limited. Although the three-side clamping method can clamp firmly, it requires six electric push rods to form a triangle. The overall appearance of the machine will appear large and bulky, which will affect daily transportation and actual use.

[0006] The motor and wheels are installed at the innermost part of the machine. Since the robot is large in size and its center of gravity is at the center of the robot, i.e. the position of the wheels, when testing cables with smaller diameters, even if there is a shock absorber at one side of the wheel during acceleration or deceleration, it will produce greater stress on the cables, which may damage the cable surface.

[0007] Also due to the robot's structural problems, while making the robot as small as possible, the maximum rope diameter that the robot can detect will also become smaller.

[0008] Based on the above technical problems existing in the prior art, the present invention proposes a balanced clamping and shock absorbing device for a stay cable detection robot. Summary of the invention

[0009] The invention provides a balanced clamping shock-absorbing device used on a stay cable detection robot.

[0010] In order to achieve the above object, the present invention adopts the following technical solutions:

[0011] A balanced clamping and shock absorbing device for a cable-stayed cable detection robot comprises a robot frame and two walking units arranged on the robot frame, wherein the two walking units are clamped on the cable in a relative manner, and the walking units comprise:

[0012] A first lever arm bracket is rotatably arranged at the upper end of the robot frame, the first lever arm bracket is provided with a roller, the roller abuts against the cable, and the roller is driven by a servo motor;

[0013] A second lever arm bracket is rotatably arranged at the lower end of the robot frame, the second lever arm bracket is provided with the roller, and the roller abuts against the cable;

[0014] A hinge device, one end of which is hinged to the first lever arm bracket, and the other end of which is hinged to the second lever arm bracket;

[0015] An electric push rod, one end of which is hinged on the first lever arm bracket, and the other end of which is hinged on the second lever arm bracket.

[0016] Furthermore, the first lever arm support and / or the second lever arm support is an "L"-shaped structure.

[0017] Furthermore, the hinge device is a hinge group, the intermediate shaft of the hinge group is fixedly arranged on the robot frame, the upper end of the hinge group is hinged to the first lever arm bracket, and the lower end of the hinge group is hinged to the second lever arm bracket.

[0018] Furthermore, a hinge group slide groove is provided on the outer side of the hinge group, and the hinge group slide groove is fixedly arranged on the robot frame.

[0019] Furthermore, the electric push rod includes a base, a cylinder fixedly arranged on the base, a push rod telescopically arranged in the cylinder, a spring fixedly arranged at the top of the push rod and an articulated block fixedly arranged at the top of the spring, and the articulated block is connected to the first lever arm bracket.

[0020] Furthermore, the first lever arm bracket includes a first bracket unit, a second bracket unit and a connecting rod fixedly arranged between the first bracket unit and the second bracket unit, the first bracket unit and the second bracket unit are both "L"-shaped structures, and the first bracket unit and the second bracket unit are both provided with roller units.

[0021] Furthermore, the robot frame is provided with a camera for capturing images or video data of the cable.

[0022] Furthermore, a speed alarm is provided on the robot frame, and the speed alarm is connected to the robot controller. The alarm threshold of the speed alarm is determined according to the falling speed of the zip line.

[0023] Furthermore, the robot controller is connected to a host computer to send control information and video information transmitted by the camera to the host computer.

[0024] Furthermore, the robot frame is composed of 6 frame plates connected to each other to form a regular hexagonal robot frame, and the two walking units are respectively fixedly arranged on two opposite sides of the frame plates.

[0025] Furthermore, a pressure sensor is provided on the roller, and the pressure sensor is connected to the robot controller to transmit the pressure exerted by the roller on the cable.

[0026] Furthermore, the robot controller adopts a single chip microcomputer.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. The balanced clamping shock-absorbing device for the cable-stayed cable detection robot of the present invention simplifies the components of the shock-absorbing device through the coordinated arrangement of the first force arm bracket, the second force arm bracket, and the electric push rod, making the structure compact;

[0029] 2. The balanced clamping and shock-absorbing device for the inclined cable detection robot of the present invention enables the first lever arm bracket and the second lever arm bracket to move synchronously through the coordinated arrangement of the hinge device and the electric push rod, so that the rollers can synchronously apply or reduce pressure, thereby achieving a better clamping effect on the cable;

[0030] 3. The balanced clamping and shock absorbing device for the inclined cable detection robot of the present invention, by setting the first lever arm bracket and the second lever arm bracket as an L-shaped structure, rotates inward and presses, so that the internal space of the robot becomes larger and the detectable cable diameter variation range is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of an angle of the balanced clamping shock-absorbing device used on the cable-stayed cable detection robot according to an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram from another angle of the balanced clamping shock-absorbing device used on the cable-stayed cable detection robot according to an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of the walking unit described in an embodiment of the present invention.

[0034] In the figure, 1-robot frame, 11-camera, 12-frame, 2-walking unit, 201-roller, 2011-roller unit, 21-first lever bracket, 211-first bracket unit, 212-second bracket unit, 213-connecting rod, 22-second lever bracket, 23-hinge device, 24-electric push rod, 241-base, 242-cylinder, 243-push rod, 244-spring, 245-hinge block, 25-servo motor. DETAILED DESCRIPTION

[0035] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0036] Example

[0037] like Figure 1-3 As shown, the balancing clamping and shock absorbing device for the inclined cable detection robot comprises a robot frame 1 and two walking units 2 arranged on the robot frame 1, the two walking units 2 are clamped on the cable oppositely, and the walking units 2 include:

[0038] A first lever arm support 21 is rotatably disposed at the upper end of the robot frame 1, wherein a roller 201 is disposed on the first lever arm support 21, wherein the roller 201 abuts against the cable, and the roller 211 is driven by a servo motor 25;

[0039] A second lever arm bracket 22 is rotatably disposed at the lower end of the robot frame 1, and the second lever arm bracket 22 is provided with the roller 201, and the roller 201 abuts against the cable;

[0040] A hinge device 23, one end of the hinge device 23 is hinged to the first lever arm bracket 21, and the other end of the hinge device 23 is hinged to the second lever arm bracket 22;

[0041] An electric push rod 24 , one end of which is hinged to the first lever arm bracket 21 , and the other end of which is hinged to the second lever arm bracket 22 .

[0042] In the above embodiment, the roller 201 is an aluminum core rubber wheel to reduce weight and have a good vibration filtering effect;

[0043] The motor drives the roller 201 to rise and fall;

[0044] By changing the angle of the first lever arm bracket 21 and / or the second lever arm bracket 22, the force of the roller 201 pressing on the cable is adjusted;

[0045] The angle adjustment of the first lever arm bracket 21 and the second lever arm bracket 22 is achieved by extending and retracting the electric push rod 24 , thereby adjusting the force of the roller 201 pressing on the cable.

[0046] In the actual working process, four cameras 11 are arranged on the robot frame 1 to respectively collect video and image information of different parts of the cable. The inspector can understand the status of the cable in real time by remotely watching the video information transmitted by the camera 11. When a fault occurs (for example, the robot frame slides down quickly on the cable, i.e., the cable slips), the angle of the first lever arm bracket 21 and the second lever arm bracket 22 is controlled to increase the force of the roller 201 pressing on the cable, so as to reduce the rotation speed of the roller 201 and stop the cable slip.

[0047] As an improvement of the above embodiment, a speed alarm is provided on the robot frame 1, and the speed alarm is connected to the robot controller. The alarm threshold of the speed alarm is determined according to the falling speed of the zip line.

[0048] The robot controller is connected to the servo motor 25 and the electric push rod 24 to control the servo motor 25 and the electric push rod 24;

[0049] The robot controller adopts a single chip microcomputer.

[0050] The robot controller is connected to a host computer to send control information and video information transmitted by the camera 11 to the host computer.

[0051] The robot frame 1 is composed of 6 mutually connected frame plates 12 to form a regular hexagonal robot frame 1. The two walking units 2 are respectively fixed on the two opposite frame plates 12. In actual application, the two adjacent frame plates 12 are opened, the robot frame 1 is put on the cable, and then the two adjacent frame plates 12 are fixedly connected together, wherein the two adjacent frame plates 12 that can be opened are fixed by plum blossom rubber handle screws, and the other adjacent frame plates are fixed by cross screws.

[0052] In the above embodiment, a pressure sensor is provided on the roller 201, and the pressure sensor is connected to the robot controller to transmit the pressure of the roller 201 on the cable.

[0053] The first lever arm support 21 and / or the second lever arm support 22 is an “L” shaped structure.

[0054] In the above embodiment, the L-shaped structure is rotated inwardly and pressed, so that the internal space of the robot becomes larger and the detectable range of rope diameter changes is increased.

[0055] The hinge device 23 is a hinge group, the intermediate shaft of which is fixedly arranged on the robot frame, the upper end of the hinge group is hinged to the first lever arm bracket 21 , and the lower end of the hinge group is hinged to the second lever arm bracket 22 .

[0056] In the above embodiment, the middle shaft of the hinge group is fixed, so that the upper and lower ends of the hinge group are compressed or stretched synchronously, and then the first lever arm bracket 21 and the second lever arm bracket 22 rotate at the same angle, so that the force of the roller 201 pressing on the cable is uniform.

[0057] A hinge group slide groove is provided on the outer side of the hinge group, and the hinge group slide groove is fixedly arranged on the robot frame 1.

[0058] In the above embodiment, the movement of the hinge group is limited in the hinge group slide groove by the hinge group slide groove, which is conducive to the consistency of the extension and contraction range of the two ends of the hinge group.

[0059] The electric push rod 24 includes a base 241, a cylinder 242 fixedly arranged on the base 241, a push rod 243 which is telescopically arranged in the cylinder 242, a spring 244 fixedly arranged at the top of the push rod 243 and a hinge block 245 fixedly arranged at the top of the spring 244, and the hinge block 245 is connected to the first lever arm bracket 21.

[0060] The first lever arm bracket 21 includes a first bracket unit 211, a second bracket unit 212 and a connecting rod 213 fixedly arranged between the first bracket unit 211 and the second bracket unit 212. The first bracket unit 211 and the second bracket unit 212 are both "L"-shaped structures, and the first bracket unit 211 and the second bracket unit 212 are both provided with a roller unit 2011.

[0061] The structure of the second lever arm support 22 is the same as that of the first lever arm support 21 .

[0062] The present invention is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, which are within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A balanced clamping and shock absorbing device for a cable-stayed cable detection robot, comprising a robot frame and two walking units arranged on the robot frame, wherein the two walking units are clamped on the cable in opposite directions, and characterized in that: The walking unit comprises: A first lever arm bracket is rotatably arranged at the upper end of the robot frame, the first lever arm bracket is provided with a roller, the roller abuts against the cable, and the roller is driven by a servo motor; A second lever arm bracket is rotatably arranged at the lower end of the robot frame, the second lever arm bracket is provided with the roller, and the roller abuts against the cable; A hinge device, one end of which is hinged to the first lever arm bracket, and the other end of which is hinged to the second lever arm bracket; An electric push rod, one end of which is hinged on the first lever arm bracket, and the other end of which is hinged on the second lever arm bracket; Wherein, the first lever arm support and / or the first lever arm support is an "L" shaped structure; The hinge device is a hinge group, the intermediate shaft of the hinge group is fixedly arranged on the robot frame, the upper end of the hinge group is hinged to the first lever arm bracket, and the lower end of the hinge group is hinged to the second lever arm bracket; A hinge group slide groove is provided on the outer side of the hinge group, and the hinge group slide groove is fixedly arranged on the robot frame; The electric push rod includes a base, a cylinder fixedly arranged on the base, a push rod retractably arranged in the cylinder, a spring fixedly arranged on the top of the push rod and an articulated block fixedly arranged on the top of the spring, and the articulated block is fixedly hinged to the first lever arm bracket.

2. The balanced clamping and shock absorbing device for a stay cable inspection robot according to claim 1 is characterized in that: The first lever arm bracket includes a first bracket unit, a second bracket unit and a connecting rod fixedly arranged between the first bracket unit and the second bracket unit. The first bracket unit and the second bracket unit are both "L"-shaped structures, and the first bracket unit and the second bracket unit are both provided with roller units.

3. The balanced clamping and shock absorbing device for a stay cable inspection robot according to claim 1 is characterized in that: A speed alarm is arranged on the robot frame, and the speed alarm is connected to the robot controller.

4. The balanced clamping and shock absorbing device for a stay cable inspection robot according to claim 3 is characterized in that: The robot controller is connected to a host computer to send control information and video information transmitted by a camera to the host computer.

5. The balanced clamping and shock absorbing device for a stay cable inspection robot according to claim 4 is characterized in that: The robot frame is composed of 6 mutually connected frame plates to form a regular hexagonal robot frame, and the two walking units are respectively fixedly arranged on two opposite frame plates.

6. The balanced clamping and shock absorbing device for a stay cable inspection robot according to claim 5 is characterized in that: A pressure sensor is provided on the roller, and the pressure sensor is connected to the robot controller to send the pressure of the roller on the cable.

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