A preload drive device for a preloaded rope climbing robot

Abstract

The present invention discloses a pre-tightening drive device for a pre-tightening type rope climbing robot, the pre-tightening type rope climbing robot comprises a first frame support rod and a second frame support rod arranged along the direction of the cableway of the inclined cable bridge, and several jumper plates that are bridged and fixedly connected between the first frame support rod and the second frame support rod; the pre-tightening drive device comprises a first drive assembly and a second drive assembly that are arranged back to back and fixed at the bottom of the jumper plate and together form an eight-shaped shape, and a pre-tightening mechanism that is connected to the jumper plate at the top and is used to adjust the opening degree of the eight-shaped shape formed by the first drive assembly and the second drive assembly. The present invention has the advantages of simple structure, convenient installation, simple adjustment, stable operation, and overall light weight, and has high practical value and promotion value in the field of rope climbing robot technology.

Description

Technical Field

[0001] The invention relates to the technical field of rope-climbing robots, and in particular to a pre-tightening drive device for a pre-tightening rope-climbing robot. Background Art

[0002] The cableway described in this article is mainly used for the surface inspection of cableways of cable-stayed bridges, but it is not limited to this and is also suitable for creeping inspection of tubular objects. Since the bridge cableway is high, it is impossible to conduct a comprehensive inspection manually. Only a few meters away from the bridge deck can be observed, and it is impossible to detect at a distance. To this end, the applicant has proposed a pre-tensioned cable-climbing robot, which includes a first frame support rod and a second frame support rod arranged along the direction of the cableway of the cable-stayed bridge, a plurality of jumper plates spanning and fixedly connected between the first frame support rod and the second frame support rod, a first drive assembly and a second drive assembly arranged back to back and fixed at the bottom of the jumper plates and together forming an eight-shaped shape, a pre-tensioning mechanism connected to the jumper plates at the top and used to adjust the opening degree of the eight-shaped shape formed by the first drive assembly and the second drive assembly, two adjustment brackets fixedly connected to the first frame support rod and the second frame support rod at the top one by one and placed on both sides of the cableway of the cable-stayed bridge and perpendicular to the jumper plates, a plurality of auxiliary wheel hooks provided on any of the adjustment brackets, and auxiliary wheels hung on the auxiliary wheel hooks at the same height of the two adjustment brackets and squeezed on the outer surface of the cableway of the cable-stayed bridge, and an apparent camera fixed on the jumper plates for shooting the surface image of the cableway of the cable-stayed bridge; the two adjustment brackets have the same structure; however, there is no matching power drive mechanism on the market. Summary of the invention

[0003] In view of the above problems, the object of the present invention is to provide a pre-tightening drive device for a pre-tightening type rope climbing robot. The technical solution adopted by the present invention is as follows:

[0004] A preload drive device for a preloaded rope-climbing robot, the preloaded rope-climbing robot comprising a first frame support rod and a second frame support rod arranged along the direction of the cableway of a cable-stayed bridge, and a plurality of jumper plates spanning and fixedly connected between the first frame support rod and the second frame support rod; the preload drive device comprises a first drive assembly and a second drive assembly which are arranged back to back and fixed at the bottom of the jumper plates and together form an eight-shaped shape, and a preload mechanism which is connected to the jumper plates at the top and is used to adjust the opening degree of the eight-shaped shape formed by the first drive assembly and the second drive assembly.

[0005] Furthermore, the second driving assembly includes a driving articulated seat in the shape of a gate, a driving motor mounting seat integrally formed with the driving articulated seat, a first synchronous pulley arranged between the gate-shaped portions at the lower part of the driving articulated seat, two power wheel connecting plates with the same structure and connected to the middle axis and placed between the first synchronous pulley and the driving articulated seat, a second synchronous pulley clamped and connected between the other ends of the two power wheel connecting plates and matching the first synchronous pulley, a belt connected between the first synchronous pulley and the second synchronous pulley, a driving motor passing through and fixing the driving motor on the driving motor mounting seat, a bevel gear commutator coaxially connected to the first synchronous pulley and used for converting the bearing rotation of the driving motor into the rotation of the first synchronous pulley, and two power wheels coaxially connected to the second synchronous pulley, respectively placed on both sides of the power wheel connecting plate, and pressed against the outer surface of the cableway of the cable-stayed bridge.

[0006] Furthermore, the power wheel is a conical column structure, and an anti-slip rubber sleeve is provided on the outer surface of the power wheel.

[0007] Preferably, a tensioning wheel for adjusting the clamping degree of the two power wheel connecting plates is provided between the lower parts of the two power wheel connecting plates.

[0008] Preferably, the jumper plate comprises a first jumper plate, a second jumper plate, a third jumper plate, a fourth jumper plate and a fifth jumper plate which are evenly spaced.

[0009] Furthermore, the pre-tightening mechanism includes a pre-tightening knob with a middle part rotating within a third jumper plate and a threaded bottom part, a pre-tightening connecting plate with a central thread matching the pre-tightening knob, a pre-tightening guide rod with a top fixed to the third jumper plate and a bottom penetrating the pre-tightening connecting plate, and at least two pre-tightening connecting screws, one end of which is connected one-to-one with the first drive assembly and the second drive assembly, and the other end of which is connected one-to-one with the end of the pre-tightening guide rod.

[0010] Preferably, a pre-tightening damping spring is sleeved on any of the pre-tightening connecting screws.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] (1) The present invention ingeniously arranges the frame support rods and the cross-over plates to form a ladder-shaped frame, which not only provides support for the drive assembly and the preload mechanism, but also reduces the overall weight to achieve lightweight;

[0013] (2) The present invention ingeniously arranges two sets of driving components arranged in an eight-shaped pattern to propel the entire mechanism to move along the cableway direction of the cable-stayed bridge; wherein the power wheel is in a conical column shape, which can effectively apply pressure to the outer surface of the rope; in addition, a bevel gear commutator is used to convert the bearing rotation of the driving motor into the rotation of the first synchronous pulley, and a belt is used to drive the power wheel coaxially connected to the second synchronous pulley to rotate;

[0014] (3) The present invention cleverly sets a pre-tightening mechanism, and rotates the pre-tightening knob to move the pre-tightening connecting plate up and down, so as to realize the push-pull power wheel connecting plate to rotate about the axis of the first synchronous pulley; in this way, the tightness of the power wheel squeezing rope can be adjusted; in addition, the present invention ensures that the squeezing force of the first drive assembly and the second drive assembly is the same by setting at least two pre-tightening guide rods;

[0015] (4) The present invention provides a pre-tightening damping spring on the outer edge of the pre-tightening connecting screw to alleviate vibration during operation and ensure that the robot crawls more stably;

[0016] (5) The adjusting bracket of the present invention is in the form of a right triangle, which can ensure the reliable attachment of the auxiliary wheel and the stability of the overall extrusion. At the same time, the right triangle is in the form of a hollow, which can also reduce the weight;

[0017] (6) The present invention ingeniously arranges an auxiliary wheel hung on the auxiliary wheel hook, and the auxiliary wheel and the power wheel are relatively tightly held on the rope, which is relatively simple to install and has reliable connection;

[0018] To sum up, the present invention has the advantages of simple structure, convenient installation, simple adjustment, stable operation, and light overall weight, and has high practical value and promotion value in the field of rope-climbing robot technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope of protection. For those skilled in the art, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the installation structure of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the present invention.

[0022] Figure 3 It is a schematic structural diagram of the second driving assembly of the present invention.

[0023] Figure 4 It is a cross-sectional schematic diagram of the present invention.

[0024] Figure 5 It is a schematic structural diagram of the auxiliary wheel of the present invention.

[0025] In the above drawings, the component names corresponding to the reference numerals are as follows:

[0026] 1-first frame support rod, 2-second frame support rod, 3-first jumper plate, 4-second jumper plate, 5-third jumper plate, 6-fourth jumper plate, 7-fifth jumper plate, 8-apparent camera mounting seat, 10-first drive assembly, 11-adjusting bracket, 12-auxiliary wheel, 13-second drive assembly, 14-pretensioning mechanism, 81-apparent camera, 111-auxiliary wheel hook, 121-auxiliary wheel shaft, 131-drive articulated seat, 132-drive motor mounting seat, 133-bevel gear commutator, 134-first synchronous pulley, 135-power wheel connecting plate, 136-second synchronous pulley, 137-power wheel, 138-drive motor, 139-tensioning wheel, 141-pretensioning knob, 142-pretensioning connecting plate, 143-pretensioning guide rod, 144-pretensioning shock-absorbing spring, 145-pretensioning connecting screw. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of this application clearer, the present invention is further described below in conjunction with the accompanying drawings and embodiments, and the embodiments of the present invention include but are not limited to the following embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] Example

[0029] like Figures 1 to 5 As shown, this embodiment provides a pre-tightened rope climbing robot. It should be noted that the serial number terms such as "first" and "second" described in this embodiment are only used to distinguish similar components and cannot be understood as a specific limitation on the protection scope; in addition, the directional terms such as "bottom", "top", "around edges", "center" described in this embodiment are explained based on the accompanying drawings; not only that, this embodiment is based on structural improvements, and does not improve the control method of the first drive component 10, the second drive component 13, and the acquisition and processing method of the surface camera 81, which will not be repeated here.

[0030] Specifically, the pre-tightened cable-climbing robot comprises a first frame support rod 1 and a second frame support rod 2 arranged along the cableway direction of the inclined cable bridge, a plurality of jumper plates that are bridged and fixedly connected between the first frame support rod 1 and the second frame support rod 2, a first drive assembly 10 and a second drive assembly 13 that are back-to-back arranged and fixed at the bottom of the jumper plates and together form an eight-shaped shape, a pre-tightening mechanism 14 that is connected to the jumper plates at the top and is used to adjust the opening degree of the eight-shaped shape formed by the first drive assembly 10 and the second drive assembly 13, and a pre-tightening mechanism 14 that is connected to the jumper plates at the top and corresponds one-to-one with the first frame support rod 1 and the second frame support rod 2. The second frame support rod 2 is fixedly connected to and placed on both sides of the cableway of the cable-stayed bridge and perpendicular to the bridging plate. There are several auxiliary wheel hooks 111 provided on any of the adjustment brackets 11, and the auxiliary wheel 12 is hung on the auxiliary wheel hooks 111 at the same height of the two adjustment brackets 11 and pressed on the outer surface of the cableway of the cable-stayed bridge. The apparent camera mounting seat 8 fixed on the fifth bridging plate 7 for the fixed installation of the apparent camera 81, and the apparent camera 81 fixed on the apparent camera mounting seat 8 for shooting the surface image of the cableway of the cable-stayed bridge. Among them, the two adjustment brackets 11 have the same structure, and any of the adjustment brackets 11 is a right triangle; the right angle of the right triangle of the two adjustment brackets 11 is fixed on the first frame support rod 1 and the second frame support rod 2 in a one-to-one correspondence, and the auxiliary wheel hook 111 is provided on the other right angle side. In addition, an auxiliary wheel shaft 121 hung on the auxiliary wheel hook 111 is provided through the auxiliary wheel 12.

[0031] In this embodiment, the jumper plate includes a first jumper plate 3, a second jumper plate 4, a third jumper plate 5, a fourth jumper plate 6 and a fifth jumper plate 7 which are evenly spaced; wherein the second drive assembly 13 is fixed to the bottom of the second jumper plate 4, and the first drive assembly 10 is fixed to the bottom of the fourth jumper plate 6; the top of the pre-tightening mechanism 14 is connected to the third jumper plate 5.

[0032] The components of the drive assembly are described in detail below, wherein the first drive assembly 10 and the second drive assembly 13 have the same structure; taking the second drive assembly 13 as an example, the second drive assembly 13 includes a drive hinge seat 131 fixed to the bottom of the second cross-over plate 4 and in the shape of a door, a drive motor mounting seat 132 integrally formed with the drive hinge seat 131, a first synchronous pulley 134 arranged between the door-shaped portions at the lower portion of the drive hinge seat 131, two power wheel connecting plates 135 of the same structure, one end of which is hinged to the preload mechanism 14 and is connected to the first synchronous pulley 134, and a second synchronous pulley 136 clamped and connected between the other ends of the two power wheel connecting plates 135 and matching the first synchronous pulley 134. , a belt connected between the first synchronous pulley 134 and the second synchronous pulley 136, passing through and fixing the drive motor 138 on the drive motor mounting seat 132, a bevel gear commutator 133 coaxially connected to the first synchronous pulley 134 and used to convert the bearing rotation of the drive motor 138 into the rotation of the first synchronous pulley 134, two power wheels 137 coaxially connected to the second synchronous pulley 136, respectively placed on both sides of the power wheel connecting plate 135 and squeezed on the outer surface of the cableway of the inclined cable bridge, and a tensioning wheel 139 arranged between the lower parts of the two power wheel connecting plates 135 and used to adjust the clamping degree of the two power wheel connecting plates 135; in this embodiment, the power wheel 137 is a conical column structure, and an anti-slip rubber sleeve is provided on the outer surface of the power wheel 137.

[0033] In this embodiment, the pre-tightening mechanism 14 includes a pre-tightening knob 141 with a threaded bottom and a middle portion rotationally confined within the third jumper plate 5, a pre-tightening connecting plate 142 with a central thread matching the pre-tightening knob 141, a pre-tightening guide rod 143 with a top fixed on the third jumper plate 5 and a lower portion penetrating the pre-tightening connecting plate 142 and at least two pre-tightening guide rods 143, one end of which is connected to the first drive assembly 10 and the second drive assembly 13 in a one-to-one manner and the other end of which is connected to the end of the pre-tightening guide rod 143 in a one-to-one manner, and a pre-tightening shock-absorbing spring 144 mounted on any of the pre-tightening connecting screws 145.

[0034] The following is a brief description of the installation and use process of this device:

[0035] Select a suitable auxiliary wheel hook 111 according to the diameter of the cableway of the cable-stayed bridge, fit the power wheel 137 on the rope, place the adjustment bracket 11 on both sides of the rope, and hang the auxiliary wheel 12 on the auxiliary wheel hook 111 at the same height;

[0036] Then, the pre-tightening knob 141 is rotated to move the pre-tightening connecting plate 142 upward, and the pre-tightening connecting screw 145 drives the power wheel connecting plate 135 to rotate about the axis of the first synchronous pulley, and the power wheel 137 moves downward; under the support of the driving articulated seat 131, the driving adjustment bracket 11 moves upward to achieve the auxiliary wheel 12 and the power wheel 137 being clamped on the rope; in this way, the installation of the robot is realized;

[0037] It should be emphasized that this robot requires a power source and a controller, however, the power source and the controller are purchased and are not the improvement points of this technology. The improvement point of this embodiment lies in the mechanical structure of the robot. Therefore, the specific contents of the power source and the controller will not be repeated here.

[0038] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any changes that adopt the design principles of the present invention and are made through non-creative labor on this basis should fall within the protection scope of the present invention.

Claims

1. A preload drive device for a preloaded cable-climbing robot, the preloaded cable-climbing robot comprising a first frame support rod (1) and a second frame support rod (2) arranged along the cableway direction of a cable-stayed bridge, and a plurality of bridging plates spanning and fixedly connected between the first frame support rod (1) and the second frame support rod (2), characterized in that: The pre-tightening drive device comprises a first drive assembly (10) and a second drive assembly (13) which are arranged back to back and fixed at the bottom of the jumper plate and together form an eight-shaped shape, and a pre-tightening mechanism (14) which is connected to the jumper plate at the top and is used to adjust the opening degree of the eight-shaped shape formed by the first drive assembly (10) and the second drive assembly (13); The second driving assembly (13) comprises a driving articulated seat (131) in the shape of a door, a driving motor mounting seat (132) formed integrally with the driving articulated seat (131), a first synchronous pulley (134) arranged between the door-shaped portions at the bottom of the driving articulated seat (131), two power wheel connecting plates (135) with the same structure and connected to the first synchronous pulley (134) and the driving articulated seat (131) at the middle, and clamped between the other ends of the two power wheel connecting plates (135) and matching with the first synchronous pulley (134). a pulley (136), a belt connected between the first synchronous pulley (134) and the second synchronous pulley (136), a drive motor (138) passing through and fixed on the drive motor mounting seat (132), a bevel gear commutator (133) coaxially connected to the first synchronous pulley (134) and used to convert the bearing rotation of the drive motor (138) into the rotation of the first synchronous pulley (134), and two power wheels (137) coaxially connected to the second synchronous pulley (136), respectively disposed on both sides of the power wheel connecting plate (135) and pressed against the outer surface of the cableway of the cable-stayed bridge; The jumper plate comprises a first jumper plate (3), a second jumper plate (4), a third jumper plate (5), a fourth jumper plate (6) and a fifth jumper plate (7) which are evenly spaced, wherein the second drive assembly (13) is fixed to the bottom of the second jumper plate (4), and the first drive assembly (10) is fixed to the bottom of the fourth jumper plate (6), and the top of the pre-tightening mechanism (14) is connected to the third jumper plate (5); The pre-tightening mechanism (14) comprises a pre-tightening knob (141) whose middle portion is rotatably confined within the third cross-over plate (5) and whose lower portion is provided with a thread, a pre-tightening connecting plate (142) whose central portion is threadably matched with the pre-tightening knob (141), a pre-tightening guide rod (143) whose top portion is fixed to the third cross-over plate (5) and whose lower portion passes through the pre-tightening connecting plate (142) and is provided with at least two pre-tightening guide rods (143), and two pre-tightening connecting screw rods (145) whose one ends are connected to the first drive assembly (10) and the second drive assembly (13) in a one-to-one correspondence and whose other ends are connected to the ends of the pre-tightening guide rods (143) in a one-to-one correspondence.

2. A preload drive device for a preloaded rope climbing robot according to claim 1, characterized in that: The power wheel (137) is in a conical column structure, and an anti-slip rubber sleeve is provided on the outer surface of the power wheel (137).

3. A preload drive device for a preloaded rope climbing robot according to claim 1 or 2, characterized in that: A tensioning wheel (139) for adjusting the clamping degree of the two power wheel connecting plates (135) is arranged between the lower parts of the two power wheel connecting plates (135).

4. The preload drive device for a preloaded rope climbing robot according to claim 1, characterized in that: A pre-tightening damping spring (144) is sleeved on any of the pre-tightening connecting screw rods (145).

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