CN104894957B - Anti-bias adjustable climbing device for bridge cable defects detection - Google Patents
Anti-bias adjustable climbing device for bridge cable defects detection Download PDFInfo
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- CN104894957B CN104894957B CN201410074596.XA CN201410074596A CN104894957B CN 104894957 B CN104894957 B CN 104894957B CN 201410074596 A CN201410074596 A CN 201410074596A CN 104894957 B CN104894957 B CN 104894957B
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Abstract
The present invention relates to a kind of adjustable climbing device with anti-bias function for bridge cable defects detection, including body frame, adjustable hold down assembly, anti-bias assembly, gravitional force consumable components, drive brake assemblies；Body frame is cuboid, is made up of fixed mount and adjustable frame, with bolts；Adjustable holding down assembly includes adjustable frame, sliding shoe, adjusting screw rod, compression spring, clamp nut；Anti-bias assembly includes anti-side spin, anti-bias frame, anti-deflection wheel, stretching spring, extension spring；Gravitional force consumable components includes one-way clutch, crank, connecting rod, cylinder；Direct current generator, bevel gear are to, electromagnetic brake to drive brake assemblies to include.Climbing device of the present invention can climb along bridge cable and carry out defects detection, it is adapted to the bridge cable of different-diameter and with anti-bias function, accurate drag-line quality and defect information can be provided for bridge maintenance, thus ensure the safe operation of bridge, bigger economic results in society can be created.
Description
Technical field
The present invention relates to a kind of device for bridge cable defects detection, be specifically related to a kind of adjustable climbing device with anti-bias function for bridge cable defects detection, belong to robotics.
Background technology
Cable-stayed bridge is the novel bridge risen over nearly 40 years, owing to it has bigger span and good economic performance, is widely used in countries in the world.Drag-line is one of main components of cable-stayed bridge, and the quality problems of drag-line are related to the service life of whole cable-stayed bridge and the security performance of bridge.Cable defect detecting robot is automatically to creep along drag-line, and the intelligent machine device that surface and the internal flaw of drag-line are detected by the optional position resting on drag-line.Safe and reliable and have the basis that the climbing device of stable climbing ability is bridge cable defects detection machine people, there is the deficiency of techniques below in existing guy cable climbing mechanism:
Having four-wheel-type, six wheeled climbing running gears at present, the reliability and stability during climbing are poor, and four-wheel-type climbs when high-altitude, deviation phenomenon easily occurs, stuck on drag-line, although to have employed anti-deflection wheel, but after robot deflects, the driving moment causing robot is not enough.Although six is wheeled stable the best, but uses three motors to drive, owing to three motors are difficult to accomplish to synchronize, often there is screw in climbing device, the most stuck on drag-line, it is impossible to reliably to detect.
Summary of the invention
It is an object of the invention to provide 12 wheeled climbing devices of a kind of bridge cable defects detection, this climbing device can be reliable and stable be parked in drag-line optional position and detect, this device is with anti-bias mechanism, light structure, climb stable, climbing ability by force, the most adjustable, the drag-line that can be suitable for different-diameter carries out detecting work, and continuous operation ability is strong.
The technical scheme solving above-mentioned technical problem is: a kind of 12 wheeled drag-line automatic climbing devices, and selects light-weighted material to manufacture the parts of climbing device.This device includes body frame, adjustable holds down assembly, anti-bias assembly, gravitional force consumable components, drives brake assemblies.
Described body frame is cuboid, is made up of fixed mount and adjustable frame, and four V-type wheels are upper and lower two groups of both sides being distributed in drag-line, and one of which is fixing, and one group is adjustable, and body frame is with bolts.
Described adjustable holding down assembly includes adjustable frame, sliding shoe, adjusting screw rod, compression spring, adjusting nut, sliding shoe is arranged in the sliding tray of adjustable frame, adjusting screw rod is arranged on sliding shoe, compression spring is enclosed within adjusting screw rod, regulation adjusting nut can arbitrarily regulate the decrement of compression spring, thus ensure that the pressing force of the spring required for the different-diameter drag-line that climbs, when running into obstacle, compression spring can carry out certain compression so that climbing device has stronger obstacle climbing ability.
Described anti-bias assembly, including anti-side spin, anti-bias frame, anti-deflection wheel, stretching spring.Anti-bias frame is connected by screw on body cuboid framework, anti-deflection wheel is connected on anti-side spin, the stretching spring being arranged between anti-side spin and anti-bias frame by regulation, ensure that anti-deflection wheel can be fitted with drag-line surface in the case of drag-line diameter changes, and be provided that the enclasping force prevented needed for climbing device deflection.
Described gravitional force consumable components, including one-way clutch, crank, connecting rod, cylinder.One-way clutch is connected on brake axle, and crank is connected by pin with connecting rod, and connecting rod connects cylinder rod.Being equivalent to a slider-crank mechanism, climbing when, due to the one-way function of one-way clutch, slider-crank mechanism is no motion of.When climbing device falls, one-way clutch rotates, and slider-crank mechanism moves, and cylinder compressed air to do work back and forth consumes gravitional force time climbing device declines.
Described driving brake assemblies, including direct current generator, bevel gear to, electromagnetic brake.Direct current generator is arranged in body frame, is delivered on driving wheel driving force by bevel gear, and electromagnetic brake is installed in body frame, and climbing device can be made to rest on drag-line optional position and detect.
Owing to using said mechanism, 12 wheeled climbing devices of the present invention are compared with existing wheeled climbing device, there is stability and the reliability that improve climbing device, and can automatically be suitable for climbing of different drag-line diameter, realizing step-less adjustment, the continuous operation ability in high-altitude waits by force following good effect simultaneously.
1, the employing 12 of this climbing device is wheeled, and the thrust that each wheel is provided by spring is allowed to be pressed on drag-line, and have employed symmetrical expression distribution, greatly increases stability and the reliability of climbing device, and improves the load capacity of climbing device.
2, it is mounted with electromagnetic brake on climbing device, climbing device can be made can to rest on optional position on drag-line, and drag-line is detected.This climbing device uses single motor to drive simultaneously, it is to avoid the nonsynchronous problem of driving；Meanwhile, power transmission is only with bevel-gear sett, and transmission efficiency is high, power saving.
3, adjustable hold down gag be by sliding shoe at the anti-deflection device of sliding tray slide inside and angle adjustable to adapt to the drag-line of different-diameter, and step-less adjustment can be realized.
4, the way of recycling of climbing device, cylinders compressing air acting is utilized to consume the gravitional force of climbing device decline and be braked, so can close motor, owing to the gravitional force that can utilize self of climbing device reclaims, not only save electric energy, and improve the high-altitude continuous operation ability of climbing device.
Accompanying drawing explanation
Fig. 1 be climbing device of the present invention climb drag-line time top view；
Fig. 2 be climbing device of the present invention climb drag-line time left view.
Detailed description of the invention
A kind of anti-bias adjustable climbing device for bridge cable defects detection, as shown in Figure 1 and Figure 2, including body frame, adjustable holds down assembly, anti-bias assembly, gravitional force consumable components, drives brake assemblies.
Described body frame is cuboid (such as Fig. 1), it is bolted is formed by fixed mount 1 and adjustable frame 11, four V-type wheel 4(Fig. 1) in the upper and lower two groups both sides being distributed in drag-line, one of which is fixing, one group is adjustable, and anti-deflection wheel 5 under the effect of stretching spring 18 (Fig. 2) is fitted on drag-line 9.
Described adjustable hold down assembly (such as Fig. 2) includes adjustable frame 11(Fig. 1), sliding shoe 12, adjusting screw rod 13, compression spring 14, adjusting nut 15, sliding shoe 12 is arranged in the sliding tray of adjustable frame, adjusting screw rod 13 is arranged on sliding shoe 12, compression spring 14 is enclosed within adjusting screw rod 13, adjusting nut 15 can arbitrarily regulate the crush of compression spring 14 on adjusting screw rod 13, V shaped wheel 4(Fig. 1 is given by sliding shoe 12) add certain precompression, to be suitable for the detection of different-diameter drag-line.
Described anti-bias assembly (such as Fig. 2), including anti-side spin 3, anti-bias frame 10, anti-deflection wheel 5, stretching spring 18.Anti-bias frame 10 is connected by screw in body frame, and anti-side spin 3 is connected with pin with anti-bias frame 10, and the angle of anti-deflection device can be the most adjustable to adapt to different drag-line diameters.Anti-deflection wheel 5 is arranged on anti-side spin 3, the stretching spring 18 that regulation is connected between anti-side spin 3 and anti-bias frame 10, it is provided that the enclasping force of anti-deflection device.According to different drag-line diameters, reselection suitably stretches spring 18, the nut in regulation extension spring 17, it is thus achieved that suitably enclasping force, prevents climbing device from occurring deflection during climbing.
Described gravitional force consumable components (such as Fig. 1), including one-way clutch 7, crank 8, connecting rod, cylinder 6.One-way clutch 7 is connected on brake axle, and crank 8 is connected by pin with connecting rod, and connecting rod connects cylinder rod.Climbing device is declining recovery when, and one-way clutch rotates, and drives cylinders compressing air acting.
Described driving brake unit, including direct current generator 16(Fig. 2), bevel gear to 19, electromagnetic brake 2.Direct current generator 16 and electromagnetic brake 2 are arranged in body frame, are delivered to 19 driving forces on driving wheel by bevel gear, by controlling electromagnetic brake 2, robot can be made to rest on optional position on drag-line.
Claims (6)
1. for adjustable climbing device with anti-bias function of bridge cable defects detection, including body frame, adjustable hold down assembly, anti-bias assembly, gravitional force consumable components, driving brake assemblies；Described body frame is cuboid, is made up of fixed mount and adjustable frame, and four V-type wheels are upper and lower two groups of both sides being distributed in drag-line, and one of which is fixing, and one group is adjustable, and body frame is with bolts；Described adjustable holding down assembly includes adjustable frame, sliding shoe, adjusting screw rod, compression spring, adjusting nut, and sliding shoe is arranged in the sliding tray of adjustable frame, and adjusting screw rod is arranged on sliding shoe；Described anti-bias assembly, including anti-side spin, anti-bias frame, anti-deflection wheel, stretching spring, anti-bias frame is connected by screw in body frame, and anti-side spin is connected with anti-bias frame pin, and anti-deflection wheel is connected on anti-side spin；Described gravitional force consumable components, including one-way clutch, crank, connecting rod, cylinder, one-way clutch is connected on brake axle, and crank is connected by pin with connecting rod, and connecting rod connects cylinder rod；Described driving brake assemblies, including direct current generator, bevel gear to, electromagnetic brake；Direct current generator and electromagnetic brake are arranged in body frame, and direct current generator is delivered on driving wheel driving force by bevel gear.
The adjustable climbing device with anti-bias function for bridge cable defects detection the most according to claim 1, it is characterized in that: for ensureing that climbing device is adapted to climbing of different drag-line diameter, one group of wheel of climbing device is that slip is adjustable, under the effect of compression spring, wheel is not only suitable for the drag-line of different-diameter and is close to drag-line surface, and can ensure the precompression that climbing device is required when climbing.
The adjustable climbing device with anti-bias function for bridge cable defects detection the most according to claim 1 and 2, it is characterized in that: in order to ensure the stability of climbing of climbing device, four groups of anti-bias assemblies respectively it are mounted with in the both sides up and down of climbing device body frame, the angle of anti-side spin can be the most adjustable to adapt to different drag-line diameters, regulate the stretching extension spring of anti-bias assembly, anti-deflection wheel can be made to be close to drag-line surface, during preventing from climbing, produce deflection.
The adjustable climbing device with anti-bias function for bridge cable defects detection the most according to claim 1 and 2, it is characterised in that: for ensureing the stability that climbing device drives, use single motor to drive.
The adjustable climbing device with anti-bias function for bridge cable defects detection the most according to claim 1 and 2, it is characterized in that: the optional position that can rest on drag-line for guarantee climbing device is detected, and climbing device is configured with the electromagnetic brake of 24V.
The adjustable climbing device with anti-bias function for bridge cable defects detection the most according to claim 1, it is characterized in that: because drag-line detection belongs to work high above the ground, in order to economize on electricity, climbing device closes motor when declining, reclaim by device self gravitation, therefore done work by cylinders compressing air and consume kinetic energy when climbing device declines, to ensure the steady recovery of climbing device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410074596.XA CN104894957B (en) | 2014-03-03 | 2014-03-03 | Anti-bias adjustable climbing device for bridge cable defects detection |
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| CN201410074596.XA CN104894957B (en) | 2014-03-03 | 2014-03-03 | Anti-bias adjustable climbing device for bridge cable defects detection |
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| CN104894957A CN104894957A (en) | 2015-09-09 |
| CN104894957B true CN104894957B (en) | 2016-10-26 |
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| CN105908624B (en) * | 2016-06-15 | 2018-01-09 | 广西交通科学研究院 | A kind of portable robot for being used to detect Character of Cable Force of Cable stayed Bridge |
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| CN108086150B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Cable detection robot |
| CN108532460B (en) * | 2018-05-17 | 2019-07-05 | 安徽工业大学 | A two-body cable climbing robot |
| CN111365382A (en) * | 2020-03-17 | 2020-07-03 | 泉州市鑫鼎合德技术服务有限公司 | Integrative multi-functional formula rotary part middle part connecting device |
| CN111305064B (en) * | 2020-03-25 | 2020-10-16 | 杭州瓦兴智能科技有限公司 | Bridge suspension cable ultrasonic detection robot |
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| CN112254803B (en) * | 2020-06-24 | 2024-08-02 | 南京源桓丰电力科技有限公司 | Suction control method for bridge inhaul cable detection robot |
| CN112211097A (en) * | 2020-10-23 | 2021-01-12 | 上海同新机电控制技术有限公司 | Stay cable maintenance trolley |
| CN113618708B (en) * | 2021-09-06 | 2023-12-22 | 哈尔滨理工大学 | Planetary-like rotary maintenance robot applicable to multi-size inhaul cables |
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