Cable robot

Abstract

The utility model discloses a cable robot, which relates to the technical field of robots, and comprises a main body frame which can be held on the outer side of a cable, and one end of the main body frame is provided with nondestructive detection equipment and visual detection equipment; the pressing mechanism is arranged in the main body frame and comprises a connecting rod assembly and an elastic assembly, a climbing wheel is arranged on the connecting rod assembly, and the elastic assembly can drive the climbing wheel to be fixedly connected with the side wall of the cable in an abutting mode; and the driving mechanism is in transmission connection with the climbing wheel and can drive the climbing wheel to rotate along the axial side wall of the cable. The cable robot provided by the utility model is high in safety and convenient for cable detection.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to a cable robot. BACKGROUND

[0002] Cable-stayed bridge is a kind of bridge with the main beam being directly pulled on bridge tower by many cable-stayed cables.In order to improve the durability of cable, prolong service life, it needs to detect and maintain cable regularly.At present, the detection method of cable is still mainly manual, adopts crane to drag basket or hydraulic elevator to transport worker to the different positions of cable, manually detects cable defects, and the detection process is inconvenient, and the safety is low.At present, it is urgent to design a kind of technical scheme with high safety and convenient for detecting cable. SUMMARY

[0003] The utility model discloses a kind of cable robots, to solve the problems existing in the prior art described above, with high safety, and convenient for the detection of cable.

[0004] To achieve the above object, the utility model provides the following scheme:

[0005] The utility model provides a kind of cable robot, comprising:

[0006] Main body frame, it can be embraced to cable outside, and one end of it is equipped with nondestructive testing equipment and visual detection equipment;

[0007] Compression mechanism, it is set in the main body frame, including connecting rod assembly and elastic component, connecting rod assembly is equipped with climbing wheel, the elastic component can drive the climbing wheel and the cable lateral wall fixed abutment;

[0008] Driving mechanism, with the transmission connection of the climbing wheel, can drive the climbing wheel rotates along the cable axial lateral wall.

[0009] Preferably, the nondestructive testing equipment is ultrasonic detection device, acoustic emission detection device, ray detection device or electromagnetic detection device;The visual detection equipment is camera.

[0010] Preferably, the main body frame includes first frame and second frame that are symmetrically arranged and have the same structure, the first frame includes top plate and bottom plate, and the support plate is fixedly connected between the top plate and the bottom plate;The top plate of the first frame and the top plate of the second frame are fixedly connected by bolts, and the bottom plate of the first frame and the bottom plate of the second frame are fixedly connected by bolts;The nondestructive testing equipment and visual detection equipment are arranged on the top plate, and the compression mechanism is arranged on the inner side of the support plate.

[0011] Preferably, the main frame has a plurality of clamping mechanisms in its inner ring; each clamping mechanism includes a fixed bracket, the outer side of which is fixedly connected to the inner side of the support plate; the linkage assembly includes an arc-shaped linkage, the inner side of which is hinged to the fixed bracket; the end of which is connected to a climbing wheel bracket; a climbing wheel is movably mounted on the climbing wheel bracket; the axle of the climbing wheel is driven by the driving mechanism, which is located on one side of the climbing wheel bracket; the elastic component includes a spring slide fixed to the inner side of the support plate; a compression spring is mounted on the spring slide; the end of the compression spring is fixedly connected to the end of the climbing wheel bracket away from the climbing wheel.

[0012] Preferably, the fixed bracket has two symmetrically arranged arc-shaped connecting rods hinged to its inner side, and the drive mechanism is located on the outside of the climbing wheel bracket of the upper or lower arc-shaped connecting rod.

[0013] Preferably, the fixed bracket has a secondary support frame at its end, the secondary support frame is fixed to the support plate, a first support rod is hinged to the inner side of the secondary support frame, a second support rod is hinged to the end of the first support rod, and the end of the second support rod is hinged to the side wall of the arc-shaped connecting rod near the climbing wheel bracket.

[0014] Preferably, the spring slide has a spring groove, and the end of the compression spring away from the climbing wheel bracket is connected to the spring groove and can move along the spring groove.

[0015] Preferably, the drive mechanism includes a mounting plate fixedly disposed on one side of the climbing wheel bracket, and a stepper motor is provided on the mounting plate. The motor shaft of the stepper motor is connected to the climbing wheel through a reduction gear set.

[0016] Preferably, the cross-section of the top plate of the first frame and the top plate of the second frame after connection is a hollow hexagonal structure; the cross-section of the bottom plate of the first frame and the bottom plate of the second frame after connection is a hollow hexagonal structure.

[0017] Preferably, the climbing wheel is covered with a rubber tire.

[0018] The present invention achieves the following technical advantages over the prior art:

[0019] This utility model of cable robot can replace manual cable inspection, thus ensuring high safety. The main frame hugs the outside of the cable, and multiple clamping mechanisms inside the main frame press the climbing wheels tightly against the side wall of the cable. A drive mechanism controls the climbing wheels to rotate along the cable, thereby driving the cable robot to climb along the cable axis. During the process, non-destructive testing equipment and visual inspection equipment are used to inspect the cable, making the inspection process convenient and improving inspection efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of one embodiment of the cable robot of this utility model;

[0022] Figure 2 This is a schematic diagram of the clamping mechanism in one embodiment of the cable robot of this utility model;

[0023] Figure 3 This is a schematic diagram of the drive mechanism in one embodiment of the cable robot of this utility model;

[0024] Figure 4 This is a schematic diagram of the elastic component in one embodiment of the cable robot of this utility model;

[0025] Figure 5 This is a schematic diagram of the structure of the first frame in one embodiment of the cable robot of this utility model.

[0026] In the diagram: 1-Cable, 2-Main frame, 201-Top plate, 202-Bottom plate, 203-Support plate, 3-Pressure mechanism, 301-Fixed bracket, 302-Arc-shaped connecting rod, 303-Climbing wheel, 304-Climbing wheel bracket, 305-Rubber tire, 4-Secondary support frame, 5-First support rod, 6-Second support rod, 7-Drive mechanism, 701-Stepper motor, 702-Driving gear, 703-Driven gear, 8-Spring slide, 9-Spring groove, 10-Compression spring, 11-Non-destructive testing equipment, 12-Visual inspection equipment. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] The purpose of this invention is to provide a cable robot that solves the problems existing in the prior art, is highly safe, and facilitates cable inspection.

[0029] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the utility model will be further described in detail below in combination with the drawings and specific embodiments.

[0030] In order to reduce artificial cost, and improve the detection efficiency of cable, so the utility model provides a kind of cable robot, as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, including main frame 2, compression mechanism 3 and drive mechanism 7, main frame 2 can be embraced in the outer side of cable 1, and its one end is equipped with nondestructive testing equipment 11 and visual detection equipment 12, nondestructive testing equipment 11 and visual detection equipment 12 are connected with the computer end of ground through wire, can process and analyze the data detected;It can also be necessary to set cleaning equipment in the one end of main frame 2, so that in addition to detecting cable 1, it can also clean its surface, for example, it can set up an installation rod fixedly connected with main frame 2, installs spray head on installation rod, and spray head is connected with the solution tank of ground through pipeline and pump, so that cable 1 can be sprayed and cleaned, water can also be replaced by protective paint etc., for spraying protective paint layer on cable 1, so as to improve the service life of cable 1;Compression mechanism 3 is arranged in main frame 2, including connecting rod assembly and elastic assembly, connecting rod assembly is equipped with climbing wheel 303, and elastic assembly can drive climbing wheel 303 to be fixedly contacted with the side wall of cable 1;Drive mechanism 7 is drivingly connected with climbing wheel 303, driving mechanism 7 is used to control the rotation of climbing wheel 303 along cable 1, to drive the utility model cable 1 robot to climb along the axial direction of cable 1, and nondestructive testing equipment 11 and visual detection equipment 12 are used to detect cable 1 in the process, so that the detection process is convenient, and the detection efficiency is improved.

[0031] In order to facilitate the installation of each mechanism, and so that the utility model can be combined with the cable 1, and also can be conveniently disassembled, so in an embodiment, the main frame 2 includes the first frame and the second frame which are the same structure and symmetrically arranged, and the two are symmetrically connected from both sides of the cable 1, can realize the combination of the cable 1, and when disassembling, the two are separated, and the first frame includes the top plate 201 and the bottom plate 202, the top plate 201 and the bottom plate 202 are fixedly connected with the support plate 203; the both ends of the top plate 201 of the first frame are fixedly connected with the both ends of the top plate 201 of the second frame by bolts, and the bottom plate 202 of the first frame and the bottom plate 202 of the second frame are fixedly connected by bolts; three pressing mechanisms 3 are arranged on the inner side of the three support plates 203, and the three pressing mechanisms 3 can be arranged on the outer side of the cable 1, so as to realize the combination of the cable 1, can realize more uniform stress distribution, and ensure that the climbing process is more stable and smooth. The nondestructive testing equipment 11 and the visual inspection equipment 12 of the embodiment are fixed on the top plate 201 of the main frame 2 by the equipment rod respectively, the nondestructive testing equipment 11 is a known structure ultrasonic detection device, acoustic emission detection device, ray detection device or electromagnetic detection device, which detects the broken wire inside the cable 1 by ultrasonic detection, acoustic emission detection, ray detection, electromagnetic detection and other methods; the visual inspection equipment 12 is a camera, which can capture the surface image of the cable 1 and transmit it to the computer, for identifying the surface defects of the cable 1, and transmitting the detection data to the computer on the ground wirelessly or by wire, which can effectively replace manual work, reduce the investment of manpower and material resources, and reduce the occurrence of safety accidents.

[0032] The main frame 2 is annularly provided with a plurality of pressing mechanisms 3; the pressing mechanism 3 comprises a fixed support 301, the fixed support 301 is fixedly connected with the inner side of the support plate 203, the connecting rod assembly comprises an arc-shaped connecting rod 302, the inner side of the fixed support 301 is hinged with the arc-shaped connecting rod 302, the arc-shaped connecting rod 302 is connected with a climbing wheel support 304 at the end, the climbing wheel support 304 is movably provided with a climbing wheel 303, the axle of the climbing wheel 303 is drivingly connected with a driving mechanism 7, and the driving mechanism 7 is arranged on one side of the climbing wheel support 304; the elastic assembly comprises a spring slide 8 fixed to the inner side of the support plate 203, the spring slide 8 is provided with a compression spring 10, and the compression spring 10 is fixedly connected with the end of the climbing wheel support 304 away from the climbing wheel 303. The positional relationship between the main frame 2 and the three pressing mechanisms 3 ensures that enough rigidity and support force can be provided during the movement of the mechanism. The fixed support 301 plays the role of supporting and positioning, maintains the stability of the whole climbing structure, and avoids displacement during the climbing process. The fixed support 301 needs to bear the pressure from the climbing wheel 303 and maintain the correct position and direction of the climbing wheel 303. The rubber tire 305 is the core component of the climbing action, which provides the necessary traction by friction with the outer wall of the cable 1, and the rubber material can increase the friction coefficient and improve the grip during the climbing process.

[0033] In an embodiment, two arc-shaped connecting rods 302 are symmetrically arranged inside the fixed support 301, and the driving mechanism 7 is arranged outside the climbing wheel support 304 of the upper arc-shaped connecting rod 302 or the lower arc-shaped connecting rod 302. In order to enhance the stability of the arc-shaped connecting rod 302, the arc-shaped connecting rod 302 is supported by other components, so in an embodiment, the fixed support 301 is provided with a secondary support frame 4 fixed to the support plate 203, a first supporting rod 5 is hinged inside the secondary support frame 4, a second supporting rod 6 is hinged at the end of the first supporting rod 5, and the second supporting rod 6 is hinged to the side wall of the arc-shaped connecting rod 302 close to the climbing wheel support 304.

[0034] The device of the utility model needs to work under the cable 1 with certain inclination angle and diameter change, even under the obstacle. Therefore, it is necessary to select the design scheme of preloading capacity to ensure that it can meet the requirements of actual working conditions. Insufficient preloading will lead to insufficient movement and unable to work. However, too much preloading will lead to too much resistance to overcome and reduce the flexibility of the robot. Therefore, in order to ensure that the robot can be stably preloaded on the surface of the cable 1 and work flexibly, the utility model adopts compression spring 10 to provide pre-tightening force. The spring sliding groove 9 is arranged on the spring sliding seat 8, one end of the compression spring 10 away from the climbing wheel support 304 is connected in the spring sliding groove 9, and can be fixed on the spring sliding groove 9 or moved along the spring sliding groove 9. Because of the existence of the compression spring 10, the climbing wheel 303 can have certain elastic buffer, so that the structure of the utility model can climb the vertical and inclined cable 1 autonomously, has the obstacle crossing ability, the climbing wheel 303 can extrude the compression spring 10, and then pass through the electric wire wound at the top of the cable 1, and then under the action of the elastic force of the compression spring 10, the climbing wheel 303 is always closely attached to the outer wall of the cable 1. The position and shape of the spring sliding groove 9 determine the movement range of the compression spring 10. The compression spring 10 realizes the adjustability of pre-tightening force through contact and sliding with the tower spring sliding groove, and ensures that it can adapt to the cable 1 with different diameters. The layout of the upper and lower double compression springs 10 has more advantages than single spring pre-tightening, the double compression spring 10 layout can provide more uniform stress, avoid the uneven stress that a single spring may bring. Cooperate with the climbing mechanism, so that the robot can stably and effectively climb in different environments.

[0035] The driving mechanism 7 comprises a mounting plate fixed on one side of the climbing wheel support 304, a stepping motor 701 is arranged on the mounting plate, a motor shaft of the stepping motor 701 is in transmission connection with the climbing wheel 303 through a speed reduction gear set, the stepping motor 701 converts high-speed power into lower speed suitable for the climbing process, and transmits the power to the climbing wheel 303 through the speed reduction gear set, the power can be continuously output, and the speed can be stably controlled, specifically, the motor shaft of the stepping motor 701 is fixedly connected with a driving gear 702, the driving gear 702 is engaged with a driven gear 703, the driven gear 703 is fixedly connected with the climbing wheel 303 in a coaxial mode, and the diameter size of the driving gear 702 is smaller than that of the driven gear 703.

[0036] The principle and implementation mode of the specific examples are used to illustrate the principle and implementation mode of the utility model, and the above embodiment is only used to help understand the method and core idea of the utility model; meanwhile, according to the idea of the utility model, the specific implementation mode and application range will be changed by the general technical personnel in the field. In conclusion, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. A cable robot, characterized by: The utility model relates to a cable climbing detection device, including: a main frame can be embraced to the outside of cable, and one end of which is equipped with nondestructive testing equipment and visual detection equipment; a pressing mechanism is arranged in the main frame, including a connecting rod assembly and an elastic assembly, the connecting rod assembly is equipped with a climbing wheel, the elastic assembly can drive the climbing wheel and the side wall of the cable fixedly abut; a driving mechanism is in transmission connection with the climbing wheel, which can drive the climbing wheel to rotate along the axial side wall of the cable.

2. The cable robot of claim 1, wherein: The nondestructive testing equipment is an ultrasonic detection device, an acoustic emission detection device, a ray detection device or an electromagnetic detection device;The visual detection equipment is a camera.

3. The cable robot of claim 1, wherein: The main frame includes a first frame and a second frame which are symmetrically arranged and have the same structure, the first frame includes a top plate and a bottom plate, and a support plate is fixedly connected between the top plate and the bottom plate;The top plate of the first frame is fixedly connected to the top plate of the second frame by bolts, and the bottom plate of the first frame is fixedly connected to the bottom plate of the second frame by bolts;The nondestructive testing equipment and the visual detection equipment are arranged on the top plate, and the pressing mechanism is arranged on the inner side of the support plate.

4. The cable robot of claim 3, wherein: A plurality of pressing mechanisms are arranged in the main frame;The pressing mechanism includes a fixed support, the outer side of the fixed support is fixedly connected to the inner side of the support plate, the connecting rod assembly includes an arc-shaped connecting rod, the inner side of the fixed support is hingedly connected to the arc-shaped connecting rod, the end of the arc-shaped connecting rod is connected to a climbing wheel support, a climbing wheel is movably arranged on the climbing wheel support, the axle of the climbing wheel is in transmission connection with the driving mechanism, and the driving mechanism is arranged on one side of the climbing wheel support;The elastic assembly includes a spring sliding seat fixed to the inner side of the support plate, a compression spring is arranged on the spring sliding seat, and the end of the compression spring is fixedly connected to the end of the climbing wheel support away from the climbing wheel.

5. The cable robot of claim 4, wherein: The inner side of the fixed support is hingedly connected to two arc-shaped connecting rods arranged symmetrically above and below, and the driving mechanism is arranged on the outer side of the climbing wheel support of the upper arc-shaped connecting rod or the lower arc-shaped connecting rod.

6. The cable robot of claim 4, wherein: The end of the fixed support is provided with a secondary support frame, the secondary support frame is fixed to the support plate, the inner side of the secondary support frame is hingedly connected to a first supporting rod, the end of the first supporting rod is hingedly connected to a second supporting rod, and the end of the second supporting rod is hingedly connected to the side wall close to the climbing wheel support of the arc-shaped connecting rod.

7. The cable robot of claim 4, wherein: A spring sliding groove is formed in the spring sliding seat, one end of the compression spring away from the climbing wheel support is connected to the spring sliding groove, and can move along the spring sliding groove.

8. The cable robot of claim 4, wherein: The driving mechanism includes a mounting plate fixed to one side of the climbing wheel support, a stepping motor is arranged on the mounting plate, and the motor shaft of the stepping motor is in transmission connection with the climbing wheel through a speed reduction gear set.

9. The cable robot of claim 3, wherein: The cross section of the top plate of the first frame and the top plate of the second frame after being connected is a hollow hexagonal structure, and the cross section of the bottom plate of the first frame and the bottom plate of the second frame after being connected is a hollow hexagonal structure.

10. The cable robot of claim 1, wherein: The climbing wheel is covered with a rubber tire.

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